diff --git a/ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil b/ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil deleted file mode 100644 index a3650bc621..0000000000 --- a/ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil +++ /dev/null @@ -1,72 +0,0 @@ -#!/bin/sh -# -# @name HILStar (XPlane) -# -# @type Simulation -# @class Plane -# -# @output MAIN1 aileron -# @output MAIN2 elevator -# @output MAIN3 rudder -# @output MAIN4 throttle -# @output MAIN5 flaps -# @output MAIN6 gear -# -# @maintainer Lorenz Meier -# @board px4_fmu-v2 exclude -# - -. ${R}etc/init.d/rc.fw_defaults - -param set-default BAT1_N_CELLS 3 - -param set-default FW_AIRSPD_MAX 20 -param set-default FW_AIRSPD_MIN 12 -param set-default FW_AIRSPD_TRIM 14 -param set-default FW_R_TC 0.3 -param set-default FW_P_TC 0.3 -param set-default FW_L1_DAMPING 0.74 -param set-default FW_L1_PERIOD 16 -param set-default FW_LND_ANG 15 -param set-default FW_LND_FLALT 5 -param set-default FW_PR_FF 0.35 -param set-default FW_PR_P 0.2 -param set-default FW_RR_FF 0.6 -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 - -param set UAVCAN_ENABLE 0 - -# disable some checks to allow to fly -# - with usb -param set-default CBRK_USB_CHK 197848 -# - without real battery -param set-default CBRK_SUPPLY_CHK 894281 -# - without safety switch -param set-default COM_PREARM_MODE 0 -param set-default CBRK_IO_SAFETY 22027 - -set MIXER AERT diff --git a/ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery b/ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery deleted file mode 100644 index 0b01898f4c..0000000000 --- a/ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery +++ /dev/null @@ -1,36 +0,0 @@ -#!/bin/sh -# -# @name Team Blacksheep Discovery -# -# @type Quadrotor Wide -# @class Copter -# -# @output MAIN1 motor 1 -# @output MAIN2 motor 2 -# @output MAIN3 motor 3 -# @output MAIN4 motor 4 -# @output MAIN5 feed-through of RC AUX1 channel -# @output MAIN6 feed-through of RC AUX2 channel -# -# @output AUX1 feed-through of RC AUX1 channel -# @output AUX2 feed-through of RC AUX2 channel -# @output AUX3 feed-through of RC AUX3 channel -# @output AUX4 feed-through of RC FLAPS channel -# -# @maintainer Lorenz Meier -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.mc_defaults - -param set-default MC_ROLLRATE_P 0.1 -param set-default MC_ROLLRATE_I 0.05 -param set-default MC_ROLLRATE_D 0.0017 -param set-default MC_PITCHRATE_P 0.14 -param set-default MC_PITCHRATE_I 0.1 -param set-default MC_PITCHRATE_D 0.0025 -param set-default MC_YAWRATE_P 0.28 - -set MIXER quad_w diff --git a/ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris b/ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris deleted file mode 100644 index cbc9a768e3..0000000000 --- a/ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris +++ /dev/null @@ -1,40 +0,0 @@ -#!/bin/sh -# -# @name 3DR Iris Quadrotor -# -# @type Quadrotor Wide -# @class Copter -# -# @output MAIN1 motor 1 -# @output MAIN2 motor 2 -# @output MAIN3 motor 3 -# @output MAIN4 motor 4 -# -# @output AUX1 feed-through of RC AUX1 channel -# @output AUX2 feed-through of RC AUX2 channel -# @output AUX3 feed-through of RC AUX3 channel -# @output AUX4 feed-through of RC FLAPS channel -# -# @maintainer Lorenz Meier -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.mc_defaults - -# TODO tune roll/pitch separately -param set-default MC_ROLL_P 7 -param set-default MC_ROLLRATE_I 0.05 -param set-default MC_ROLLRATE_D 0.004 -param set-default MC_PITCH_P 7 -param set-default MC_PITCHRATE_I 0.05 -param set-default MC_PITCHRATE_D 0.004 -param set-default MC_YAW_P 2.5 -param set-default MC_YAWRATE_P 0.25 -param set-default MC_YAWRATE_I 0.25 - -param set-default BAT1_V_DIV 12.27559 -param set-default BAT1_A_PER_V 15.391030303103 - -set MIXER quad_w diff --git a/ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance b/ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance deleted file mode 100644 index bbf00f86bc..0000000000 --- a/ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance +++ /dev/null @@ -1,43 +0,0 @@ -#!/bin/sh -# -# @name Team Blacksheep Discovery Endurance -# -# @type Quadrotor Wide -# @class Copter -# -# @output MAIN1 motor 1 -# @output MAIN2 motor 2 -# @output MAIN3 motor 3 -# @output MAIN4 motor 4 -# @output MAIN5 feed-through of RC AUX1 channel -# @output MAIN6 feed-through of RC AUX2 channel -# -# @output AUX1 feed-through of RC AUX1 channel -# @output AUX2 feed-through of RC AUX2 channel -# @output AUX3 feed-through of RC AUX3 channel -# @output AUX4 feed-through of RC FLAPS channel -# -# @maintainer Simon Wilks -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.mc_defaults - -param set-default BAT1_N_CELLS 6 -param set-default BAT1_V_EMPTY 3.5 - -param set-default MC_ROLL_P 7 -param set-default MC_ROLLRATE_P 0.08 -param set-default MC_ROLLRATE_I 0.02 -param set-default MC_PITCH_P 7 -param set-default MC_PITCHRATE_P 0.13 -param set-default MC_PITCHRATE_I 0.02 -param set-default MC_PITCHRATE_D 0.005 - -param set-default MPC_XY_VEL_MAX 2 - -param set-default PWM_MAIN_MIN 1080 - -set MIXER quad_w diff --git a/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil b/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil index f3c27312f6..a78217413e 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil +++ b/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil @@ -11,7 +11,6 @@ . ${R}etc/init.d/rc.mc_defaults -set MIXER quad_x param set SYS_HITL 1 diff --git a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil b/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil index 94ec095ecf..ac4349858d 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil +++ b/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil @@ -108,6 +108,4 @@ param set-default CBRK_IO_SAFETY 22027 param set-default MAV_TYPE 22 -set MIXER standard_vtol_hitl -set PWM_OUT 1234 diff --git a/ROMFS/px4fmu_common/init.d/airframes/11001_hexa_cox b/ROMFS/px4fmu_common/init.d/airframes/11001_hexa_cox index 0b0495ffd3..5424cbf9a2 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/11001_hexa_cox +++ b/ROMFS/px4fmu_common/init.d/airframes/11001_hexa_cox @@ -5,16 +5,12 @@ # @type Hexarotor Coaxial # @class Copter # -# @output MAIN1 front right top, CW; angle:60; direction:CW -# @output MAIN2 front right bottom, CCW; angle:60; direction:CCW -# @output MAIN3 back top, CW; angle:180; direction:CW -# @output MAIN4 back bottom, CCW; angle:180; direction:CCW -# @output MAIN5 front left top, CW; angle:-60; direction:CW -# @output MAIN6 front left bottom, CCW;angle:-60; direction:CCW -# -# @output AUX1 feed-through of RC AUX1 channel -# @output AUX2 feed-through of RC AUX2 channel -# @output AUX3 feed-through of RC AUX3 channel +# @output Motor1 front right top, CW; angle:60; direction:CW +# @output Motor2 front right bottom, CCW; angle:60; direction:CCW +# @output Motor3 back top, CW; angle:180; direction:CW +# @output Motor4 back bottom, CCW; angle:180; direction:CCW +# @output Motor5 front left top, CW; angle:-60; direction:CW +# @output Motor6 front left bottom, CCW;angle:-60; direction:CCW # # @maintainer Lorenz Meier # @@ -24,7 +20,28 @@ . ${R}etc/init.d/rc.mc_defaults -set MIXER hexa_cox +param set-default MAV_TYPE 13 + +param set-default CA_ROTOR_COUNT 6 +param set-default CA_ROTOR0_PX 0.25 +param set-default CA_ROTOR0_PY 0.433 +param set-default CA_ROTOR0_PZ -0.05 +param set-default CA_ROTOR0_KM -0.05 +param set-default CA_ROTOR1_PX 0.25 +param set-default CA_ROTOR1_PY 0.433 +param set-default CA_ROTOR1_PZ 0.05 +param set-default CA_ROTOR2_PX -0.5 +param set-default CA_ROTOR2_PY 0 +param set-default CA_ROTOR2_PZ -0.05 +param set-default CA_ROTOR2_KM -0.05 +param set-default CA_ROTOR3_PX -0.5 +param set-default CA_ROTOR3_PY 0 +param set-default CA_ROTOR3_PZ 0.05 +param set-default CA_ROTOR4_PX 0.25 +param set-default CA_ROTOR4_PY -0.433 +param set-default CA_ROTOR4_PZ -0.05 +param set-default CA_ROTOR4_KM -0.05 +param set-default CA_ROTOR5_PX 0.25 +param set-default CA_ROTOR5_PY -0.433 +param set-default CA_ROTOR5_PZ 0.05 -# Need to set all 8 channels -set PWM_OUT 12345678 diff --git a/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil b/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil index 61400342ab..b78bfba3f1 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil +++ b/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil @@ -12,8 +12,6 @@ . ${R}etc/init.d/rc.mc_defaults -set MIXER quad_x -set PWM_OUT 1234 param set UAVCAN_ENABLE 0 diff --git a/ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil b/ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil index 63e3ce3e30..79edc94386 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil +++ b/ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil @@ -12,8 +12,6 @@ . ${R}etc/init.d/rc.fw_defaults -set MIXER AERT -set PWM_OUT 1234 param set UAVCAN_ENABLE 0 diff --git a/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil b/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil index a9046c6aff..c883b1f2bb 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil +++ b/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil @@ -5,10 +5,10 @@ # @type Simulation # @class VTOL # -# @output MAIN1 motor right -# @output MAIN2 motor left -# @output MAIN5 elevon right -# @output MAIN6 elevon left +# @output Motor1 motor right +# @output Motor2 motor left +# @output Servo1 elevon right +# @output Servo2 elevon left # # @maintainer Romain Chiappinelli # @@ -48,9 +48,7 @@ param set-default HIL_ACT_REV 32 param set-default MAV_TYPE 19 -set MIXER vtol_tailsitter_duo_sat -set PWM_OUT 1234 # set SYS_HITL to 2 to start the SIH and avoid sensors startup param set-default SYS_HITL 2 diff --git a/ROMFS/px4fmu_common/init.d/airframes/12001_octo_cox b/ROMFS/px4fmu_common/init.d/airframes/12001_octo_cox index 5fc70fdfd3..1dba92b89d 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/12001_octo_cox +++ b/ROMFS/px4fmu_common/init.d/airframes/12001_octo_cox @@ -5,14 +5,14 @@ # @type Octorotor Coaxial # @class Copter # -# @output MAIN1 motor 1 -# @output MAIN2 motor 2 -# @output MAIN3 motor 3 -# @output MAIN4 motor 4 -# @output MAIN5 motor 5 -# @output MAIN6 motor 6 -# @output MAIN7 motor 7 -# @output MAIN8 motor 8 +# @output Motor1 motor 1 +# @output Motor2 motor 2 +# @output Motor3 motor 3 +# @output Motor4 motor 4 +# @output Motor5 motor 5 +# @output Motor6 motor 6 +# @output Motor7 motor 7 +# @output Motor8 motor 8 # # @maintainer Lorenz Meier # @@ -21,6 +21,35 @@ . ${R}etc/init.d/rc.mc_defaults -set MIXER octo_cox -set PWM_OUT 12345678 +param set-default MAV_TYPE 14 + +param set-default CA_ROTOR_COUNT 8 +param set-default CA_ROTOR0_PX 0.35 +param set-default CA_ROTOR0_PY 0.35 +param set-default CA_ROTOR0_PZ -0.05 +param set-default CA_ROTOR1_KM -0.05 +param set-default CA_ROTOR1_PX 0.35 +param set-default CA_ROTOR1_PY -0.35 +param set-default CA_ROTOR1_PZ -0.05 +param set-default CA_ROTOR2_PX -0.35 +param set-default CA_ROTOR2_PY -0.35 +param set-default CA_ROTOR2_PZ -0.05 +param set-default CA_ROTOR3_PX -0.35 +param set-default CA_ROTOR3_PY 0.35 +param set-default CA_ROTOR3_PZ -0.05 +param set-default CA_ROTOR3_KM -0.05 +param set-default CA_ROTOR4_PX 0.35 +param set-default CA_ROTOR4_PY -0.35 +param set-default CA_ROTOR4_PZ 0.05 +param set-default CA_ROTOR5_PX 0.35 +param set-default CA_ROTOR5_PY 0.35 +param set-default CA_ROTOR5_PZ 0.05 +param set-default CA_ROTOR5_KM -0.05 +param set-default CA_ROTOR6_PX -0.35 +param set-default CA_ROTOR6_PY 0.35 +param set-default CA_ROTOR6_PZ 0.05 +param set-default CA_ROTOR7_KM -0.05 +param set-default CA_ROTOR7_PX -0.35 +param set-default CA_ROTOR7_PY -0.35 +param set-default CA_ROTOR7_PZ 0.05 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol b/ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol deleted file mode 100644 index 85e55bbe9d..0000000000 --- a/ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol +++ /dev/null @@ -1,43 +0,0 @@ -#!/bin/sh -# -# @name Caipiroshka Duo Tailsitter -# -# @type VTOL Duo Tailsitter -# @class VTOL -# -# @output MAIN1 motor right -# @output MAIN2 motor left -# @output MAIN5 elevon right -# @output MAIN6 elevon left -# -# @maintainer Roman Bapst -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# @board holybro_kakutef7 exclude -# - -. ${R}etc/init.d/rc.vtol_defaults - -param set-default MAV_TYPE 19 - -param set-default MC_ROLL_P 6 -param set-default MC_ROLLRATE_P 0.12 -param set-default MC_ROLLRATE_I 0.002 - -param set-default MC_PITCH_P 4.5 -param set-default MC_PITCHRATE_P 0.3 -param set-default MC_PITCHRATE_I 0.002 - -param set-default MC_YAW_P 3.8 -param set-default MC_YAWRATE_P 0.22 -param set-default MC_YAWRATE_I 0.02 - -param set-default VT_IDLE_PWM_MC 1080 -param set-default VT_ELEV_MC_LOCK 0 -param set-default VT_MOT_ID 12 -param set-default VT_TYPE 0 - -set MIXER vtol_tailsitter_duo - -set PWM_OUT 123456 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6 b/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6 deleted file mode 100644 index 583a045696..0000000000 --- a/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6 +++ /dev/null @@ -1,53 +0,0 @@ -#!/bin/sh -# -# @name BirdsEyeView Aerobotics FireFly6 -# @type VTOL Tiltrotor -# @class VTOL -# -# @maintainer Roman Bapst -# -# @output MAIN1 Front right motor bottom -# @output MAIN2 Front right motor top -# @output MAIN3 Back motor bottom -# @output MAIN4 Back motor top -# @output MAIN5 Front left motor bottom -# @output MAIN6 Front left motor top -# @output AUX1 Tilt servo -# @output AUX2 Elevon 1 -# @output AUX3 Elevon 2 -# @output AUX4 Gear -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.vtol_defaults - -param set-default MAV_TYPE 21 - -param set-default MC_ROLL_P 7 -param set-default MC_ROLLRATE_P 0.19 -param set-default MC_ROLLRATE_I 0.002 -param set-default MC_ROLLRATE_D 0.005 -param set-default MC_PITCH_P 7 -param set-default MC_PITCHRATE_P 0.14 -param set-default MC_PITCHRATE_I 0.002 -param set-default MC_PITCHRATE_D 0.004 -param set-default MC_YAW_P 4 -param set-default MC_YAWRATE_P 0.22 -param set-default MC_YAWRATE_I 0.02 - -param set-default VT_FW_MOT_OFFID 34 -param set-default VT_IDLE_PWM_MC 1080 -param set-default VT_MOT_ID 123456 -param set-default VT_FW_MOT_OFFID 56 -param set-default VT_TILT_MC 0.08 -param set-default VT_TILT_TRANS 0.5 -param set-default VT_TILT_FW 0.9 -param set-default VT_ELEV_MC_LOCK 0 -param set-default VT_TYPE 1 - -set MIXER firefly6 -set MIXER_AUX firefly6 - -set PWM_OUT 12345678 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter b/ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter deleted file mode 100644 index e88f711105..0000000000 --- a/ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter +++ /dev/null @@ -1,46 +0,0 @@ -#!