dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

sitl airframes: add control allocation config to some airframes (not enabled) 

To use them, manually set SYS_CTRL_ALLOC
This commit is contained in:
Beat Küng 2021-11-29 16:20:17 +01:00 committed by Daniel Agar
parent 2362feddac
commit d688e5dee4
3 changed files with 109 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

29
ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane
View File

@ -43,5 +43,34 @@ param set-default NAV_DLL_ACT 2
param set-default RWTO_TKOFF 1
#param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 5
param set-default CA_ROTOR_COUNT 1
param set-default CA_ROTOR0_PX 0.3
param set-default CA_SV_CS_COUNT 6
param set-default CA_SV_CS0_TRQ_Y 1.0000
param set-default CA_SV_CS0_TYPE 2
param set-default CA_SV_CS1_TYPE 7
param set-default CA_SV_CS2_TRQ_P -1.0000
param set-default CA_SV_CS2_TRQ_R 1.0000
param set-default CA_SV_CS2_TYPE 9
param set-default CA_SV_CS3_TRQ_P 1.0000
param set-default CA_SV_CS3_TRQ_R 1.0000
param set-default CA_SV_CS3_TYPE 10
param set-default CA_SV_CS4_TRQ_P 1.0000
param set-default CA_SV_CS5_TYPE 8
param set-default PWM_MAIN_FUNC3 201
param set-default PWM_MAIN_FUNC4 202
param set-default PWM_MAIN_FUNC5 101
param set-default PWM_MAIN_FUNC6 203
param set-default PWM_MAIN_FUNC7 204
param set-default PWM_MAIN_FUNC8 205
param set-default PWM_MAIN_FUNC9 206
param set-default PWM_MAIN_REV 288
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
set MIXER custom

34
ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol
View File

@ -7,6 +7,40 @@
. ${R}etc/init.d/rc.vtol_defaults
#param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 1
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.1515
param set-default CA_ROTOR0_PY 0.245
param set-default CA_ROTOR0_KM 0.05
param set-default CA_ROTOR1_PX -0.1515
param set-default CA_ROTOR1_PY -0.1875
param set-default CA_ROTOR1_KM 0.05
param set-default CA_ROTOR2_PX 0.1515
param set-default CA_ROTOR2_PY -0.245
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.1515
param set-default CA_ROTOR3_PY 0.1875
param set-default CA_ROTOR3_KM -0.05
param set-default CA_SV_CS_COUNT 3
param set-default CA_SV_CS0_TRQ_R 1.0000
param set-default CA_SV_CS0_TYPE 9
param set-default CA_SV_CS1_TRQ_R 1.0000
param set-default CA_SV_CS1_TYPE 10
param set-default CA_SV_CS2_TRQ_P 1.0000
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104
param set-default PWM_MAIN_FUNC5 105
param set-default PWM_MAIN_FUNC6 201
param set-default PWM_MAIN_FUNC7 202
param set-default PWM_MAIN_FUNC8 203
param set-default PWM_MAIN_REV 32
param set-default FW_L1_PERIOD 12
param set-default FW_MAN_P_MAX 30
param set-default FW_PR_FF 0.2

46
ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor
View File

@ -7,6 +7,52 @@
. ${R}etc/init.d/rc.vtol_defaults
#param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 2
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.1515
param set-default CA_ROTOR0_PY 0.245
param set-default CA_ROTOR0_KM 0.05
param set-default CA_ROTOR1_PX -0.1515
param set-default CA_ROTOR1_PY -0.1875
param set-default CA_ROTOR1_KM 0.05
param set-default CA_ROTOR2_PX 0.1515
param set-default CA_ROTOR2_PY -0.245
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.1515
param set-default CA_ROTOR3_PY 0.1875
param set-default CA_ROTOR3_KM -0.05
param set-default CA_ROTOR0_TILT 1
param set-default CA_ROTOR1_TILT 2
param set-default CA_ROTOR2_TILT 3
param set-default CA_ROTOR3_TILT 4
param set-default CA_SV_CS0_TRQ_R 1.0000
param set-default CA_SV_CS0_TYPE 9
param set-default CA_SV_CS1_TRQ_R 1.0000
param set-default CA_SV_CS1_TYPE 10
param set-default CA_SV_CS2_TRQ_P 1.0000
param set-default CA_SV_CS_COUNT 3
param set-default CA_SV_TL0_CT 0
param set-default CA_SV_TL1_CT 0
param set-default CA_SV_TL2_CT 0
param set-default CA_SV_TL3_CT 0
param set-default CA_SV_TL_COUNT 4
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104
param set-default PWM_MAIN_FUNC5 204
param set-default PWM_MAIN_FUNC6 205
param set-default PWM_MAIN_FUNC7 206
param set-default PWM_MAIN_FUNC8 207
param set-default PWM_MAIN_FUNC9 201
param set-default PWM_MAIN_FUNC10 202
param set-default PWM_MAIN_FUNC11 203
param set-default PWM_MAIN_REV 256
param set-default FW_L1_PERIOD 12
param set-default FW_MAN_P_MAX 30
param set-default FW_PR_FF 0.2