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ROMFS: set CA_* + HIL_ACT_* params for hitl+sih airframes

This commit is contained in:
Beat Küng 2022-02-09 16:05:16 +01:00
parent 9b629a9e95
commit dce2968470
6 changed files with 122 additions and 0 deletions
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20
ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil
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@ -39,6 +39,26 @@ param set-default FW_RR_P 0.3
param set-default RWTO_TKOFF 1
param set-default CA_AIRFRAME 1
param set-default CA_ROTOR_COUNT 1
param set-default CA_ROTOR0_PX 0.3
param set-default CA_SV_CS_COUNT 4
param set-default CA_SV_CS0_TRQ_R 0.5
param set-default CA_SV_CS0_TYPE 2
param set-default CA_SV_CS1_TRQ_P 1.0
param set-default CA_SV_CS1_TYPE 3
param set-default CA_SV_CS2_TRQ_Y 1.0
param set-default CA_SV_CS2_TYPE 4
param set-default CA_SV_CS3_TYPE 10
param set-default HIL_ACT_REV 2
param set-default HIL_ACT_FUNC1 201
param set-default HIL_ACT_FUNC2 202
param set-default HIL_ACT_FUNC3 203
param set-default HIL_ACT_FUNC4 101
param set-default HIL_ACT_FUNC5 204
param set-default HIL_ACT_FUNC6 400
param set SYS_HITL 1
# disable some checks to allow to fly

17
ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil
View File

@ -15,6 +15,23 @@ set MIXER quad_x
param set SYS_HITL 1
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.15
param set-default CA_ROTOR0_PY 0.15
param set-default CA_ROTOR1_PX -0.15
param set-default CA_ROTOR1_PY -0.15
param set-default CA_ROTOR2_PX 0.15
param set-default CA_ROTOR2_PY -0.15
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.15
param set-default CA_ROTOR3_PY 0.15
param set-default CA_ROTOR3_KM -0.05
param set-default HIL_ACT_FUNC1 101
param set-default HIL_ACT_FUNC2 102
param set-default HIL_ACT_FUNC3 103
param set-default HIL_ACT_FUNC4 104
# disable some checks to allow to fly
# - with usb
param set-default CBRK_USB_CHK 197848

28
ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
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@ -61,6 +61,34 @@ param set-default VT_MOT_ID 1234
param set-default VT_FW_MOT_OFFID 1234
param set-default VT_TYPE 2
param set-default CA_AIRFRAME 2
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.15
param set-default CA_ROTOR0_PY 0.15
param set-default CA_ROTOR1_PX -0.15
param set-default CA_ROTOR1_PY -0.15
param set-default CA_ROTOR2_PX 0.15
param set-default CA_ROTOR2_PY -0.15
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.15
param set-default CA_ROTOR3_PY 0.15
param set-default CA_ROTOR3_KM -0.05
param set-default CA_SV_CS_COUNT 3
param set-default CA_SV_CS1_TRQ_R 0.5
param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS2_TRQ_P 1.0
param set-default CA_SV_CS2_TYPE 3
param set-default HIL_ACT_FUNC1 101
param set-default HIL_ACT_FUNC2 102
param set-default HIL_ACT_FUNC3 103
param set-default HIL_ACT_FUNC4 104
param set-default HIL_ACT_FUNC5 105
param set-default HIL_ACT_FUNC6 201
param set-default HIL_ACT_FUNC7 202
param set-default HIL_ACT_FUNC8 203
param set SYS_HITL 1

17
ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil
View File

@ -17,6 +17,23 @@ set PWM_OUT 1234
param set UAVCAN_ENABLE 0
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.15
param set-default CA_ROTOR0_PY 0.15
param set-default CA_ROTOR1_PX -0.15
param set-default CA_ROTOR1_PY -0.15
param set-default CA_ROTOR2_PX 0.15
param set-default CA_ROTOR2_PY -0.15
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.15
param set-default CA_ROTOR3_PY 0.15
param set-default CA_ROTOR3_KM -0.05
param set-default HIL_ACT_FUNC1 101
param set-default HIL_ACT_FUNC2 102
param set-default HIL_ACT_FUNC3 103
param set-default HIL_ACT_FUNC4 104
# set SYS_HITL to 2 to start the SIH and avoid sensors startup
param set SYS_HITL 2

20
ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil
View File

@ -17,6 +17,26 @@ set PWM_OUT 1234
param set UAVCAN_ENABLE 0
param set-default CA_AIRFRAME 1
param set-default CA_ROTOR_COUNT 1
param set-default CA_ROTOR0_PX 0.3
param set-default CA_SV_CS_COUNT 4
param set-default CA_SV_CS0_TRQ_R 0.5
param set-default CA_SV_CS0_TYPE 2
param set-default CA_SV_CS1_TRQ_P 1.0
param set-default CA_SV_CS1_TYPE 3
param set-default CA_SV_CS2_TRQ_Y 1.0
param set-default CA_SV_CS2_TYPE 4
param set-default CA_SV_CS3_TYPE 10
param set-default HIL_ACT_REV 2
param set-default HIL_ACT_FUNC1 201
param set-default HIL_ACT_FUNC2 202
param set-default HIL_ACT_FUNC3 203
param set-default HIL_ACT_FUNC4 101
param set-default HIL_ACT_FUNC5 204
param set-default HIL_ACT_FUNC6 400
# set SYS_HITL to 2 to start the SIH and avoid sensors startup
param set-default SYS_HITL 2

20
ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil
View File

@ -26,6 +26,26 @@ param set-default VT_FW_DIFTHR_SC 0.3
param set-default MPC_MAN_Y_MAX 60
param set-default MC_PITCH_P 5
param set-default CA_AIRFRAME 4
param set-default CA_ROTOR_COUNT 2
param set-default CA_ROTOR0_KM -0.05
param set-default CA_ROTOR0_PY 0.2
param set-default CA_ROTOR1_KM -0.05
param set-default CA_ROTOR1_PY -0.2
param set-default CA_SV_CS_COUNT 2
param set-default CA_SV_CS0_TRQ_P 0.3
param set-default CA_SV_CS0_TRQ_Y 0.3
param set-default CA_SV_CS0_TYPE 5
param set-default CA_SV_CS1_TRQ_P 0.3
param set-default CA_SV_CS1_TRQ_Y -0.3
param set-default CA_SV_CS1_TYPE 6
param set-default HIL_ACT_FUNC1 101
param set-default HIL_ACT_FUNC2 102
param set-default HIL_ACT_FUNC5 202
param set-default HIL_ACT_FUNC6 201
param set-default HIL_ACT_REV 32
param set-default MAV_TYPE 19
set MAV_TYPE 19
set MIXER vtol_tailsitter_duo_sat