/bin/sh -# -# @name Quadrotor X Tailsitter -# -# @type VTOL Quad Tailsitter -# @class VTOL -# -# @maintainer Roman Bapst -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.vtol_defaults - -param set-default MAV_TYPE 20 - -param set-default CA_AIRFRAME 4 -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 2 -param set-default CA_SV_CS0_TRQ_P 0.5 -param set-default CA_SV_CS0_TRQ_Y 0.5 -param set-default CA_SV_CS0_TYPE 5 -param set-default CA_SV_CS1_TRQ_P 0.5 -param set-default CA_SV_CS1_TRQ_Y -0.5 -param set-default CA_SV_CS1_TYPE 6 - -param set-default PWM_MAIN_MAX 2000 - -param set-default VT_MOT_ID 1234 -param set-default VT_IDLE_PWM_MC 1080 -param set-default VT_TYPE 0 - -set MIXER quad_x_vtol - -set PWM_OUT 1234 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter b/ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter deleted file mode 100644 index d162e82475..0000000000 --- a/ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter +++ /dev/null @@ -1,34 +0,0 @@ -#!/bin/sh -# -# @name Quadrotor + Tailsitter -# -# @type VTOL Quad Tailsitter -# @class VTOL -# -# @output MAIN1 motor 1 -# @output MAIN2 motor 2 -# @output MAIN3 motor 3 -# @output MAIN4 motor 4 -# @output MAIN5 elevon left -# @output MAIN6 elevon right -# @output MAIN7 canard surface -# @output MAIN8 rudder -# -# @maintainer Roman Bapst -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.vtol_defaults - -param set-default MAV_TYPE 20 - -param set-default PWM_MAIN_MAX 2000 - -param set-default VT_IDLE_PWM_MC 1080 -param set-default VT_TYPE 0 - -set MIXER quad_+_vtol - -set PWM_OUT 1234 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad b/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad deleted file mode 100644 index 507b3e9ecf..0000000000 --- a/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad +++ /dev/null @@ -1,59 +0,0 @@ -#!/bin/sh -# -# @name Fun Cub Quad VTOL -# -# @type Standard VTOL -# @class VTOL -# -# @maintainer Simon Wilks -# -# @output MAIN1 motor 1 -# @output MAIN2 motor 2 -# @output MAIN3 motor 3 -# @output MAIN4 motor 4 -# @output AUX1 Aileron 1 -# @output AUX2 Aileron 2 -# @output AUX3 Elevator -# @output AUX4 Rudder -# @output AUX5 Throttle -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# @board holybro_kakutef7 exclude -# - -. ${R}etc/init.d/rc.vtol_defaults - -param set-default PWM_AUX_DIS5 950 - -param set-default MC_ROLL_P 6 -param set-default MC_ROLLRATE_P 0.17 -param set-default MC_ROLLRATE_I 0.002 -param set-default MC_ROLLRATE_D 0.004 -param set-default MC_PITCH_P 6 -param set-default MC_PITCHRATE_P 0.19 -param set-default MC_PITCHRATE_I 0.002 -param set-default MC_PITCHRATE_D 0.004 -param set-default MC_YAWRATE_P 0.22 -param set-default MC_YAWRATE_I 0.02 -param set-default MC_YAWRATE_MAX 40 - -param set-default MPC_YAWRAUTO_MAX 40 - -param set-default FW_PR_I 0.02 -param set-default FW_RR_FF 0.6 -param set-default FW_RR_I 0.01 -param set-default FW_THR_TRIM 0.75 - -param set-default VT_ARSP_BLEND 6 -param set-default VT_ARSP_TRANS 12 -param set-default VT_F_TRANS_THR 0.75 -param set-default VT_MOT_ID 1234 -param set-default VT_FW_MOT_OFFID 1234 -param set-default VT_IDLE_PWM_MC 1080 -param set-default VT_TYPE 2 - -set MIXER quad_x -set MIXER_AUX vtol_AAERT - -set PWM_OUT 1234 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta b/ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta deleted file mode 100644 index 2207475135..0000000000 --- a/ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta +++ /dev/null @@ -1,48 +0,0 @@ -#!/bin/sh -# -# @name Generic quad delta VTOL -# -# @type Standard VTOL -# @class VTOL -# -# @maintainer Simon Wilks -# -# @output MAIN1 motor 1 -# @output MAIN2 motor 2 -# @output MAIN3 motor 3 -# @output MAIN4 motor 4 -# @output AUX1 Right elevon -# @output AUX2 Left elevon -# @output AUX3 Motor -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# @board holybro_kakutef7 exclude -# - -. ${R}etc/init.d/rc.vtol_defaults - - -param set-default MC_ROLLRATE_I 0.01 -param set-default MC_PITCHRATE_I 0.01 -param set-default MC_YAW_P 3.5 - -param set-default MC_YAWRATE_MAX 50 - -param set-default MPC_XY_P 0.8 -param set-default MPC_XY_VEL_P_ACC 2 -param set-default MPC_ACC_HOR_MAX 2 -param set-default MPC_YAWRAUTO_MAX 20 - -param set-default PWM_AUX_DIS3 950 - -param set-default VT_MOT_ID 1234 -param set-default VT_FW_MOT_OFFID 1234 -param set-default VT_F_TRANS_THR 0.75 -param set-default VT_IDLE_PWM_MC 1080 -param set-default VT_TYPE 2 - -set MIXER quad_x -set MIXER_AUX vtol_delta - -set PWM_OUT 1234 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad b/ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad deleted file mode 100644 index 7671ec1cf5..0000000000 --- a/ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad +++ /dev/null @@ -1,40 +0,0 @@ -#!/bin/sh -# -# @name Generic AAVVT v-tail plane airframe with Quad VTOL. -# -# @type Standard VTOL -# @class VTOL -# -# @maintainer Sander Smeets -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# @board holybro_kakutef7 exclude -# - -. ${R}etc/init.d/rc.vtol_defaults - - -param set-default MC_ROLL_P 7 -param set-default MC_ROLLRATE_I 0.002 -param set-default MC_PITCH_P 7 -param set-default MC_PITCHRATE_P 0.12 -param set-default MC_PITCHRATE_I 0.002 -param set-default MC_YAWRATE_P 0.22 -param set-default MC_YAWRATE_I 0.02 -param set-default MC_YAWRATE_MAX 40 - -param set-default MPC_YAWRAUTO_MAX 40 - -param set-default PWM_AUX_DIS5 950 - -param set-default VT_F_TRANS_THR 0.75 -param set-default VT_MOT_ID 1234 -param set-default VT_FW_MOT_OFFID 1234 -param set-default VT_IDLE_PWM_MC 1080 -param set-default VT_TYPE 2 - -set MIXER quad_x -set MIXER_AUX vtol_AAVVT - -set PWM_OUT 1234 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger b/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger deleted file mode 100644 index c0340f86c8..0000000000 --- a/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger +++ /dev/null @@ -1,52 +0,0 @@ -#!/bin/sh -# -# @name QuadRanger -# -# @type Standard VTOL -# @class VTOL -# -# @maintainer Sander Smeets -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.vtol_defaults - - -param set-default FW_THR_TRIM 65 -param set-default FW_RR_FF 0.6 - -param set-default MIS_YAW_TMT 10 - -param set-default MC_ROLL_P 7 -param set-default MC_ROLLRATE_I 0.1 -param set-default MC_ROLLRATE_D 0.004 -param set-default MC_PITCH_P 7 -param set-default MC_PITCHRATE_I 0.1 -param set-default MC_PITCHRATE_D 0.004 -param set-default MC_YAW_P 3.5 -param set-default MC_YAWRATE_P 0.6 -param set-default MC_YAWRATE_I 0.04 -param set-default MC_YAWRATE_MAX 40 - -param set-default MPC_ACC_HOR_MAX 2 -param set-default MPC_LAND_SPEED 0.8 -param set-default MPC_YAWRAUTO_MAX 40 - -param set-default PWM_AUX_DIS5 950 -param set-default PWM_AUX_REV1 1 -param set-default PWM_AUX_REV2 1 - -param set-default VT_ARSP_TRANS 15 -param set-default VT_ARSP_BLEND 8 -param set-default VT_F_TRANS_THR 0.75 -param set-default VT_IDLE_PWM_MC 1080 -param set-default VT_MOT_ID 1234 -param set-default VT_FW_MOT_OFFID 1234 -param set-default VT_TYPE 2 - -set MIXER quad_x -set MIXER_AUX vtol_AAERT - -set PWM_OUT 1234 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger b/ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger deleted file mode 100644 index 312ffd3e5b..0000000000 --- a/ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger +++ /dev/null @@ -1,83 +0,0 @@ -#!/bin/sh -# -# @name Sparkle Tech Ranger VTOL -# -# @type Standard VTOL -# @class VTOL -# -# @maintainer Andreas Antener -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# @board holybro_kakutef7 exclude -# - -. ${R}etc/init.d/rc.vtol_defaults - -param set-default FW_AIRSPD_MAX 22 -param set-default FW_AIRSPD_MIN 14 -param set-default FW_AIRSPD_TRIM 16 -param set-default FW_L1_PERIOD 25 -param set-default FW_PR_P 0.060 -param set-default FW_P_RMAX_NEG 40 -param set-default FW_P_RMAX_POS 40 -param set-default FW_RR_FF 0.4 -param set-default FW_RR_P 0.04 -param set-default FW_R_RMAX 40 - -param set-default MC_PITCHRATE_D 0.004 -param set-default MC_PITCHRATE_I 0 -param set-default MC_PITCHRATE_MAX 60 -param set-default MC_PITCHRATE_P 0.21 -param set-default MC_PITCH_P 4 -param set-default MC_ROLLRATE_D 0.004 -param set-default MC_ROLLRATE_I 0.002 -param set-default MC_ROLLRATE_MAX 60 -param set-default MC_ROLLRATE_P 0.24 -param set-default MC_ROLL_P 4 -param set-default MC_YAWRATE_I 0.02 -param set-default MC_YAWRATE_MAX 40 -param set-default MC_YAWRATE_P 0.18 - -param set-default MIS_TAKEOFF_ALT 2.5 -param set-default MIS_YAW_TMT 20 - -param set-default MPC_ACC_HOR_MAX 1 -param set-default MPC_HOLD_MAX_XY 0.5 -param set-default MPC_HOLD_MAX_Z 0.5 -param set-default MPC_LAND_SPEED 1 -param set-default MPC_MANTHR_MIN 0.05 -param set-default MPC_MAN_Y_MAX 120 -param set-default MPC_THR_MIN 0.07 -param set-default MPC_TILTMAX_AIR 35 -param set-default MPC_TILTMAX_LND 20 -param set-default MPC_TKO_SPEED 1 -param set-default MPC_XY_P 0.3 -param set-default MPC_XY_VEL_MAX 3 -param set-default MPC_XY_VEL_P_ACC 1 -param set-default MPC_Z_P 0.5 -param set-default MPC_Z_VEL_P_ACC 2 -param set-default MPC_YAWRAUTO_MAX 40 - -param set-default NAV_ACC_RAD 3 - -param set-default PWM_AUX_REV1 1 -param set-default PWM_AUX_REV2 1 -param set-default PWM_AUX_REV3 1 -param set-default PWM_AUX_REV4 1 - -param set-default PWM_AUX_DIS5 950 - -param set-default VT_ARSP_TRANS 15 -param set-default VT_F_TRANS_THR 0.6 -param set-default VT_IDLE_PWM_MC 1180 -param set-default VT_MOT_ID 1234 -param set-default VT_FW_MOT_OFFID 1234 -param set-default VT_TRANS_MIN_TM 5 -param set-default VT_TRANS_TIMEOUT 30 -param set-default VT_TYPE 2 - -set MIXER quad_x -set MIXER_AUX vtol_AAERT - -set PWM_OUT 1234 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13012_convergence b/ROMFS/px4fmu_common/init.d/airframes/13012_convergence deleted file mode 100644 index 79b3dda403..0000000000 --- a/ROMFS/px4fmu_common/init.d/airframes/13012_convergence +++ /dev/null @@ -1,75 +0,0 @@ -#!/bin/sh -# -# @name E-flite Convergence -# -# @type VTOL Tiltrotor -# @class VTOL -# -# @maintainer Andreas Antener -# -# @output MAIN1 Motor right -# @output MAIN2 Motor left -# @output MAIN3 Motor back -# @output MAIN4 empty -# @output MAIN5 Tilt servo right -# @output MAIN6 Tilt servo left -# @output MAIN7 Elevon right -# @output MAIN8 Elevon left -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.vtol_defaults - -param set-default MAV_TYPE 21 - -param set-default CBRK_AIRSPD_CHK 162128 - -param set-default FW_ARSP_MODE 1 - -param set-default FW_L1_PERIOD 17 -param set-default FW_MAN_R_MAX 50 -param set-default FW_ACRO_X_MAX 270 -param set-default FW_ACRO_Y_MAX 270 -param set-default FW_ACRO_Z_MAX 180 -param set-default FW_PSP_OFF 5 -param set-default FW_RR_FF 0.33 -param set-default FW_RR_P 0.11 - -param set-default MC_PITCHRATE_P 0.15 -param set-default MC_PITCH_P 6 -param set-default MC_ROLLRATE_P 0.15 -param set-default MC_ROLL_P 6 -param set-default MC_YAWRATE_MAX 120 -param set-default MC_YAWRATE_P 0.27 -param set-default MC_YAW_P 2.5 - -param set-default MC_YAWRATE_P 0.3 -param set-default MPC_LAND_SPEED 1.2 -param set-default MPC_TKO_SPEED 2.5 - -param set-default SENS_BOARD_ROT 8 - -param set-default VT_B_TRANS_DUR 1 -param set-default VT_F_TRANS_DUR 1.2 -param set-default VT_F_TR_OL_TM 4 -param set-default VT_FW_DIFTHR_EN 1 -param set-default VT_FW_DIFTHR_SC 0.17 -param set-default VT_FW_MOT_OFFID 3 -param set-default VT_IDLE_PWM_MC 1200 -param set-default VT_MOT_ID 123 -param set-default VT_TILT_TRANS 0.45 -param set-default VT_TRANS_MIN_TM 1.2 -param set-default VT_TRANS_P2_DUR 1.3 -param set-default VT_ELEV_MC_LOCK 0 -param set-default VT_TYPE 1 - -set MIXER vtol_convergence - -if ! ver hwcmp MATEK_H743 -then - set PWM_OUT 1234 -else - set PWM_OUT 3456 -fi diff --git a/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad b/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad index ea53dc3d65..1c6d1874c3 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad +++ b/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad @@ -7,14 +7,14 @@ # # @maintainer Sander Smeets # -# @output MAIN1 motor 1 -# @output MAIN2 motor 2 -# @output MAIN3 motor 3 -# @output MAIN4 motor 4 -# @output MAIN5 Right elevon -# @output MAIN6 Left elevon -# @output MAIN7 Pusher motor -# @output MAIN8 Pusher reverse channel +# @output Motor1 motor 1 +# @output Motor2 motor 2 +# @output Motor3 motor 3 +# @output Motor4 motor 4 +# @output Servo1 Right elevon +# @output Servo2 Left elevon +# @output Servo3 Pusher motor +# @output Servo4 Pusher reverse channel # # @board px4_fmu-v2 exclude # @board bitcraze_crazyflie exclude @@ -134,8 +134,32 @@ param set-default VT_F_TRANS_RAMP 4 param set-default COM_RC_OVERRIDE 0 -set MIXER deltaquad -set MIXER_AUX pass -set PWM_OUT 1234 -set PWM_AUX_OUT 12345 + + +param set-default CA_AIRFRAME 2 + +param set-default CA_ROTOR_COUNT 5 +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_ROTOR4_AX 1.0 +param set-default CA_ROTOR4_AZ 0.0 +param set-default CA_ROTOR4_PX 0.2 + +param set-default CA_SV_CS_COUNT 3 +param set-default CA_SV_CS0_TYPE 1 +param set-default CA_SV_CS0_TRQ_R -0.5 +param set-default CA_SV_CS1_TYPE 2 +param set-default CA_SV_CS1_TRQ_R 0.5 +param set-default CA_SV_CS2_TYPE 3 +param set-default CA_SV_CS2_TRQ_P 1.0 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark b/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark index 8503ac2586..13027e7854 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark +++ b/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark @@ -7,14 +7,14 @@ # # @maintainer Silvan Fuhrer # -# @output MAIN1 Ailerons -# @output MAIN2 A-tail left -# @output MAIN3 Pusher motor -# @output MAIN4 A-tail right -# @output MAIN5 motor 1 -# @output MAIN6 motor 2 -# @output MAIN7 motor 3 -# @output MAIN8 motor 4 +# @output Motor1 motor 1 +# @output Motor2 motor 2 +# @output Motor3 motor 3 +# @output Motor4 motor 4 +# @output Motor5 Pusher motor +# @output Servo1 Ailerons +# @output Servo2 A-tail left +# @output Servo3 A-tail right # # @board px4_fmu-v2 exclude # @board bitcraze_crazyflie exclude @@ -94,9 +94,45 @@ param set-default VT_PSHER_RMP_DT 2 param set-default VT_TRANS_MIN_TM 4 param set-default VT_TYPE 2 -set MIXER babyshark -set MIXER_AUX pass -# Mark outputs for the alternate rate -# or D-Shot -set PWM_OUT 5678 +param set-default CA_AIRFRAME 2 +param set-default CA_ROTOR_COUNT 5 +param set-default CA_ROTOR0_PX 1 +param set-default CA_ROTOR0_PY 1 +param set-default CA_ROTOR1_PX -1 +param set-default CA_ROTOR1_PY -1 +param set-default CA_ROTOR2_PX 1 +param set-default CA_ROTOR2_PY -1 +param set-default CA_ROTOR2_KM -0.05 +param set-default CA_ROTOR3_PX -1 +param set-default CA_ROTOR3_PY 1 +param set-default CA_ROTOR3_KM -0.05 +param set-default CA_ROTOR4_AX 1.0 +param set-default CA_ROTOR4_AZ 0.0 + +param set-default CA_SV_CS_COUNT 3 +param set-default CA_SV_CS0_TYPE 1 +param set-default CA_SV_CS0_TRQ_R -0.5 +param set-default CA_SV_CS1_TRQ_P 0.5000 +param set-default CA_SV_CS1_TRQ_R 0.0000 +param set-default CA_SV_CS1_TRQ_Y -0.5000 +param set-default CA_SV_CS1_TYPE 8 +param set-default CA_SV_CS2_TRQ_P 0.5000 +param set-default CA_SV_CS2_TRQ_Y 0.5000 +param set-default CA_SV_CS2_TYPE 7 + +param set-default PWM_MAIN_FUNC1 201 +param set-default PWM_MAIN_FUNC2 202 +param set-default PWM_MAIN_FUNC3 105 +param set-default PWM_MAIN_FUNC4 203 +param set-default PWM_MAIN_FUNC5 101 +param set-default PWM_MAIN_FUNC6 102 +param set-default PWM_MAIN_FUNC7 103 +param set-default PWM_MAIN_FUNC8 105 + +param set-default PWM_MAIN_TIM0 50 +param set-default PWM_MAIN_DIS1 1500 +param set-default PWM_MAIN_DIS2 1500 +param set-default PWM_MAIN_DIS4 1500 + + diff --git a/ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor b/ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor index 053d972abb..0824e531e1 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor +++ b/ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor @@ -7,19 +7,6 @@ # # @maintainer # -# @output MAIN1 motor 1 -# @output MAIN2 motor 2 -# @output MAIN3 motor 3 -# @output MAIN4 motor 4 -# @output AUX1 Motor tilt front left -# @output AUX2 Motor tilt front right -# @output AUX3 Motor tilt rear left -# @output AUX4 Motor tilt rear right -# @output AUX5 Aileron left -# @output AUX6 Aileron right -# @output AUX7 Elevator -# @output AUX8 Rudder -# # @board px4_fmu-v2 exclude # @board bitcraze_crazyflie exclude # @board holybro_kakutef7 exclude @@ -61,7 +48,4 @@ param set-default CA_SV_CS3_TRQ_Y 1.0 param set-default CA_SV_CS3_TYPE 4 param set-default CA_SV_TL_COUNT 4 -set MIXER quad_x -set MIXER_AUX vtol_TTTTAAER -set PWM_OUT 1234 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo b/ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo deleted file mode 100644 index c56a10d692..0000000000 --- a/ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo +++ /dev/null @@ -1,38 +0,0 @@ -#!/bin/sh -# -# @name Generic Octoplane VTOL -# -# @type VTOL Octoplane -# @class VTOL -# -# @output MAIN1 motor 1 -# @output MAIN2 motor 2 -# @output MAIN3 motor 3 -# @output MAIN4 motor 4 -# @output MAIN5 motor 5 -# @output MAIN6 motor 6 -# @output MAIN7 motor 7 -# @output MAIN8 motor 8 -# @output AUX1 Aileron 1 -# @output AUX2 Aileron 2 -# @output AUX3 Elevator -# @output AUX4 Rudder -# @output AUX5 Throttle -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# @board holybro_kakutef7 exclude -# - -. ${R}etc/init.d/rc.vtol_defaults - -param set-default PWM_AUX_DIS5 950 - -param set-default VT_TYPE 2 -param set-default VT_MOT_ID 12345678 -param set-default VT_FW_MOT_OFFID 12345678 - -set MIXER octo_cox -set MIXER_AUX vtol_AAERT - -set PWM_OUT 12345678 diff --git a/ROMFS/px4fmu_common/init.d/airframes/14001_generic_mc_with_tilt b/ROMFS/px4fmu_common/init.d/airframes/14001_generic_mc_with_tilt new file mode 100644 index 0000000000..e675cafe1b --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/airframes/14001_generic_mc_with_tilt @@ -0,0 +1,35 @@ +#!/bin/sh +# +# @name Generic Multirotor with tilt +# +# @class Copter +# @type Tricopter Y+ +# +# @output Motor1 motor 1 +# @output Motor2 motor 2 +# @output Motor3 motor 3 +# @output Servo1 yaw servo +# +# @board bitcraze_crazyflie exclude +# @board px4_fmu-v2 exclude +# + +. ${R}etc/init.d/rc.mc_defaults + +param set-default MAV_TYPE 15 + +param set-default CA_AIRFRAME 8 +# Tricopter +param set-default CA_ROTOR0_PX 0.2500 +param set-default CA_ROTOR0_PY 0.4330 +param set-default CA_ROTOR1_PX 0.2500 +param set-default CA_ROTOR1_PY -0.4300 +param set-default CA_ROTOR2_PX -0.5000 +param set-default CA_ROTOR2_PY 0.0000 +param set-default CA_ROTOR2_TILT 1 +param set-default CA_ROTOR_COUNT 3 +param set-default CA_SV_TL0_MAXA 45.0000 +param set-default CA_SV_TL0_MINA -45.0000 +param set-default CA_SV_TL0_TD 90 +param set-default CA_SV_TL_COUNT 1 + diff --git a/ROMFS/px4fmu_common/init.d/airframes/14001_tri_y_yaw+ b/ROMFS/px4fmu_common/init.d/airframes/14001_tri_y_yaw+ deleted file mode 100644 index e12393eb6e..0000000000 --- a/ROMFS/px4fmu_common/init.d/airframes/14001_tri_y_yaw+ +++ /dev/null @@ -1,24 +0,0 @@ -#!/bin/sh -# -# @name Generic Tricopter Y+ Geometry -# -# @type Tricopter Y+ -# @class Copter -# -# @output MAIN1 motor 1 -# @output MAIN2 motor 2 -# @output MAIN3 motor 3 -# @output MAIN4 yaw servo -# -# @maintainer Trent Lukaczyk -# -# @board bitcraze_crazyflie exclude -# @board px4_fmu-v2 exclude -# - -. ${R}etc/init.d/rc.mc_defaults - -# MAV_TYPE_TRICOPTER 15 -param set-default MAV_TYPE 15 - -set MIXER tri_y_yaw+ diff --git a/ROMFS/px4fmu_common/init.d/airframes/14002_tri_y_yaw- b/ROMFS/px4fmu_common/init.d/airframes/14002_tri_y_yaw- deleted file mode 100644 index 425728199c..0000000000 --- a/ROMFS/px4fmu_common/init.d/airframes/14002_tri_y_yaw- +++ /dev/null @@ -1,24 +0,0 @@ -#!/bin/sh -# -# @name Generic Tricopter Y- Geometry -# -# @type Tricopter Y- -# @class Copter -# -# @output MAIN1 motor 1 -# @output MAIN2 motor 2 -# @output MAIN3 motor 3 -# @output MAIN4 yaw servo -# -# @maintainer Trent Lukaczyk -# -# @board bitcraze_crazyflie exclude -# @board px4_fmu-v2 exclude -# - -. ${R}etc/init.d/rc.mc_defaults - -# MAV_TYPE_TRICOPTER 15 -param set-default MAV_TYPE 15 - -set MIXER tri_y_yaw- diff --git a/ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli b/ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli deleted file mode 100644 index a8a65b7333..0000000000 --- a/ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli +++ /dev/null @@ -1,48 +0,0 @@ -#!/bin/sh -# -# @name Esky (Big) Lama v4 -# -# @type Coaxial Helicopter -# @class Copter -# -# @output MAIN1 Left swashplate servomotor, pitch axis -# @output MAIN2 Right swashplate servomotor, roll axis -# @output MAIN3 Upper rotor (CCW) -# @output MAIN4 Lower rotor (CW) -# -# @maintainer Emmanuel Roussel -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.mc_defaults - -# MAV_TYPE_COAXIAL 3 -param set-default MAV_TYPE 3 - -param set-default MC_ROLLRATE_P 0.17 -param set-default MC_ROLLRATE_I 0.05 -param set-default MC_ROLLRATE_D 0.005 -param set-default MC_PITCHRATE_P 0.17 -param set-default MC_PITCHRATE_I 0.05 -param set-default MC_PITCHRATE_D 0.005 -param set-default MC_YAW_P 2 -param set-default MC_YAWRATE_P 0.1 - -param set-default NAV_ACC_RAD 2 - -param set-default PWM_AUX_RATE 50 -param set-default PWM_MAIN_DISARM 900 -param set-default PWM_MAIN_RATE 400 - -param set-default RTL_RETURN_ALT 30 -param set-default RTL_DESCEND_ALT 10 - -set MIXER coax - -# This is the gimbal pass mixer -set MIXER_AUX pass - -# use PWM parameters for throttle channel -set PWM_OUT 34 diff --git a/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter b/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter index ac1c5475c1..4157f12926 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter +++ b/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter @@ -7,11 +7,11 @@ # # @maintainer Bart Slinger # -# @output MAIN1 main motor -# @output MAIN2 front swashplate servo -# @output MAIN3 right swashplate servo -# @output MAIN4 left swashplate servo -# @output MAIN5 tail-rotor servo +# @output Motor1 main motor +# @output Servo1 front swashplate servo +# @output Servo2 right swashplate servo +# @output Servo3 left swashplate servo +# @output Servo4 tail-rotor servo # # @board px4_fmu-v2 exclude # @board bitcraze_crazyflie exclude @@ -19,12 +19,10 @@ . ${R}etc/init.d/rc.mc_defaults -# Configure as helicopter (number 4 defined in commander_helper.cpp) +# Configure as helicopter param set-default MAV_TYPE 4 -set MIXER blade130 -set PWM_OUT none param set-default ATT_BIAS_MAX 0 @@ -52,3 +50,7 @@ param set-default MPC_THR_MIN 0.06 param set-default MPC_MANTHR_MIN 0.06 param set-default PWM_MAIN_MIN 1075 + +param set-default CA_AIRFRAME 10 + + diff --git a/ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2 b/ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2 index 3360e9cbb3..0ed3b201c8 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2 +++ b/ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2 @@ -5,16 +5,13 @@ # @type Autogyro # @class Autogyro # -# @output MAIN1 rotor_head_L -# @output MAIN2 rotor_head_R -# @output MAIN3 elevator -# @output MAIN4 rudder -# @output MAIN5 rudder (second, optional) -# @output MAIN6 throttle -# @output MAIN7 wheel -# -# @output AUX1 feed-through of RC AUX1 channel for prerotator (optional) -# @output AUX2 feed-through of RC AUX2 channel for release device (optional) +# @output Motor1 throttle +# @output Servo1 rotor_head_L +# @output Servo2 rotor_head_R +# @output Servo3 elevator +# @output Servo4 rudder +# @output Servo5 rudder (second, optional) +# @output Servo6 wheel # # @url https://github.com/ThunderFly-aerospace/Auto-G2/ # @maintainer ThunderFly s.r.o., Roman Dvorak @@ -29,9 +26,6 @@ param set-default BAT1_CAPACITY 2500 param set-default BAT1_N_CELLS 3 -param set-default PWM_AUX_RATE 50 -param set-default PWM_MAIN_RATE 50 - param set-default SENS_BOARD_ROT 8 param set-default FW_AIRSPD_MAX 20 @@ -47,5 +41,22 @@ param set-default FW_P_LIM_MAX 25 param set-default FW_P_LIM_MIN -5 param set-default FW_P_RMAX_NEG 20 -set MIXER TF-AutoG2 -set MIXER_AUX pass + +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 3 +param set-default CA_SV_CS0_TRQ_R 0 +param set-default CA_SV_CS0_TRQ_Y 1 +param set-default CA_SV_CS0_TYPE 4 +param set-default CA_SV_CS1_TRQ_P 0 +param set-default CA_SV_CS1_TRQ_R -0.5 +param set-default CA_SV_CS1_TYPE 1 +param set-default CA_SV_CS2_TRQ_P 1 +param set-default CA_SV_CS2_TYPE 3 + +param set-default PWM_MAIN_TIM0 50 +param set-default PWM_MAIN_TIM1 50 +param set-default PWM_MAIN_TIM2 50 diff --git a/ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2 b/ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2 index d7c8b506f5..d6b2feb2c0 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2 +++ b/ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2 @@ -5,10 +5,10 @@ # @type Autogyro # @class Autogyro # -# @output MAIN2 rotor_head_L -# @output MAIN3 rotor_head_R -# @output MAIN4 rudder -# @output MAIN5 throttle +# @output Motor1 throttle +# @output Servo1 rotor_head_L +# @output Servo2 rotor_head_R +# @output Servo3 rudder # # # @url https://github.com/ThunderFly-aerospace/TF-G2/ @@ -42,5 +42,21 @@ param set-default FW_P_LIM_MAX 25 param set-default FW_P_LIM_MIN -5 param set-default FW_P_RMAX_NEG 20 -set MIXER TF-G2 -set MIXER_AUX pass +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 3 +param set-default CA_SV_CS0_TRQ_R 0 +param set-default CA_SV_CS0_TRQ_Y 1 +param set-default CA_SV_CS0_TYPE 4 +param set-default CA_SV_CS1_TRQ_P 0 +param set-default CA_SV_CS1_TRQ_R -0.5 +param set-default CA_SV_CS1_TYPE 1 +param set-default CA_SV_CS2_TRQ_P 1 +param set-default CA_SV_CS2_TYPE 3 + +param set-default PWM_MAIN_TIM0 50 +param set-default PWM_MAIN_TIM1 50 +param set-default PWM_MAIN_TIM2 50 diff --git a/ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1 b/ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1 index b62f1a9831..90965eeb32 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1 +++ b/ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1 @@ -24,5 +24,3 @@ param set-default MAV_0_CONFIG 102 param set-default GPS_UBX_DYNMODEL 8 param set-default SER_TEL2_BAUD 9600 -set MIXER IO_pass -set MIXER_AUX pass diff --git a/ROMFS/px4fmu_common/init.d/airframes/2105_maja b/ROMFS/px4fmu_common/init.d/airframes/2105_maja deleted file mode 100644 index 026a0c3043..0000000000 --- a/ROMFS/px4fmu_common/init.d/airframes/2105_maja +++ /dev/null @@ -1,45 +0,0 @@ -#!/bin/sh -# -# @name Bormatec Maja -# -# @type Standard Plane -# @class Plane -# -# @output MAIN1 aileron -# @output MAIN2 aileron -# @output MAIN3 elevator -# @output MAIN4 rudder -# @output MAIN5 throttle -# @output MAIN6 wheel -# @output MAIN7 flaps -# -# @output AUX1 feed-through of RC AUX1 channel -# @output AUX2 feed-through of RC AUX2 channel -# @output AUX3 feed-through of RC AUX3 channel -# -# @maintainer Andreas Antener -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.fw_defaults - -param set-default FW_MAN_P_MAX 55 -param set-default FW_MAN_R_MAX 55 -param set-default FW_R_LIM 55 - -param set-default FW_WR_FF 0.2 -param set-default FW_WR_I 0.2 -param set-default FW_WR_IMAX 0.8 -param set-default FW_WR_P 1 -param set-default FW_W_RMAX 0 - -# set disarmed value for the ESC -param set-default PWM_MAIN_DISARM 1000 - - -set MIXER AAERTWF - -# use PWM parameters for throttle channel -set PWM_OUT 5 diff --git a/ROMFS/px4fmu_common/init.d/airframes/2106_albatross b/ROMFS/px4fmu_common/init.d/airframes/2106_albatross index 47ed0c677b..c0c2983980 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/2106_albatross +++ b/ROMFS/px4fmu_common/init.d/airframes/2106_albatross @@ -5,18 +5,14 @@ # @type Plane A-Tail # @class Plane # -# @output MAIN1 aileron right -# @output MAIN2 aileron left -# @output MAIN3 v-tail right -# @output MAIN4 v-tail left -# @output MAIN5 throttle -# @output MAIN6 wheel -# @output MAIN7 flaps right -# @output MAIN8 flaps left -# -# @output AUX1 feed-through of RC AUX1 channel -# @output AUX2 feed-through of RC AUX2 channel -# @output AUX3 feed-through of RC AUX3 channel +# @output Motor1 throttle +# @output Servo1 aileron right +# @output Servo2 aileron left +# @output Servo3 v-tail right +# @output Servo4 v-tail left +# @output Servo5 wheel +# @output Servo6 flaps right +# @output Servo7 flaps left # # @maintainer Andreas Antener # @@ -35,11 +31,46 @@ param set-default FW_WR_IMAX 0.8 param set-default FW_WR_P 1 param set-default FW_W_RMAX 0 -# set disarmed value for the ESC -param set-default PWM_MAIN_DISARM 1000 +param set-default CA_AIRFRAME 1 +param set-default CA_ROTOR_COUNT 1 +param set-default CA_SV_CS_COUNT 7 +param set-default CA_SV_CS0_TRQ_R -0.5000 +param set-default CA_SV_CS0_TYPE 1 +param set-default CA_SV_CS1_TRQ_R 0.5000 +param set-default CA_SV_CS1_TYPE 2 +param set-default CA_SV_CS2_TRQ_P 0.5000 +param set-default CA_SV_CS2_TRQ_Y 0.5000 +param set-default CA_SV_CS2_TYPE 7 +param set-default CA_SV_CS3_TRQ_P 0.5000 +param set-default CA_SV_CS3_TRQ_Y -0.5000 +param set-default CA_SV_CS3_TYPE 8 +param set-default CA_SV_CS4_TRQ_Y 1.0000 +param set-default CA_SV_CS4_TYPE 12 +param set-default CA_SV_CS5_TYPE 9 +param set-default CA_SV_CS6_TYPE 10 +param set-default CA_SV_CS7_TYPE 0 + +param set-default PWM_MAIN_TIM0 50 +param set-default PWM_MAIN_TIM1 50 +param set-default PWM_MAIN_TIM2 50 + +param set-default PWM_MAIN_FUNC1 201 +param set-default PWM_MAIN_FUNC2 202 +param set-default PWM_MAIN_FUNC3 203 +param set-default PWM_MAIN_FUNC4 204 +param set-default PWM_MAIN_FUNC5 101 +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_DIS0 1500 +param set-default PWM_MAIN_DIS1 1500 +param set-default PWM_MAIN_DIS2 1500 +param set-default PWM_MAIN_DIS3 1500 +param set-default PWM_MAIN_DIS4 1500 +param set-default PWM_MAIN_DIS5 1000 +param set-default PWM_MAIN_DIS6 1500 +param set-default PWM_MAIN_DIS7 1500 +param set-default PWM_MAIN_DIS8 1500 -set MIXER AAVVTWFF - -# use PWM parameters for throttle channel -set PWM_OUT 5 diff --git a/ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon b/ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon deleted file mode 100644 index 8fbe544c5b..0000000000 --- a/ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon +++ /dev/null @@ -1,48 +0,0 @@ -#!/bin/sh -# -# @name X-UAV Mini Talon -# -# @type Plane V-Tail -# @class Plane -# -# @output MAIN1 aileron right -# @output MAIN2 aileron left -# @output MAIN3 v-tail right -# @output MAIN4 v-tail left -# @output MAIN5 throttle -# @output MAIN6 wheel -# @output MAIN7 flaps right -# @output MAIN8 flaps left -# -# @output AUX1 feed-through of RC AUX1 channel -# @output AUX2 feed-through of RC AUX2 channel -# @output AUX3 feed-through of RC AUX3 channel -# -# @maintainer Friedrich Beckmann -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.fw_defaults - -param set-default FW_MAN_P_MAX 55 -param set-default FW_MAN_R_MAX 55 -param set-default FW_R_LIM 55 - -param set-default FW_WR_FF 0.2 -param set-default FW_WR_I 0.2 -param set-default FW_WR_IMAX 0.8 -param set-default FW_WR_P 1 -param set-default FW_W_RMAX 0 - -# set disarmed value for the ESC -param set-default PWM_MAIN_DISARM 1000 - -# The Mini Talon does not have a wheel and -# no flaps. I leave them here because the mixer -# computes also wheel and flap controls. -set MIXER AAVVTWFF_vtail - -# use PWM parameters for throttle channel -set PWM_OUT 5 diff --git a/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox b/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox index d2a4e75f48..23944e9e0c 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox +++ b/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox @@ -5,20 +5,6 @@ # @type Dodecarotor cox # @class Copter # -# @output MAIN1 motor 1 -# @output MAIN2 motor 2 -# @output MAIN3 motor 3 -# @output MAIN4 motor 4 -# @output MAIN5 motor 5 -# @output MAIN6 motor 6 -# -# @output AUX1 motor 7 -# @output AUX2 motor 8 -# @output AUX3 motor 9 -# @output AUX4 motor 10 -# @output AUX5 motor 11 -# @output AUX6 motor 12 -# # @maintainer Ian McNanie # @maintainer William Peale # @@ -30,19 +16,54 @@ param set-default NAV_ACC_RAD 2 -param set-default PWM_AUX_RATE 400 -param set-default PWM_AUX_DISARM 900 -param set-default PWM_AUX_MIN 1075 -param set-default PWM_AUX_MAX 1950 - -param set-default PWM_MAIN_RATE 400 - param set-default RTL_DESCEND_ALT 10 param set-default RTL_RETURN_ALT 30 -set MIXER dodeca_top_cox -set MIXER_AUX dodeca_bottom_cox -# Need to set all 8 channels -set PWM_OUT 12345678 -set PWM_AUX_OUT 123456 +param set-default CA_ROTOR_COUNT 12 +# Bottom motors +param set-default CA_ROTOR0_PX 0 +param set-default CA_ROTOR0_PY 0.5 +param set-default CA_ROTOR0_PZ 0.05 +param set-default CA_ROTOR1_KM -0.05 +param set-default CA_ROTOR1_PX 0 +param set-default CA_ROTOR1_PY -0.5 +param set-default CA_ROTOR1_PZ 0.05 +param set-default CA_ROTOR2_PX 0.433 +param set-default CA_ROTOR2_PY -0.25 +param set-default CA_ROTOR2_PZ 0.05 +param set-default CA_ROTOR3_PX -0.433 +param set-default CA_ROTOR3_PY 0.25 +param set-default CA_ROTOR3_PZ 0.05 +param set-default CA_ROTOR3_KM -0.05 +param set-default CA_ROTOR4_PX 0.433 +param set-default CA_ROTOR4_PY 0.25 +param set-default CA_ROTOR4_PZ 0.05 +param set-default CA_ROTOR4_KM -0.05 +param set-default CA_ROTOR5_PX -0.344 +param set-default CA_ROTOR5_PY -0.25 +param set-default CA_ROTOR5_PZ 0.05 + +# Top motors +param set-default CA_ROTOR6_PX 0 +param set-default CA_ROTOR6_PY 0.5 +param set-default CA_ROTOR6_PZ -0.05 +param set-default CA_ROTOR6_KM -0.05 +param set-default CA_ROTOR7_PX 0 +param set-default CA_ROTOR7_PY -0.5 +param set-default CA_ROTOR7_PZ -0.05 +param set-default CA_ROTOR8_PX 0.433 +param set-default CA_ROTOR8_PY -0.25 +param set-default CA_ROTOR8_PZ -0.05 +param set-default CA_ROTOR8_KM -0.05 +param set-default CA_ROTOR9_PX -0.433 +param set-default CA_ROTOR9_PY 0.25 +param set-default CA_ROTOR9_PZ -0.05 +param set-default CA_ROTOR10_PX 0.433 +param set-default CA_ROTOR10_PY 0.25 +param set-default CA_ROTOR10_PZ -0.05 +param set-default CA_ROTOR11_PX -0.344 +param set-default CA_ROTOR11_PY -0.25 +param set-default CA_ROTOR11_PZ -0.05 +param set-default CA_ROTOR11_KM -0.05 + diff --git a/ROMFS/px4fmu_common/init.d/airframes/2507_cloudship b/ROMFS/px4fmu_common/init.d/airframes/2507_cloudship index 3b15aeb948..a458d830ea 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/2507_cloudship +++ b/ROMFS/px4fmu_common/init.d/airframes/2507_cloudship @@ -4,10 +4,10 @@ # @type Airship # @class Airship # -# @output MAIN1 starboard thruster -# @output MAIN2 port thruster -# @output MAIN3 thrust tilt -# @output MAIN4 tail thruster +# @output Motor1 starboard thruster +# @output Motor2 port thruster +# @output Motor3 tail thruster +# @output Servo1 thrust tilt # # @board px4_fmu-v2 exclude # @board bitcraze_crazyflie exclude @@ -18,5 +18,24 @@ param set-default COM_PREARM_MODE 2 param set-default CBRK_IO_SAFETY 22027 -set MIXER cloudship -set PWM_OUT 1234 +param set-default CA_AIRFRAME 9 + +param set-default CA_ROTOR_COUNT 3 +param set-default CA_ROTOR0_AX 1.0000 +param set-default CA_ROTOR0_AZ 0.0000 +param set-default CA_ROTOR0_KM 0.0000 +param set-default CA_ROTOR0_PY 2.0000 +param set-default CA_ROTOR1_AX 1.0000 +param set-default CA_ROTOR1_AZ 0.0000 +param set-default CA_ROTOR1_KM 0.0000 +param set-default CA_ROTOR1_PY -2.0000 +param set-default CA_ROTOR2_AY -1.0000 +param set-default CA_ROTOR2_AZ 0.0000 +param set-default CA_ROTOR2_KM 0.0000 +param set-default CA_ROTOR2_PX -10.0000 + +param set-default CA_SV_CS_COUNT 1 +param set-default CA_SV_CS0_TRQ_P 1.0000 + +param set-default CA_R_REV 7 + diff --git a/ROMFS/px4fmu_common/init.d/airframes/3031_phantom b/ROMFS/px4fmu_common/init.d/airframes/3031_phantom deleted file mode 100644 index ef5ebccd39..0000000000 --- a/ROMFS/px4fmu_common/init.d/airframes/3031_phantom +++ /dev/null @@ -1,49 +0,0 @@ -#!/bin/sh -# -# @name Phantom FPV Flying Wing -# -# @url https://docs.px4.io/main/en/frames_plane/wing_wing_z84.html -# -# @type Flying Wing -# @class Plane -# -# @output MAIN1 left aileron -# @output MAIN2 right aileron -# @output MAIN4 throttle -# -# @output AUX1 feed-through of RC AUX1 channel -# @output AUX2 feed-through of RC AUX2 channel -# @output AUX3 feed-through of RC AUX3 channel -# -# @maintainer Simon Wilks -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.fw_defaults - -param set-default FW_AIRSPD_MIN 13 -param set-default FW_AIRSPD_MAX 25 -param set-default FW_R_TC 0.3 -param set-default FW_P_TC 0.3 -param set-default FW_L1_PERIOD 15 -param set-default FW_PR_FF 0.2 -param set-default FW_PR_IMAX 0.2 -param set-default FW_PR_P 0.03 -param set-default FW_P_LIM_MAX 50 -param set-default FW_P_LIM_MIN -50 -param set-default FW_RR_P 0.08 -param set-default FW_R_LIM 50 -param set-default FW_R_RMAX 50 - -param set-default PWM_MAIN_DISARM 1000 - -# Bottom of bay and nominal zero-pitch attitude differ -# the payload bay is pitched up about 7 degrees -param set-default SENS_BOARD_Y_OFF 7 - -set MIXER fw_generic_wing - -# Provide ESC a constant 1000 us pulse -set PWM_OUT 4 diff --git a/ROMFS/px4fmu_common/init.d/airframes/3032_skywalker_x5 b/ROMFS/px4fmu_common/init.d/airframes/3032_skywalker_x5 deleted file mode 100644 index cd4b8529dd..0000000000 --- a/ROMFS/px4fmu_common/init.d/airframes/3032_skywalker_x5 +++ /dev/null @@ -1,37 +0,0 @@ -#!/bin/sh -# -# @name Skywalker X5 Flying Wing -# -# @type Flying Wing -# @class Plane -# -# @output MAIN1 left aileron -# @output MAIN2 right aileron -# @output MAIN4 throttle -# -# @output AUX1 feed-through of RC AUX1 channel -# @output AUX2 feed-through of RC AUX2 channel -# @output AUX3 feed-through of RC AUX3 channel -# -# @maintainer Julian Oes -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.fw_defaults - -param set-default FW_AIRSPD_MIN 15 -param set-default FW_AIRSPD_TRIM 20 -param set-default FW_AIRSPD_MAX 40 -param set-default FW_R_TC 0.3 -param set-default FW_P_TC 0.3 -param set-default FW_L1_DAMPING 0.74 -param set-default FW_L1_PERIOD 16 -param set-default FW_LND_ANG 15 -param set-default FW_LND_FLALT 5 -param set-default FW_PR_FF 0.35 -param set-default FW_RR_FF 0.6 -param set-default FW_RR_P 0.04 - -set MIXER fw_generic_wing diff --git a/ROMFS/px4fmu_common/init.d/airframes/3033_wingwing b/ROMFS/px4fmu_common/init.d/airframes/3033_wingwing deleted file mode 100644 index 79d19b3662..0000000000 --- a/ROMFS/px4fmu_common/init.d/airframes/3033_wingwing +++ /dev/null @@ -1,45 +0,0 @@ -#!/bin/sh -# -# @name Wing Wing (aka Z-84) Flying Wing -# -# @url https://docs.px4.io/main/en/frames_plane/wing_wing_z84.html -# -# @type Flying Wing -# @class Plane -# -# @output MAIN1 left aileron -# @output MAIN2 right aileron -# @output MAIN4 throttle -# -# @output AUX1 feed-through of RC AUX1 channel -# @output AUX2 feed-through of RC AUX2 channel -# @output AUX3 feed-through of RC AUX3 channel -# -# @maintainer Lorenz Meier -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.fw_defaults - -param set-default BAT1_N_CELLS 2 -param set-default FW_AIRSPD_MAX 15 -param set-default FW_AIRSPD_TRIM 13 -param set-default FW_R_TC 0.3 -param set-default FW_P_TC 0.3 -param set-default FW_L1_DAMPING 0.74 -param set-default FW_L1_PERIOD 16 -param set-default FW_LND_ANG 15 -param set-default FW_LND_FLALT 5 -param set-default FW_PR_FF 0.35 -param set-default FW_RR_FF 0.6 -param set-default FW_RR_P 0.04 - -param set-default PWM_MAIN_DISARM 1000 - -# Set mixer. -set MIXER fw_generic_wing - -# Provide ESC a constant 1000 us pulse. -set PWM_OUT 4 diff --git a/ROMFS/px4fmu_common/init.d/airframes/3036_pigeon b/ROMFS/px4fmu_common/init.d/airframes/3036_pigeon deleted file mode 100644 index b889f38db9..0000000000 --- a/ROMFS/px4fmu_common/init.d/airframes/3036_pigeon +++ /dev/null @@ -1,49 +0,0 @@ -#!/bin/sh -# -# @name Sparkle Tech Pigeon -# -# @url http://www.sparkletech.hk/ -# -# @type Flying Wing -# @class Plane -# -# @output MAIN1 left aileron -# @output MAIN2 right aileron -# @output MAIN4 throttle -# -# @output AUX1 feed-through of RC AUX1 channel -# @output AUX2 feed-through of RC AUX2 channel -# @output AUX3 feed-through of RC AUX3 channel -# -# @maintainer Simon Wilks -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.fw_defaults - -param set-default FW_AIRSPD_MIN 15 -param set-default FW_AIRSPD_TRIM 20 -param set-default FW_AIRSPD_MAX 27 -param set-default FW_ATT_TC 0.3 -param set-default FW_PR_FF 0.35 -param set-default FW_PR_IMAX 0.2 -param set-default FW_PR_P 0.05 -param set-default FW_P_TC 0.3 -param set-default FW_RR_FF 0.3 -param set-default FW_RR_P 0.03 -param set-default FW_R_LIM 40 -param set-default FW_R_RMAX 50 -param set-default FW_R_TC 0.3 - -param set-default PWM_MAIN_DISARM 1000 - -# Bottom of bay and nominal zero-pitch attitude differ -# the payload bay is pitched up about 7 degrees -param set-default SENS_BOARD_Y_OFF 11.9 - -set MIXER fw_generic_wing - -# Provide ESC a constant 1000 us pulse -set PWM_OUT 4 diff --git a/ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha b/ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha deleted file mode 100644 index d620751e12..0000000000 --- a/ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha +++ /dev/null @@ -1,57 +0,0 @@ -#!/bin/sh -# -# @name TBS Caipirinha -# -# @type Flying Wing -# @class Plane -# -# @output MAIN1 left aileron -# @output MAIN2 right aileron -# @output MAIN4 throttle -# -# @output AUX1 feed-through of RC AUX1 channel -# @output AUX2 feed-through of RC AUX2 channel -# @output AUX3 feed-through of RC AUX3 channel -# -# @maintainer Lorenz Meier -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.fw_defaults - -param set-default FW_AIRSPD_MAX 25 -param set-default FW_AIRSPD_MIN 12.5 -param set-default FW_AIRSPD_TRIM 16.5 -param set-default FW_L1_PERIOD 15 -param set-default FW_LND_ANG 15 -param set-default FW_LND_FLALT 8 -param set-default FW_P_LIM_MAX 20 -param set-default FW_R_LIM 45 -param set-default FW_PR_FF 0.45 -param set-default FW_PR_P 0.005 -param set-default FW_RR_FF 0.45 -param set-default FW_RR_P 0.013 -param set-default FW_P_RMAX_NEG 70 -param set-default FW_P_RMAX_POS 70 -param set-default FW_R_RMAX 70 -param set-default FW_THR_TRIM 0.55 - -param set-default LNDFW_AIRSPD_MAX 6 -param set-default LNDFW_XYACC_MAX 4 -param set-default LNDFW_VEL_XY_MAX 3 -param set-default LNDFW_VEL_Z_MAX 5 - -param set-default MIS_TAKEOFF_ALT 50 - -param set-default NAV_LOITER_RAD 30 - -param set-default PWM_MAIN_REV1 1 -param set-default PWM_MAIN_REV2 1 -param set-default PWM_MAIN_MIN 900 -param set-default PWM_MAIN_MAX 2100 - -set MIXER fw_generic_wing - -set PWM_OUT 1234 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4001_quad_x b/ROMFS/px4fmu_common/init.d/airframes/4001_quad_x index fa2fd6d9e9..c3df7a9c58 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4001_quad_x +++ b/ROMFS/px4fmu_common/init.d/airframes/4001_quad_x @@ -5,18 +5,6 @@ # @type Quadrotor x # @class Copter # -# @output MAIN1 motor 1 -# @output MAIN2 motor 2 -# @output MAIN3 motor 3 -# @output MAIN4 motor 4 -# @output MAIN5 feed-through of RC AUX1 channel -# @output MAIN6 feed-through of RC AUX2 channel -# -# @output AUX1 feed-through of RC AUX1 channel -# @output AUX2 feed-through of RC AUX2 channel -# @output AUX3 feed-through of RC AUX3 channel -# @output AUX4 feed-through of RC FLAPS channel -# # @maintainer Lorenz Meier # diff --git a/ROMFS/px4fmu_common/init.d/airframes/4003_qavr5 b/ROMFS/px4fmu_common/init.d/airframes/4003_qavr5 deleted file mode 100644 index f1a3a33d3b..0000000000 --- a/ROMFS/px4fmu_common/init.d/airframes/4003_qavr5 +++ /dev/null @@ -1,26 +0,0 @@ -#!/bin/sh -# -# @name Lumenier QAV-R (raceblade) 5" arms -# -# @type Quadrotor x -# @class Copter -# -# @maintainer James Goppert -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.mc_defaults - -param set-default MC_ROLL_P 8 -param set-default MC_ROLLRATE_P 0.08 -param set-default MC_ROLLRATE_I 0.16 -param set-default MC_PITCH_P 8 -param set-default MC_PITCHRATE_P 0.1 -param set-default MC_YAWRATE_P 0.15 - -param set-default MPC_THR_MIN 0.06 -param set-default MPC_MANTHR_MIN 0.06 - -param set-default PWM_MAIN_MIN 1075 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4009_qav250 b/ROMFS/px4fmu_common/init.d/airframes/4009_qav250 deleted file mode 100644 index 4efe6c7c5a..0000000000 --- a/ROMFS/px4fmu_common/init.d/airframes/4009_qav250 +++ /dev/null @@ -1,34 +0,0 @@ -#!/bin/sh -# -# @name Lumenier QAV250 -# -# @type Quadrotor x -# @class Copter -# -# @maintainer Lorenz Meier -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.mc_defaults - -param set-default ATT_BIAS_MAX 0 - -param set-default CBRK_IO_SAFETY 22027 - -param set-default MPC_MANTHR_MIN 0.06 -param set-default MC_ROLL_P 6 -param set-default MC_ROLLRATE_P 0.14 -param set-default MC_ROLLRATE_I 0.23 -param set-default MC_ROLLRATE_D 0.0025 -param set-default MC_PITCH_P 7 -param set-default MC_PITCHRATE_P 0.235 -param set-default MC_PITCHRATE_I 0.17 -param set-default MC_PITCHRATE_D 0.004 -param set-default MC_YAW_P 4 -param set-default MC_YAWRATE_P 0.3 -param set-default MC_YAWRATE_I 0.2 -param set-default MPC_THR_MIN 0.06 - -param set-default PWM_MAIN_MIN 1075 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4014_s500 b/ROMFS/px4fmu_common/init.d/airframes/4014_s500 index 2c75a46c25..309e949adb 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4014_s500 +++ b/ROMFS/px4fmu_common/init.d/airframes/4014_s500 @@ -17,3 +17,15 @@ param set-default MC_ROLLRATE_P 0.18 param set-default MC_PITCHRATE_P 0.18 param set-default MC_ROLLRATE_I 0.15 param set-default MC_PITCHRATE_I 0.15 + +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 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500 b/ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500 index d16ec71d3f..37cf5bb6f9 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500 +++ b/ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500 @@ -21,3 +21,15 @@ param set-default MC_ROLLRATE_I 0.3 param set-default MC_PITCHRATE_I 0.3 param set-default MC_ROLLRATE_D 0.004 param set-default MC_PITCHRATE_D 0.004 + +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 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision b/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision index feb06fc88a..b952871546 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision +++ b/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision @@ -5,21 +5,12 @@ # @type Quadrotor x # @class Copter # -# @output MAIN1 motor 1 -# @output MAIN2 motor 2 -# @output MAIN3 motor 3 -# @output MAIN4 motor 4 -# # @board px4_fmu-v2 exclude # @board bitcraze_crazyflie exclude # . ${R}etc/init.d/rc.mc_defaults -# System parameters -# use FMU motor outputs for less delay in the rate control loop -param set-default SYS_USE_IO 0 - # Commander Parameters param set-default COM_OBS_AVOID 1 param set-default COM_DISARM_LAND 0.5 @@ -116,3 +107,24 @@ param set-default BAT1_V_DIV 18.182 param set-default CBRK_IO_SAFETY 22027 param set-default THR_MDL_FAC 0.3 + +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_ROTOR0_KM 0.05 +param set-default CA_ROTOR1_PX -0.15 +param set-default CA_ROTOR1_PY -0.15 +param set-default CA_ROTOR1_KM 0.05 +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 + +# Outputs +param set-default PWM_AUX_FUNC1 101 +param set-default PWM_AUX_FUNC2 102 +param set-default PWM_AUX_FUNC3 103 +param set-default PWM_AUX_FUNC4 104 + diff --git a/ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames b/ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames index dcfe0f943b..7094a55461 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames +++ b/ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames @@ -5,11 +5,6 @@ # @type Quadrotor x # @class Copter # -# @output MAIN1 motor 1 -# @output MAIN2 motor 2 -# @output MAIN3 motor 3 -# @output MAIN4 motor 4 -# # @board px4_fmu-v2 exclude # @board bitcraze_crazyflie exclude # @@ -25,3 +20,15 @@ param set-default MC_ROLLRATE_I 0.15 param set-default MC_PITCHRATE_P 0.18 param set-default MC_PITCHRATE_I 0.15 + +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 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4019_x500_v2 b/ROMFS/px4fmu_common/init.d/airframes/4019_x500_v2 deleted file mode 100644 index 7cef516c41..0000000000 --- a/ROMFS/px4fmu_common/init.d/airframes/4019_x500_v2 +++ /dev/null @@ -1,23 +0,0 @@ -#!/bin/sh -# -# @name Holybro X500 V2 -# -# @type Quadrotor x -# @class Copter -# -# @maintainer Farhang Naderi -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.mc_defaults - -param set-default IMU_GYRO_CUTOFF 30 - -param set-default MC_ROLLRATE_P 0.14 -param set-default MC_PITCHRATE_P 0.14 -param set-default MC_ROLLRATE_I 0.3 -param set-default MC_PITCHRATE_I 0.3 -param set-default MC_ROLLRATE_D 0.004 -param set-default MC_PITCHRATE_D 0.004 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo b/ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo deleted file mode 100644 index f698daed99..0000000000 --- a/ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo +++ /dev/null @@ -1,86 +0,0 @@ -#!/bin/sh -# -# @name 3DR Solo -# -# @type Quadrotor x -# @class Copter -# -# @maintainer Andreas Antener -# -# @board px4_fmu-v2 exclude -# @board px4_fmu-v3 exclude -# @board px4_fmu-v4 exclude -# @board px4_fmu-v4pro exclude -# @board px4_fmu-v5 exclude -# @board px4_fmu-v5x exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.mc_defaults - -# tuning -param set-default MC_PITCHRATE_P 0.11 -param set-default MC_ROLLRATE_P 0.11 -param set-default MPC_MANTHR_MIN 0.08 -param set-default MPC_XY_VEL_MAX 3 -param set-default MPC_Z_VEL_MAX_DN 2 - -# takeoff, land and RTL settings -param set-default MIS_TAKEOFF_ALT 4 -param set-default RTL_LAND_DELAY 1 -param set-default RTL_DESCEND_ALT 5 -param set-default RTL_RETURN_ALT 15 -param set-default MPC_TILTMAX_LND 8 -param set-default MPC_LAND_SPEED 0.4 -param set-default MPC_HOLD_MAX_Z 1.5 -param set-default MPC_TKO_JMPSPD 2 -param set-default MPC_TKO_SPEED 1.5 - -# setup -# main board rotation: pitch 180 -param set-default SENS_BOARD_ROT 12 -# solo external mag rotation -param set-default CAL_MAG0_ROT 38 -# no safety switch -param set-default CBRK_IO_SAFETY 22027 -# battery voltage not available yet -param set-default CBRK_SUPPLY_CHK 894281 - -# RC configuration -param set-default RC_MAP_PITCH 2 -param set-default RC_MAP_ROLL 1 -param set-default RC_MAP_THROTTLE 3 -param set-default RC_MAP_YAW 4 - -param set-default RC1_DZ 10 -param set-default RC1_MAX 1988 -param set-default RC1_MIN 1003 -param set-default RC1_REV 1 -param set-default RC1_TRIM 1499 -param set-default RC2_DZ 10 -param set-default RC2_MAX 1987 -param set-default RC2_MIN 1023 -param set-default RC2_REV -1 -param set-default RC2_TRIM 1499 -param set-default RC3_DZ 10 -param set-default RC3_MAX 1877 -param set-default RC3_MIN 1023 -param set-default RC3_REV 1 -param set-default RC3_TRIM 1023 -param set-default RC4_DZ 10 -param set-default RC4_MAX 1998 -param set-default RC4_MIN 1012 -param set-default RC4_REV 1 -param set-default RC4_TRIM 1500 -param set-default RC5_DZ 10 -param set-default RC5_MAX 2000 -param set-default RC5_MIN 1000 -param set-default RC5_REV 1 -param set-default RC5_TRIM 1500 - -# enable high-speed link on telem 1 -param set-default MAV_0_RATE 80000 -param set-default MAV_0_MODE 2 -param set-default SER_TEL1_BAUD 921600 - -set MIXER_AUX none diff --git a/ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad b/ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad deleted file mode 100644 index e29fbf8dd6..0000000000 --- a/ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad +++ /dev/null @@ -1,23 +0,0 @@ -#!/bin/sh -# -# @name 3DR DIY Quad -# -# @type Quadrotor x -# @class Copter -# -# @maintainer Lorenz Meier -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.mc_defaults - -param set-default MC_ROLLRATE_P 0.14 -param set-default MC_ROLLRATE_I 0.1 -param set-default MC_ROLLRATE_D 0.004 -param set-default MC_PITCH_P 6 -param set-default MC_PITCHRATE_P 0.14 -param set-default MC_PITCHRATE_I 0.09 -param set-default MC_PITCHRATE_D 0.004 -param set-default MC_YAW_P 4 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4040_reaper b/ROMFS/px4fmu_common/init.d/airframes/4040_reaper index 45ec3f081b..c8c6c5a7ab 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4040_reaper +++ b/ROMFS/px4fmu_common/init.d/airframes/4040_reaper @@ -5,13 +5,6 @@ # @type Quadrotor H # @class Copter # -# @output MAIN1 motor 1 -# @output MAIN2 motor 2 -# @output MAIN3 motor 3 -# @output MAIN4 motor 4 -# @output MAIN5 feed-through of RC AUX1 channel -# @output MAIN6 feed-through of RC AUX2 channel -# # @maintainer Blankered # # @board px4_fmu-v2 exclude @@ -31,15 +24,42 @@ param set-default MC_YAW_P 4 param set-default NAV_ACC_RAD 2 -param set-default PWM_AUX_DISARM 950 -param set-default PWM_AUX_RATE 50 -param set-default PWM_MAIN_MIN 1100 -param set-default PWM_MAIN_MAX 1900 -param set-default PWM_MAIN_RATE 50 - param set-default RTL_RETURN_ALT 30 param set-default RTL_DESCEND_ALT 10 -set MIXER quad_h +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_ROTOR0_KM -0.05 +param set-default CA_ROTOR1_PX -0.15 +param set-default CA_ROTOR1_PY -0.15 +param set-default CA_ROTOR1_KM -0.05 +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 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_MIN1 1100 +param set-default PWM_MAIN_MIN2 1100 +param set-default PWM_MAIN_MIN3 1100 +param set-default PWM_MAIN_MIN4 1100 +param set-default PWM_MAIN_MAX1 1900 +param set-default PWM_MAIN_MAX2 1900 +param set-default PWM_MAIN_MAX3 1900 +param set-default PWM_MAIN_MAX4 1900 + +param set-default PWM_MAIN_TIM0 50 +param set-default PWM_MAIN_TIM1 50 +param set-default PWM_MAIN_TIM2 50 + +param set-default PWM_AUX_TIM0 50 +param set-default PWM_AUX_TIM1 50 +param set-default PWM_AUX_TIM2 50 + -set MIXER_AUX pass diff --git a/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x b/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x index a04cc31f98..69aac5a526 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x +++ b/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x @@ -5,11 +5,6 @@ # @type Quadrotor H # @class Copter # -# @output MAIN1 motor 1 -# @output MAIN2 motor 2 -# @output MAIN3 motor 3 -# @output MAIN4 motor 4 -# # @maintainer Beat Kueng # # @board px4_fmu-v2 exclude @@ -47,12 +42,29 @@ param set-default MC_YAW_P 4 param set-default MPC_MANTHR_MIN 0 param set-default MPC_MAN_TILT_MAX 60 -param set-default MOT_ORDERING 1 param set-default DSHOT_CONFIG 600 param set-default SYS_HAS_BARO 0 param set-default SYS_HAS_MAG 0 param set-default BAT1_N_CELLS 2 -# The Whoop uses reversed props -set MIXER quad_h + +param set-default CA_ROTOR_COUNT 4 +param set-default CA_ROTOR0_PX 0.03 +param set-default CA_ROTOR0_PY 0.03 +param set-default CA_ROTOR0_KM -0.05 +param set-default CA_ROTOR1_PX -0.03 +param set-default CA_ROTOR1_PY -0.03 +param set-default CA_ROTOR1_KM -0.05 +param set-default CA_ROTOR2_PX 0.03 +param set-default CA_ROTOR2_PY -0.03 +param set-default CA_ROTOR2_KM 0.05 +param set-default CA_ROTOR3_PX -0.03 +param set-default CA_ROTOR3_PY 0.03 +param set-default CA_ROTOR3_KM 0.05 + +param set-default PWM_MAIN_FUNC1 104 +param set-default PWM_MAIN_FUNC2 101 +param set-default PWM_MAIN_FUNC3 102 +param set-default PWM_MAIN_FUNC4 103 + diff --git a/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250 b/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250 index dfd2bacd61..9c5f49cb9a 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250 +++ b/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250 @@ -29,17 +29,24 @@ param set-default MC_YAWRATE_MAX 1000 param set-default MPC_MANTHR_MIN 0 param set-default MPC_MAN_TILT_MAX 60 -# use thrust curve factor (instead of TPA) param set-default THR_MDL_FAC 0.3 -param set-default PWM_MAIN_MIN 1075 -# enable one-shot -param set-default PWM_MAIN_RATE 0 - # enable high-rate logging profile (helps with tuning) param set-default SDLOG_PROFILE 19 param set-default IMU_DGYRO_CUTOFF 50 param set-default IMU_GYRO_CUTOFF 90 -param set-default CBRK_IO_SAFETY 22027 +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 + + diff --git a/ROMFS/px4fmu_common/init.d/airframes/4051_s250aq b/ROMFS/px4fmu_common/init.d/airframes/4051_s250aq deleted file mode 100644 index 98eae6cf53..0000000000 --- a/ROMFS/px4fmu_common/init.d/airframes/4051_s250aq +++ /dev/null @@ -1,51 +0,0 @@ -#!/bin/sh -# -# @name Spedix S250AQ -# @url https://docs.px4.io/main/en/frames_multicopter/spedix_s250_pixracer.html -# -# @type Quadrotor asymmetric -# @class Copter -# -# @output MAIN1 motor1 (front right: CCW) -# @output MAIN2 motor2 (back left: CCW) -# @output MAIN3 motor3 (front left: CW) -# @output MAIN4 motor4 (back right: CW) -# -# @output MAIN5 feed-through of RC AUX1 channel -# @output MAIN6 feed-through of RC AUX2 channel -# -# @maintainer Lorenz Meier -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.mc_defaults - -set MIXER quad_s250aq - -param set-default ATT_BIAS_MAX 0 - -param set-default CBRK_IO_SAFETY 22027 - -param set-default MC_ROLL_P 8 -param set-default MC_ROLLRATE_P 0.19 -param set-default MC_ROLLRATE_I 0.1 -param set-default MC_ROLLRATE_D 0.0055 -param set-default MC_PITCH_P 8 -param set-default MC_PITCHRATE_P 0.19 -param set-default MC_PITCHRATE_I 0.1 -param set-default MC_PITCHRATE_D 0.0055 -param set-default MC_YAW_P 4 - - -param set-default MC_ROLLRATE_MAX 720 -param set-default MC_PITCHRATE_MAX 720 -param set-default MC_YAWRATE_MAX 400 -param set-default MC_ACRO_R_MAX 360 -param set-default MC_ACRO_P_MAX 360 - -param set-default MPC_THR_MIN 0.06 -param set-default MPC_MANTHR_MIN 0.06 - -param set-default PWM_MAIN_MIN 1075 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250 b/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250 index e42be8ac83..68103e15a7 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250 +++ b/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250 @@ -46,5 +46,24 @@ param set-default MPC_Z_VEL_I_ACC 1.7 param set-default PWM_MAIN_MIN 1050 -param set-default PWM_MAIN_RATE 0 param set-default THR_MDL_FAC 0.3 + +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 PWM_MAIN_TIM0 0 + +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 + diff --git a/ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2 b/ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2 index 24a9fa9c46..64d14b8d5c 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2 +++ b/ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2 @@ -38,12 +38,9 @@ param set-default MC_YAWRATE_MAX 1000 param set-default MC_YAWRATE_P 0.15 param set-default MC_YAW_P 4 -param set-default MOT_ORDERING 1 param set-default MPC_MANTHR_MIN 0 param set-default MPC_MAN_TILT_MAX 60 -param set-default DSHOT_CONFIG 1200 - param set-default OSD_ATXXXX_CFG 1 param set-default TEL_FRSKY_CONFIG 300 @@ -55,3 +52,25 @@ param set-default MPC_THR_HOVER 0.12 param set-default MC_AIRMODE 1 param set-default EV_TSK_RC_LOSS 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 PWM_MAIN_FUNC1 104 +param set-default PWM_MAIN_FUNC2 101 +param set-default PWM_MAIN_FUNC3 102 +param set-default PWM_MAIN_FUNC4 103 + +param set-default PWM_MAIN_TIM0 -2 +param set-default PWM_MAIN_TIM1 -2 + + diff --git a/ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu b/ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu index 2dacd54acb..46a8673b0f 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu +++ b/ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu @@ -5,21 +5,12 @@ # @type Quadrotor x # @class Copter # -# @output MAIN1 motor 1 -# @output MAIN2 motor 2 -# @output MAIN3 motor 3 -# @output MAIN4 motor 4 -# # @maintainer # @board px4_fmu-v2 exclude # . ${R}etc/init.d/rc.mc_defaults -# We set the mixer and ESC manually. -set MIXER skip -set MIXER_AUX skip -set MIXER_FILE "" # Battery settings param set-default BAT_CRIT_THR 0.20 @@ -178,3 +169,20 @@ param set-default SENS_FLOW_ROT 0 # ignore the SD card errors and use normal startup sound set STARTUP_TUNE "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 TAP_ESC_FUNC1 101 +param set-default TAP_ESC_FUNC2 102 +param set-default TAP_ESC_FUNC3 103 +param set-default TAP_ESC_FUNC4 104 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4071_ifo b/ROMFS/px4fmu_common/init.d/airframes/4071_ifo index c2147e2d1f..65f6a5a672 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4071_ifo +++ b/ROMFS/px4fmu_common/init.d/airframes/4071_ifo @@ -5,11 +5,6 @@ # @type Quadrotor x # @class Copter # -# @output MAIN1 motor 1 -# @output MAIN2 motor 2 -# @output MAIN3 motor 3 -# @output MAIN4 motor 4 -# # @maintainer Hyon Lim # # @board px4_fmu-v2 exclude @@ -38,7 +33,6 @@ param set-default IMU_GYRO_CUTOFF 100 # System param set-default PWM_MAIN_MIN 1100 -param set-default PWM_MAIN_RATE 0 param set-default SENS_BOARD_ROT 10 @@ -88,3 +82,24 @@ param set-default MAV_1_CONFIG 102 # normal param set-default MAV_1_MODE 0 param set-default SER_TEL2_BAUD 57600 + + +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 PWM_MAIN_TIM0 0 + +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 + diff --git a/ROMFS/px4fmu_common/init.d/airframes/4072_draco b/ROMFS/px4fmu_common/init.d/airframes/4072_draco deleted file mode 100644 index 4181f9f03f..0000000000 --- a/ROMFS/px4fmu_common/init.d/airframes/4072_draco +++ /dev/null @@ -1,79 +0,0 @@ -#!/bin/sh -# -# @name UVify Draco -# -# @type Quadrotor x -# @class Copter -# -# @output MAIN1 motor 1 -# @output MAIN2 motor 2 -# @output MAIN3 motor 3 -# @output MAIN4 motor 4 -# -# @maintainer Hyon Lim -# -# @board px4_fmu-v2 exclude -# @board px4_fmu-v3 exclude -# @board px4_fmu-v4pro exclude -# @board px4_fmu-v5 exclude -# @board px4_fmu-v5x exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.mc_defaults - -# use the Q attitude estimator, it works w/o mag or GPS. -param set-default SYS_MC_EST_GROUP 3 -param set-default ATT_ACC_COMP 0 -param set-default ATT_W_ACC 0.4 -param set-default ATT_W_GYRO_BIAS 0 -param set-default SYS_HAS_MAG 0 - -# Attitude & rate gains -param set-default MC_ROLL_P 8.0 -param set-default MC_ROLLRATE_P 0.11 -param set-default MC_ROLLRATE_I 0.3 -param set-default MC_ROLLRATE_D 0.0015 -param set-default MC_ROLLRATE_MAX 1600 - -param set-default MC_PITCH_P 8 -param set-default MC_PITCHRATE_P 0.13 -param set-default MC_PITCHRATE_I 0.35 -param set-default MC_PITCHRATE_D 0.0015 -param set-default MC_PITCHRATE_MAX 1600 - -param set-default MC_YAW_P 4 -param set-default MC_YAWRATE_P 0.21 -param set-default MC_YAWRATE_I 0.3 -param set-default MC_YAWRATE_D 0.0 -param set-default MC_YAW_FF 0.5 -param set-default MC_YAWRATE_MAX 600 - -param set-default MC_ROLL_TC 0.19 -param set-default MC_PITCH_TC 0.16 -param set-default MC_AIRMODE 1 - -param set-default MPC_MAN_TILT_MAX 60 -param set-default MPC_THR_CURVE 1 -param set-default MPC_THR_HOVER 0.25 - -# Thrust curve (avoids the need for TPA) -param set-default THR_MDL_FAC 0.3 - -# System -param set-default PWM_MAIN_MIN 1180 - -# enable one-shot -param set-default PWM_MAIN_RATE 0 - -param set-default SENS_BOARD_ROT 2 - -param set-default BAT1_SOURCE 0 -param set-default CBRK_IO_SAFETY 22027 - -# Filter settings -param set-default IMU_GYRO_CUTOFF 90 -param set-default IMU_DGYRO_CUTOFF 100 - -# enable to use high-rate logging for better rate tracking analysis -param set-default SDLOG_PROFILE 27 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s b/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s index bcafa15972..4b743d6f0f 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s +++ b/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s @@ -5,11 +5,6 @@ # @type Quadrotor x # @class Copter # -# @output MAIN1 motor 1 -# @output MAIN2 motor 2 -# @output MAIN3 motor 3 -# @output MAIN4 motor 4 -# # @board px4_fmu-v2 exclude # @board px4_fmu-v3 exclude # @board px4_fmu-v4pro exclude @@ -95,9 +90,6 @@ param set-default MAV_1_CONFIG 102 param set-default MAV_1_MODE 0 param set-default SER_TEL2_BAUD 57600 -# DSHOT -param set-default DSHOT_CONFIG 600 - # EKF OF POSITION param set-default EKF2_OF_POS_X 0.06 param set-default EKF2_OF_POS_Y 0.03 @@ -105,3 +97,23 @@ param set-default EKF2_OF_POS_Z -0.07 # Failsafe param set-default COM_LOW_BAT_ACT 3 + +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 PWM_MAIN_TIM0 -3 + +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 + diff --git a/ROMFS/px4fmu_common/init.d/airframes/4080_zmr250 b/ROMFS/px4fmu_common/init.d/airframes/4080_zmr250 deleted file mode 100644 index 1a4ad19fbb..0000000000 --- a/ROMFS/px4fmu_common/init.d/airframes/4080_zmr250 +++ /dev/null @@ -1,38 +0,0 @@ -#!/bin/sh -# -# @name ZMR250 Racer -# -# @type Quadrotor x -# @class Copter -# -# @maintainer Anton Matosov -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.mc_defaults - -set MIXER quad_x -set PWM_OUT 1234 - - -param set-default CBRK_IO_SAFETY 22027 - -param set-default MC_ROLL_P 2.2 -param set-default MC_ROLLRATE_P 0.06 -param set-default MC_ROLLRATE_D 0.0017 - -param set-default MC_PITCH_P 2.2 -param set-default MC_PITCHRATE_P 0.06 -param set-default MC_PITCHRATE_D 0.0017 - -param set-default MC_YAW_P 1 -param set-default MC_YAWRATE_P 0.15 -param set-default MC_YAWRATE_I 0.2 - -param set-default MC_ACRO_R_MAX 1000 -param set-default MC_ACRO_P_MAX 1000 -param set-default MC_ACRO_Y_MAX 1000 - -param set-default PWM_MAIN_DISARM 900 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4090_nanomind b/ROMFS/px4fmu_common/init.d/airframes/4090_nanomind deleted file mode 100644 index 5215931a84..0000000000 --- a/ROMFS/px4fmu_common/init.d/airframes/4090_nanomind +++ /dev/null @@ -1,34 +0,0 @@ -#!/bin/sh -# -# @name NanoMind 110 Quad -# -# @type Quadrotor x -# @class Copter -# -# @maintainer Henry Zhang -# -# @board px4_fmu-v2 exclude -# @board px4_fmu-v3 exclude -# @board px4_fmu-v4pro exclude -# @board px4_fmu-v5 exclude -# @board px4_fmu-v5x exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.mc_defaults - -param set-default BAT1_N_CELLS 1 - -param set-default MC_ROLL_P 8 -param set-default MC_ROLLRATE_P 0.19 -param set-default MC_ROLLRATE_I 0.1 -param set-default MC_ROLLRATE_D 0.0055 -param set-default MC_PITCH_P 8 -param set-default MC_PITCHRATE_P 0.19 -param set-default MC_PITCHRATE_I 0.1 -param set-default MC_PITCHRATE_D 0.0055 -param set-default MC_YAW_P 4 - -param set-default PWM_MAIN_DISARM 0 -param set-default PWM_MAIN_MIN 500 -param set-default PWM_MAIN_MAX 2200 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4100_tiltquadrotor b/ROMFS/px4fmu_common/init.d/airframes/4100_tiltquadrotor deleted file mode 100644 index d9d8a8bb63..0000000000 --- a/ROMFS/px4fmu_common/init.d/airframes/4100_tiltquadrotor +++ /dev/null @@ -1,29 +0,0 @@ -#!/bin/sh -# -# @name Tilt-Quadrotor -# -# @url http://www.alivaero.com/the-project.html -# -# @type Tilt-Quad -# @class Copter -# -# @output MAIN1 motor 1 -# @output MAIN2 motor 2 -# @output MAIN3 motor 3 -# @output MAIN4 motor 4 -# @output AUX1 Outer servo motor for rotor 2 arm -# @output AUX2 Outer servo motor for rotor 4 arm -# @output AUX3 Inner servo motor for rotor 2 arm -# @output AUX4 Inner servo motor for rotor 4 arm -# -# @maintainer Ricardo Marques -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.mc_defaults - -# Set mixer -set MIXER tilt_quad -set MIXER_AUX tilt_quad diff --git a/ROMFS/px4fmu_common/init.d/airframes/4500_clover4 b/ROMFS/px4fmu_common/init.d/airframes/4500_clover4 index d8116882fe..cbfbc1c6ba 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4500_clover4 +++ b/ROMFS/px4fmu_common/init.d/airframes/4500_clover4 @@ -26,3 +26,20 @@ param set-default MPC_XY_VEL_D_ACC 0.26 param set-default MPC_XY_P 1.1 param set-default MPC_Z_VEL_P_ACC 4.8 param set-default MPC_Z_P 1.2 + +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 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 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie b/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie index cd7a74134b..3c355e40d8 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie +++ b/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie @@ -16,8 +16,6 @@ # . ${R}etc/init.d/rc.mc_defaults -set MIXER quad_x_cw - param set-default BAT1_N_CELLS 1 param set-default BAT1_CAPACITY 240 param set-default BAT1_SOURCE 1 @@ -53,18 +51,41 @@ param set-default MPC_MAX_FLOW_HGT 3 param set-default NAV_RCL_ACT 3 -param set-default PWM_MAIN_DISARM 0 -param set-default PWM_MAIN_MIN 0 -param set-default PWM_MAIN_MAX 255 +param set-default CA_ROTOR_COUNT 4 +param set-default CA_ROTOR0_PX 0.03 +param set-default CA_ROTOR0_PY 0.03 +param set-default CA_ROTOR1_PX -0.03 +param set-default CA_ROTOR1_PY 0.03 +param set-default CA_ROTOR1_KM -0.05 +param set-default CA_ROTOR2_PX -0.03 +param set-default CA_ROTOR2_PY -0.03 +param set-default CA_ROTOR3_PX 0.03 +param set-default CA_ROTOR3_PY -0.03 +param set-default CA_ROTOR3_KM -0.05 # Run the motors at 328.125 kHz (recommended) -param set-default PWM_MAIN_RATE 3921 +param set-default PWM_MAIN_TIM0 3921 +param set-default PWM_MAIN_TIM1 3921 + +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_DIS0 0 +param set-default PWM_MAIN_DIS1 0 +param set-default PWM_MAIN_DIS2 0 +param set-default PWM_MAIN_DIS3 0 +param set-default PWM_MAIN_MIN0 0 +param set-default PWM_MAIN_MIN1 0 +param set-default PWM_MAIN_MIN2 0 +param set-default PWM_MAIN_MIN3 0 +param set-default PWM_MAIN_MAX0 255 +param set-default PWM_MAIN_MAX1 255 +param set-default PWM_MAIN_MAX2 255 +param set-default PWM_MAIN_MAX3 255 + param set-default SENS_FLOW_MINRNG 0.05 -set PWM_MAIN_DISARM none -set PWM_MAIN_MAX none -set PWM_MAIN_MIN none - syslink start mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21 b/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21 index 878a281a67..03987999c9 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21 +++ b/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21 @@ -16,7 +16,6 @@ # . ${R}etc/init.d/rc.mc_defaults -set MIXER quad_x_cw param set-default SYS_MC_EST_GROUP 2 param set-default SYS_HAS_MAG 0 @@ -51,18 +50,41 @@ param set-default MPC_MAX_FLOW_HGT 3 param set-default NAV_RCL_ACT 3 -param set-default PWM_MAIN_DISARM 0 -param set-default PWM_MAIN_MIN 20 -param set-default PWM_MAIN_MAX 255 +param set-default CA_ROTOR_COUNT 4 +param set-default CA_ROTOR0_PX 0.03 +param set-default CA_ROTOR0_PY 0.03 +param set-default CA_ROTOR1_PX -0.03 +param set-default CA_ROTOR1_PY 0.03 +param set-default CA_ROTOR1_KM -0.05 +param set-default CA_ROTOR2_PX -0.03 +param set-default CA_ROTOR2_PY -0.03 +param set-default CA_ROTOR3_PX 0.03 +param set-default CA_ROTOR3_PY -0.03 +param set-default CA_ROTOR3_KM -0.05 # Run the motors at 328.125 kHz (recommended) -param set-default PWM_MAIN_RATE 3921 +param set-default PWM_MAIN_TIM0 3921 +param set-default PWM_MAIN_TIM1 3921 + +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_DIS0 0 +param set-default PWM_MAIN_DIS1 0 +param set-default PWM_MAIN_DIS2 0 +param set-default PWM_MAIN_DIS3 0 +param set-default PWM_MAIN_MIN0 20 +param set-default PWM_MAIN_MIN1 20 +param set-default PWM_MAIN_MIN2 20 +param set-default PWM_MAIN_MIN3 20 +param set-default PWM_MAIN_MAX0 255 +param set-default PWM_MAIN_MAX1 255 +param set-default PWM_MAIN_MAX2 255 +param set-default PWM_MAIN_MAX3 255 param set-default SENS_FLOW_MINRNG 0.05 -set PWM_MAIN_DISARM none -set PWM_MAIN_MAX none -set PWM_MAIN_MIN none syslink start mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000 diff --git a/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle b/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle index 2c79163b34..40a6569938 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle +++ b/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle @@ -1,12 +1,12 @@ #!/bin/sh # -# @name Generic Ground Vehicle +# @name Generic Ground Vehicle (Ackermann) # # @type Rover # @class Rover # -# @output MAIN2 steering -# @output MAIN4 throttle +# @output Motor1 throttle +# @output Servo1 steering # # @maintainer # @@ -44,12 +44,12 @@ param set-default MIS_TAKEOFF_ALT 0.01 param set-default NAV_ACC_RAD 0.5 -# Provide ESC a constant 1500 us pulse -param set-default PWM_MAIN_DISARM 1500 -param set-default PWM_MAIN_MAX 2000 -param set-default PWM_MAIN_MIN 1000 +param set-default CA_AIRFRAME 5 + +param set-default CA_R_REV 1 +param set-default PWM_MAIN_FUNC1 201 +param set-default PWM_MAIN_FUNC2 201 +param set-default PWM_MAIN_FUNC6 101 +param set-default PWM_MAIN_FUNC7 101 -# Set mixer -set MIXER rover_generic -set PWM_MAIN_REV2 1 diff --git a/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover b/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover deleted file mode 100644 index 118e6915c9..0000000000 --- a/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover +++ /dev/null @@ -1,82 +0,0 @@ -#!/bin/sh -# -# @name Aion Robotics R1 UGV -# -# @url https://www.aionrobotics.com/r1 -# -# @type Rover -# @class Rover -# -# @output MAIN0 Speed of left wheels -# @output MAIN1 Speed of right wheels -# -# @maintainer Timothy Scott -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.rover_defaults - -param set-default BAT1_N_CELLS 4 - -param set-default EKF2_GBIAS_INIT 0.01 -param set-default EKF2_ANGERR_INIT 0.01 -param set-default EKF2_MAG_TYPE 1 - -param set-default FW_AIRSPD_MIN 0 -param set-default FW_AIRSPD_TRIM 1 -param set-default FW_AIRSPD_MAX 3 - -param set-default GND_SP_CTRL_MODE 1 -param set-default GND_L1_DIST 5 -param set-default GND_L1_PERIOD 3 -param set-default GND_THR_CRUISE 0.7 -param set-default GND_THR_MAX 0.5 - -# Because this is differential drive, it can make a turn with radius 0. -# This corresponds to a turn angle of pi radians. -# If a special case is made for differential-drive, this will need to change. -param set-default GND_MAX_ANG 3.142 -param set-default GND_WHEEL_BASE 0.3 - -# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase -# to support negative throttle. -param set-default GND_THR_MIN 0 -param set-default GND_SPEED_P 0.25 -param set-default GND_SPEED_I 3 -param set-default GND_SPEED_D 0.001 -param set-default GND_SPEED_IMAX 0.125 -param set-default GND_SPEED_THR_SC 1 - -param set-default MIS_LTRMIN_ALT 0.01 -param set-default MIS_TAKEOFF_ALT 0.01 - -param set-default NAV_ACC_RAD 0.5 - -# Provide ESC a constant 1500 us pulse, which corresponds to -# idle on the Roboclaw motor controller on the Aion R1 -param set-default PWM_MAIN_DISARM 1500 -param set-default PWM_MAIN_DIS0 1500 -param set-default PWM_MAIN_DIS1 1500 -param set-default PWM_MAIN_MAX 2000 -param set-default PWM_MAIN_MIN 1000 - -# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor -param set-default CBRK_AIRSPD_CHK 162128 - -# Differential drive acts like ackermann steering with a maximum turn angle of 180 degrees, or pi radians -param set-default GND_MAX_ANG 3.1415 - -param set-default RBCLW_BAUD 8 -param set-default RBCLW_COUNTS_REV 1200 -param set-default RBCLW_ADDRESS 128 -# 104 corresponds to Telem 4 -param set-default RBCLW_SER_CFG 104 -# Start this driver after setting parameters, because the driver uses some of those parameters. -# roboclaw start /dev/ttyS3 - -# Set mixer -set MIXER generic_diff_rover - -set PWM_MAIN_REV2 1 diff --git a/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx b/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx index 1c1d55b392..d06d3487de 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx +++ b/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx @@ -8,9 +8,8 @@ # # @board px4_fmu-v2 exclude # -# @output MAIN2 Steering servo -# @output MAIN3 Speed of left wheels -# @output MAIN4 Speed of right wheels +# @output Motor1 Speed of left wheels +# @output Servo1 Steering servo # # @maintainer Katrin Moritz # @@ -51,21 +50,21 @@ param set-default MIS_TAKEOFF_ALT 0.01 param set-default NAV_ACC_RAD 0.5 +# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor +param set-default CBRK_AIRSPD_CHK 162128 + +param set-default CA_AIRFRAME 5 + +param set-default CA_R_REV 1 +param set-default PWM_MAIN_FUNC2 201 +param set-default PWM_MAIN_FUNC3 101 +param set-default PWM_MAIN_FUNC4 101 + # Provide ESC a constant 1500 us pulse to idle -param set-default PWM_MAIN_DISARM 1500 +param set-default PWM_MAIN_DIS2 1500 param set-default PWM_MAIN_DIS3 1485 param set-default PWM_MAIN_DIS4 1485 param set-default PWM_MAIN_FAIL3 1485 param set-default PWM_MAIN_FAIL4 1485 -param set-default PWM_MAIN_MAX 2000 -param set-default PWM_MAIN_MIN 1000 param set-default PWM_MAIN_MIN3 970 param set-default PWM_MAIN_MIN4 970 - -# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor -param set-default CBRK_AIRSPD_CHK 162128 - -# Set mixer -set MIXER rover_diff_and_servo - -set PWM_MAIN_REV2 1 diff --git a/ROMFS/px4fmu_common/init.d/airframes/5001_quad_+ b/ROMFS/px4fmu_common/init.d/airframes/5001_quad_+ index 3d172387c8..d683311792 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/5001_quad_+ +++ b/ROMFS/px4fmu_common/init.d/airframes/5001_quad_+ @@ -5,18 +5,6 @@ # @type Quadrotor + # @class Copter # -# @output MAIN1 motor 1 -# @output MAIN2 motor 2 -# @output MAIN3 motor 3 -# @output MAIN4 motor 4 -# @output MAIN5 feed-through of RC AUX1 channel -# @output MAIN6 feed-through of RC AUX2 channel -# -# @output AUX1 feed-through of RC AUX1 channel -# @output AUX2 feed-through of RC AUX2 channel -# @output AUX3 feed-through of RC AUX3 channel -# @output AUX4 feed-through of RC FLAPS channel -# # @maintainer Lorenz Meier # # @board bitcraze_crazyflie exclude @@ -25,4 +13,14 @@ . ${R}etc/init.d/rc.mc_defaults -set MIXER quad_+ +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_ROTOR0_KM -0.05 +param set-default CA_ROTOR1_PX -0.15 +param set-default CA_ROTOR1_PY -0.15 +param set-default CA_ROTOR1_KM -0.05 +param set-default CA_ROTOR2_PX 0.15 +param set-default CA_ROTOR2_PY -0.15 +param set-default CA_ROTOR3_PX -0.15 +param set-default CA_ROTOR3_PY 0.15 diff --git a/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic b/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic index e0b33a9534..23a55ac1c2 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic +++ b/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic @@ -16,4 +16,36 @@ # disable circuit breaker for airspeed sensor param set-default CBRK_AIRSPD_CHK 162128 -set MIXER uuv_x + +param set-default CA_AIRFRAME 7 +param set-default CA_ROTOR_COUNT 4 +param set-default CA_R_REV 255 +param set-default CA_ROTOR0_AX 1 +param set-default CA_ROTOR0_AY 0 +param set-default CA_ROTOR0_AZ 0 +param set-default CA_ROTOR0_KM 0 +param set-default CA_ROTOR0_PX 0 +param set-default CA_ROTOR0_PY -0.3 +param set-default CA_ROTOR0_PZ -0.3 +param set-default CA_ROTOR1_AX 1 +param set-default CA_ROTOR1_AY 0 +param set-default CA_ROTOR1_AZ 0 +param set-default CA_ROTOR1_KM 0 +param set-default CA_ROTOR1_PX 0 +param set-default CA_ROTOR1_PY 0.3 +param set-default CA_ROTOR1_PZ -0.3 +param set-default CA_ROTOR2_AX 1 +param set-default CA_ROTOR2_AY 0 +param set-default CA_ROTOR2_AZ 0 +param set-default CA_ROTOR2_KM 0 +param set-default CA_ROTOR2_PX 0 +param set-default CA_ROTOR2_PY 0.3 +param set-default CA_ROTOR2_PZ 0.3 +param set-default CA_ROTOR3_AX 1 +param set-default CA_ROTOR3_AY 0 +param set-default CA_ROTOR3_AZ 0 +param set-default CA_ROTOR3_KM 0 +param set-default CA_ROTOR3_PX 0 +param set-default CA_ROTOR3_PY -0.3 +param set-default CA_ROTOR3_PZ 0.3 + diff --git a/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus b/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus index 8ea8646956..611701fc67 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus +++ b/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus @@ -16,4 +16,39 @@ # disable circuit breaker for airspeed sensor param set-default CBRK_AIRSPD_CHK 162128 -set MIXER uuv_x +param set-default CA_AIRFRAME 7 +param set-default CA_ROTOR_COUNT 4 +param set-default CA_R_REV 255 +param set-default CA_ROTOR0_AX 1 +param set-default CA_ROTOR0_AY 0 +param set-default CA_ROTOR0_AZ 0 +param set-default CA_ROTOR0_KM 0 +param set-default CA_ROTOR0_PX 0 +param set-default CA_ROTOR0_PY -0.3 +param set-default CA_ROTOR0_PZ -0.3 +param set-default CA_ROTOR1_AX 1 +param set-default CA_ROTOR1_AY 0 +param set-default CA_ROTOR1_AZ 0 +param set-default CA_ROTOR1_KM 0 +param set-default CA_ROTOR1_PX 0 +param set-default CA_ROTOR1_PY 0.3 +param set-default CA_ROTOR1_PZ -0.3 +param set-default CA_ROTOR2_AX 1 +param set-default CA_ROTOR2_AY 0 +param set-default CA_ROTOR2_AZ 0 +param set-default CA_ROTOR2_KM 0 +param set-default CA_ROTOR2_PX 0 +param set-default CA_ROTOR2_PY 0.3 +param set-default CA_ROTOR2_PZ 0.3 +param set-default CA_ROTOR3_AX 1 +param set-default CA_ROTOR3_AY 0 +param set-default CA_ROTOR3_AZ 0 +param set-default CA_ROTOR3_KM 0 +param set-default CA_ROTOR3_PX 0 +param set-default CA_ROTOR3_PY -0.3 +param set-default CA_ROTOR3_PZ 0.3 + +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 diff --git a/ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy b/ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy index 44b876564d..6124d105d5 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy +++ b/ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy @@ -5,14 +5,14 @@ # @type Vectored 6 DOF UUV # @class Underwater Robot # -# @output MAIN1 motor 1 CCW, bow starboard horizontal, , propeller CCW -# @output MAIN2 motor 2 CCW, bow port horizontal, propeller CCW -# @output MAIN3 motor 3 CCW, stern starboard horizontal, propeller CW -# @output MAIN4 motor 4 CCW, stern port horizontal, propeller CW -# @output MAIN5 motor 5 CCW, bow starboard vertical, propeller CCW -# @output MAIN6 motor 6 CCW, bow port vertical, propeller CW -# @output MAIN7 motor 7 CCW, stern starboard vertical, propeller CW -# @output MAIN8 motor 8 CCW, stern port vertical, propeller CCW +# @output Motor1 motor 1 CCW, bow starboard horizontal, , propeller CCW +# @output Motor2 motor 2 CCW, bow port horizontal, propeller CCW +# @output Motor3 motor 3 CCW, stern starboard horizontal, propeller CW +# @output Motor4 motor 4 CCW, stern port horizontal, propeller CW +# @output Motor5 motor 5 CCW, bow starboard vertical, propeller CCW +# @output Motor6 motor 6 CCW, bow port vertical, propeller CW +# @output Motor7 motor 7 CCW, stern starboard vertical, propeller CW +# @output Motor8 motor 8 CCW, stern port vertical, propeller CCW # # @maintainer Thies Lennart Alff # @@ -38,6 +38,60 @@ param set-default BAT1_CAPACITY 18000 param set-default BAT1_V_DIV 11.0 param set-default BAT1_N_CELLS 4 param set-default BAT_V_OFFS_CURR 0.33 -set PWM_OUT 12345678 -# set MIXER IO_pass -set MIXER vectored6dof + +param set-default CA_AIRFRAME 7 + +param set-default CA_ROTOR_COUNT 8 +param set-default CA_R_REV 255 +param set-default CA_ROTOR0_AX 1.0000 +param set-default CA_ROTOR0_AY -1.0000 +param set-default CA_ROTOR0_AZ 0.0000 +param set-default CA_ROTOR0_KM 0.0000 +param set-default CA_ROTOR0_PX 0.5000 +param set-default CA_ROTOR0_PY 0.3000 +param set-default CA_ROTOR0_PZ 0.2000 +param set-default CA_ROTOR1_AX 1.0000 +param set-default CA_ROTOR1_AY 1.0000 +param set-default CA_ROTOR1_AZ 0.0000 +param set-default CA_ROTOR1_KM 0.0000 +param set-default CA_ROTOR1_PX 0.5000 +param set-default CA_ROTOR1_PY -0.3000 +param set-default CA_ROTOR1_PZ 0.2000 +param set-default CA_ROTOR2_AX 1.0000 +param set-default CA_ROTOR2_AY 1.0000 +param set-default CA_ROTOR2_AZ 0.0000 +param set-default CA_ROTOR2_KM 0.0000 +param set-default CA_ROTOR2_PX -0.5000 +param set-default CA_ROTOR2_PY 0.3000 +param set-default CA_ROTOR2_PZ 0.2000 +param set-default CA_ROTOR3_AX 1.0000 +param set-default CA_ROTOR3_AY -1.0000 +param set-default CA_ROTOR3_AZ 0.0000 +param set-default CA_ROTOR3_KM 0.0000 +param set-default CA_ROTOR3_PX -0.5000 +param set-default CA_ROTOR3_PY -0.3000 +param set-default CA_ROTOR3_PZ 0.2000 +param set-default CA_ROTOR4_AZ -1.0000 +param set-default CA_ROTOR4_KM 0.0000 +param set-default CA_ROTOR4_PX 0.5000 +param set-default CA_ROTOR4_PY 0.5000 +param set-default CA_ROTOR5_AZ 1.0000 +param set-default CA_ROTOR5_KM 0.0000 +param set-default CA_ROTOR5_PX 0.5000 +param set-default CA_ROTOR5_PY -0.5000 +param set-default CA_ROTOR6_AZ 1.0000 +param set-default CA_ROTOR6_KM 0.0000 +param set-default CA_ROTOR6_PX -0.5000 +param set-default CA_ROTOR6_PY 0.5000 +param set-default CA_ROTOR7_KM 0.0000 +param set-default CA_ROTOR7_PX -0.5000 +param set-default CA_ROTOR7_PY -0.5000 + +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 106 +param set-default PWM_MAIN_FUNC7 107 +param set-default PWM_MAIN_FUNC8 108 diff --git a/ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x b/ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x index c2bbb26cdb..73c2f5ca42 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x +++ b/ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x @@ -5,17 +5,6 @@ # @type Hexarotor x # @class Copter # -# @output MAIN1 motor 1 -# @output MAIN2 motor 2 -# @output MAIN3 motor 3 -# @output MAIN4 motor 4 -# @output MAIN5 motor 5 -# @output MAIN6 motor 6 -# -# @output AUX1 feed-through of RC AUX1 channel -# @output AUX2 feed-through of RC AUX2 channel -# @output AUX3 feed-through of RC AUX3 channel -# # @maintainer Lorenz Meier # # @board bitcraze_crazyflie exclude @@ -43,7 +32,4 @@ param set-default CA_ROTOR5_PX -0.43 param set-default CA_ROTOR5_PY -0.25 param set-default CA_ROTOR5_KM -0.05 -set MIXER hexa_x -# Need to set all 8 channels -set PWM_OUT 12345678 diff --git a/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r b/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r index 70a88e3fdf..445358c5b3 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r +++ b/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r @@ -5,16 +5,6 @@ # @type Hexarotor x # @class Copter # -# @output MAIN1 motor 1 -# @output MAIN2 motor 2 -# @output MAIN3 motor 3 -# @output MAIN4 motor 4 -# @output MAIN5 motor 5 -# @output MAIN6 motor 6 -# -# @output AUX1 feed-through of RC AUX1 channel -# @output AUX2 feed-through of RC AUX2 channel -# # @maintainer Hyon Lim # # @board px4_fmu-v2 exclude @@ -75,9 +65,6 @@ param set-default PWM_MAIN_MIN 1100 param set-default PWM_MAIN_DIS5 980 param set-default PWM_MAIN_DIS6 980 -# DSHOT -param set-default DSHOT_CONFIG 600 - param set-default MIS_TAKEOFF_ALT 1.1 ##################################### @@ -99,9 +86,6 @@ param set-default SENS_FLOW_ROT 2 param set-default CBRK_IO_SAFETY 22027 param set-default COM_DISARM_LAND 3 -# PWM ONESHOT -param set-default PWM_MAIN_RATE 0 - # Battery param set-default BAT1_SOURCE 0 param set-default BAT1_N_CELLS 4 @@ -121,5 +105,31 @@ param set-default MAV_1_RATE 800000 param set-default SER_TEL2_BAUD 921600 -set MIXER hexa_x -set PWM_OUT 12345678 +param set-default CA_ROTOR_COUNT 6 +param set-default CA_ROTOR0_PX 0.0 +param set-default CA_ROTOR0_PY 0.5 +param set-default CA_ROTOR0_KM -0.05 +param set-default CA_ROTOR1_PX 0.0 +param set-default CA_ROTOR1_PY -0.5 +param set-default CA_ROTOR2_PX 0.43 +param set-default CA_ROTOR2_PY -0.25 +param set-default CA_ROTOR2_KM -0.05 +param set-default CA_ROTOR3_PX -0.43 +param set-default CA_ROTOR3_PY 0.25 +param set-default CA_ROTOR4_PX 0.43 +param set-default CA_ROTOR4_PY 0.25 +param set-default CA_ROTOR5_PX -0.43 +param set-default CA_ROTOR5_PY -0.25 +param set-default CA_ROTOR5_KM -0.05 + +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 106 + +param set-default PWM_MAIN_TIM0 -1 +param set-default PWM_MAIN_TIM1 -1 +param set-default PWM_MAIN_TIM2 -1 + diff --git a/ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+ b/ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+ index e1db21eca3..308bdfb1b8 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+ +++ b/ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+ @@ -5,17 +5,6 @@ # @type Hexarotor + # @class Copter # -# @output MAIN1 motor1 -# @output MAIN2 motor2 -# @output MAIN3 motor3 -# @output MAIN4 motor4 -# @output MAIN5 motor5 -# @output MAIN6 motor6 -# -# @output AUX1 feed-through of RC AUX1 channel -# @output AUX2 feed-through of RC AUX2 channel -# @output AUX3 feed-through of RC AUX3 channel -# # @maintainer Lorenz Meier # # @board bitcraze_crazyflie exclude @@ -43,7 +32,4 @@ param set-default CA_ROTOR5_PX -0.25 param set-default CA_ROTOR5_PY 0.43 param set-default CA_ROTOR5_KM -0.05 -set MIXER hexa_+ -# Need to set all 8 channels -set PWM_OUT 12345678 diff --git a/ROMFS/px4fmu_common/init.d/airframes/8001_octo_x b/ROMFS/px4fmu_common/init.d/airframes/8001_octo_x index cabae69975..19c112b306 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/8001_octo_x +++ b/ROMFS/px4fmu_common/init.d/airframes/8001_octo_x @@ -5,19 +5,6 @@ # @type Octorotor x # @class Copter # -# @output MAIN1 motor 1 -# @output MAIN2 motor 2 -# @output MAIN3 motor 3 -# @output MAIN4 motor 4 -# @output MAIN5 motor 5 -# @output MAIN6 motor 6 -# @output MAIN7 motor 7 -# @output MAIN8 motor 8 -# -# @output AUX1 feed-through of RC AUX1 channel -# @output AUX2 feed-through of RC AUX2 channel -# @output AUX3 feed-through of RC AUX3 channel -# # @maintainer Lorenz Meier # # @board bitcraze_crazyflie exclude @@ -50,6 +37,4 @@ param set-default CA_ROTOR7_KM -0.05 param set-default CA_ROTOR7_PX -0.19 param set-default CA_ROTOR7_PY 0.46 -set MIXER octo_x -set PWM_OUT 12345678 diff --git a/ROMFS/px4fmu_common/init.d/airframes/9001_octo_+ b/ROMFS/px4fmu_common/init.d/airframes/9001_octo_+ index 95c2479560..53dba8b799 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/9001_octo_+ +++ b/ROMFS/px4fmu_common/init.d/airframes/9001_octo_+ @@ -5,19 +5,6 @@ # @type Octorotor + # @class Copter # -# @output MAIN1 motor 1 -# @output MAIN2 motor 2 -# @output MAIN3 motor 3 -# @output MAIN4 motor 4 -# @output MAIN5 motor 5 -# @output MAIN6 motor 6 -# @output MAIN7 motor 7 -# @output MAIN8 motor 8 -# -# @output AUX1 feed-through of RC AUX1 channel -# @output AUX2 feed-through of RC AUX2 channel -# @output AUX3 feed-through of RC AUX3 channel -# # @maintainer Lorenz Meier # # @board bitcraze_crazyflie exclude @@ -28,6 +15,25 @@ # MAV_TYPE_OCTOROTOR 14 param set-default MAV_TYPE 14 -set MIXER octo_+ +param set-default CA_ROTOR_COUNT 8 +param set-default CA_ROTOR0_KM -0.05 +param set-default CA_ROTOR0_PX 0.5 +param set-default CA_ROTOR0_PY 0 +param set-default CA_ROTOR1_KM -0.05 +param set-default CA_ROTOR1_PX -0.5 +param set-default CA_ROTOR1_PY 0 +param set-default CA_ROTOR2_PX 0.35 +param set-default CA_ROTOR2_PY 0.35 +param set-default CA_ROTOR3_PX -0.35 +param set-default CA_ROTOR3_PY 0.35 +param set-default CA_ROTOR4_PX 0.35 +param set-default CA_ROTOR4_PY -0.35 +param set-default CA_ROTOR5_PX -0.35 +param set-default CA_ROTOR5_PY -0.35 +param set-default CA_ROTOR6_KM -0.05 +param set-default CA_ROTOR6_PX 0 +param set-default CA_ROTOR6_PY -0.5 +param set-default CA_ROTOR7_KM -0.05 +param set-default CA_ROTOR7_PX 0 +param set-default CA_ROTOR7_PY 0.5 -set PWM_OUT 12345678 diff --git a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt index c48755801f..e20a8f89a6 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt +++ b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt @@ -35,7 +35,6 @@ px4_add_romfs_files( # [0-999] Reserved (historical)" # [1000, 1999] Simulation setups" - 1000_rc_fw_easystar.hil 1001_rc_quad_x.hil 1002_standard_vtol.hil 1100_rc_quad_x_sih.hil @@ -44,44 +43,27 @@ px4_add_romfs_files( # [2000, 2999] Standard planes" 2100_standard_plane - 2105_maja 2106_albatross - 2200_mini_talon 2507_cloudship # [3000, 3999] Flying wing" 3000_generic_wing - 3031_phantom - 3032_skywalker_x5 - 3033_wingwing - 3036_pigeon - 3100_tbs_caipirinha # [4000, 4999] Quadrotor x" 4001_quad_x - 4003_qavr5 - 4009_qav250 4014_s500 4015_holybro_s500 4016_holybro_px4vision 4017_nxp_hovergames - 4019_x500_v2 - 4030_3dr_solo - 4031_3dr_quad 4040_reaper 4041_beta75x 4050_generic_250 - 4051_s250aq 4052_holybro_qav250 4053_holybro_kopis2 4061_atl_mantis_edu 4071_ifo - 4072_draco 4073_ifo-s - 4080_zmr250 - 4090_nanomind - 4100_tiltquadrotor 4500_clover4 4900_crazyflie 4901_crazyflie21 @@ -102,11 +84,6 @@ px4_add_romfs_files( # [9000, 9999] Octorotor +" 9001_octo_+ - # [10000, 10999] Quadrotor Wide arm / H frame" - 10015_tbs_discovery - 10016_3dr_iris - 10018_tbs_endurance - # [11000, 11999] Hexa Cox 11001_hexa_cox @@ -115,28 +92,14 @@ px4_add_romfs_files( # [13000, 13999] VTOL 13000_generic_vtol_standard - 13001_caipirinha_vtol - 13002_firefly6 - 13003_quad_tailsitter - 13004_quad+_tailsitter - 13005_vtol_AAERT_quad - 13006_vtol_standard_delta - 13007_vtol_AAVVT_quad - 13008_QuadRanger - 13009_vtol_spt_ranger 13100_generic_vtol_tiltrotor - 13012_convergence 13013_deltaquad 13014_vtol_babyshark 13030_generic_vtol_quad_tiltrotor - 13050_generic_vtol_octo 13200_generic_vtol_tailsitter - # [14000, 14999] Tri Y - 14001_tri_y_yaw+ - 14002_tri_y_yaw- - - 15001_coax_heli + # [14000, 14999] MC with tilt + 14001_generic_mc_with_tilt 16001_helicopter @@ -152,7 +115,6 @@ px4_add_romfs_files( 24001_dodeca_cox 50000_generic_ground_vehicle - 50003_aion_robotics_r1_rover 50004_nxpcup_car_dfrobot_gpx # [60000, 61000] (Unmanned) Underwater Robots diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index e35f48c877..90a27cb3c6 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -28,7 +28,7 @@ set IOFW "/etc/extras/px4_io-v2_default.bin" set IO_PRESENT no set LOGGER_ARGS "" set LOGGER_BUF 8 -set MIXER none +set MIXER skip set MIXER_AUX none set MIXER_FILE none set MIXER_EXTRA none diff --git a/ROMFS/px4fmu_common/mixers/CMakeLists.txt b/ROMFS/px4fmu_common/mixers/CMakeLists.txt index 00903468fc..5e00c9f9ab 100644 --- a/ROMFS/px4fmu_common/mixers/CMakeLists.txt +++ b/ROMFS/px4fmu_common/mixers/CMakeLists.txt @@ -37,17 +37,11 @@ px4_add_romfs_files( AAVVTWFF_vtail.main.mix AERT.main.mix AETRFG.main.mix - babyshark.main.mix - blade130.main.mix CCPM.main.mix cloudship.main.mix coax.main.mix - delta.main.mix - deltaquad.main.mix dodeca_bottom_cox.aux.mix dodeca_top_cox.main.mix - firefly6.aux.mix - firefly6.main.mix fw_generic_wing.main.mix generic_diff_rover.main.mix hexa_cox.main.mix @@ -64,7 +58,6 @@ px4_add_romfs_files( quad_dc.main.mix quad_h.main.mix quad_+.main.mix - quad_s250aq.main.mix quad_+_vtol.main.mix quad_w.main.mix quad_x_cw.main.mix @@ -74,17 +67,13 @@ px4_add_romfs_files( rover_diff_and_servo.main.mix rover_generic.main.mix standard_vtol_hitl.main.mix - TF-AutoG2.main.mix tilt_quad.aux.mix tilt_quad.main.mix tri_y_yaw+.main.mix tri_y_yaw-.main.mix - uuv_x.main.mix - vectored6dof.main.mix vtol_AAERT.aux.mix vtol_AAVVT.aux.mix vtol_TTTTAAER.aux.mix - vtol_convergence.main.mix vtol_delta.aux.mix vtol_tailsitter_duo.main.mix vtol_tailsitter_duo_sat.main.mix diff --git a/ROMFS/px4fmu_common/mixers/TF-AutoG2.main.mix b/ROMFS/px4fmu_common/mixers/TF-AutoG2.main.mix deleted file mode 100644 index 23c146904b..0000000000 --- a/ROMFS/px4fmu_common/mixers/TF-AutoG2.main.mix +++ /dev/null @@ -1,56 +0,0 @@ -Aileron/rudder/elevator/throttle mixer for PX4FMU -================================================== -# @board px4_fmu-v2 exclude - -Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 -(roll), 1 (pitch) and 3 (thrust). - -CH1, 2: rotor-head mixer -------------- -Two scalers total (output, roll). - -M: 2 -O: 10000 10000 0 -10000 10000 -S: 0 0 -10000 -10000 0 -10000 10000 -S: 0 1 10000 10000 0 -10000 10000 - - -M: 2 -O: 10000 10000 0 -10000 10000 -S: 0 0 -10000 -10000 0 -10000 10000 -S: 0 1 -10000 -10000 0 -10000 10000 - - -CH3: Elevator, prerotator mixer ------------- -Two scalers total (output, roll). - -M: 1 -O: 7500 7500 0 -10000 10000 -S: 3 6 10000 10000 0 -10000 10000 - - -CH4, 5: Rudder mixer ------------- -Two scalers total (output, yaw). - -M: 1 -S: 0 2 10000 10000 0 -10000 10000 - -M: 1 -S: 0 2 -10000 -10000 0 -10000 10000 - -CH4: Motor speed mixer ------------------ -Two scalers total (output, thrust). - -M: 1 -S: 0 3 0 20000 -10000 -10000 10000 - - -CH3: Wheel mixer ------------- -Two scalers total (output, yaw). - -M: 1 -S: 0 2 10000 10000 0 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/TF-G2.main.mix b/ROMFS/px4fmu_common/mixers/TF-G2.main.mix deleted file mode 100644 index 37acba1b55..0000000000 --- a/ROMFS/px4fmu_common/mixers/TF-G2.main.mix +++ /dev/null @@ -1,40 +0,0 @@ -TF-G2 autogyro mixer -================================================== -# @board px4_fmu-v2 exclude - -Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 -(roll), 1 (pitch) and 3 (thrust). - -CH1: empty - fixing cuav nano jittering of 1st output. -Z: - - -CH2, 3: rotor-head mixer -------------- -Two scalers total (output, roll). - -M: 2 -O: 10000 10000 0 -10000 10000 -S: 0 0 -10000 -10000 0 -10000 10000 -S: 0 1 10000 10000 0 -10000 10000 - -M: 2 -O: 10000 10000 0 -10000 10000 -S: 0 0 -10000 -10000 0 -10000 10000 -S: 0 1 -10000 -10000 0 -10000 10000 - - -CH4: Rudder mixer ------------- -Two scalers total (output, yaw). - -M: 1 -S: 0 2 10000 10000 0 -10000 10000 - - -CH5: Motor speed mixer ------------------ -Two scalers total (output, thrust). - -M: 1 -S: 0 3 0 20000 -10000 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/babyshark.main.mix b/ROMFS/px4fmu_common/mixers/babyshark.main.mix deleted file mode 100644 index 7aae2aa4af..0000000000 --- a/ROMFS/px4fmu_common/mixers/babyshark.main.mix +++ /dev/null @@ -1,39 +0,0 @@ -# BabyShark VTOL mixer for PX4FMU -# 1-4 (main): Ailerons (Y-cable), A-tail left, Pusher, A-tail right -# 5-8 (main): quad motors -#============================= -# @board px4_fmu-v2 exclude - - -Aileron mixer (roll) ---------------------------------- -M: 1 -S: 1 0 -10000 -10000 0 -10000 10000 - - -A-tail mixer right ------------------- -M: 2 -S: 1 2 -7000 -7000 0 -10000 10000 -S: 1 1 8000 8000 0 -10000 10000 - - -Motor speed mixer ------------------ -This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1) -range. Inputs below zero are treated as zero. - -M: 1 -S: 1 3 0 20000 -10000 -10000 10000 - - -A-tail mixer left ------------------ -M: 2 -S: 1 2 -7000 -7000 0 -10000 10000 -S: 1 1 -8000 -8000 0 -10000 10000 - - -Quad motors 1 - 4 ------------------ -R: 4x diff --git a/ROMFS/px4fmu_common/mixers/blade130.main.mix b/ROMFS/px4fmu_common/mixers/blade130.main.mix deleted file mode 100644 index 3cbf49f510..0000000000 --- a/ROMFS/px4fmu_common/mixers/blade130.main.mix +++ /dev/null @@ -1,15 +0,0 @@ -Helicopter Cyclic-Collective-Pitch Mixing (CCPM) for PX4FMU -Blade 130x helicopter has longer servo arms left and right. The front servo arm is shortest and has normalized length 10000. -================================================== - -H: 3 -T: 0 3000 6000 8000 10000 -P: 500 1500 2500 3500 4500 -# Swash plate servos: -S: 0 10000 10000 0 -8000 8000 -S: 140 13054 10000 0 -8000 8000 -S: 220 13054 10000 0 -8000 8000 - -# Tail servo: -M: 1 -S: 0 2 10000 10000 0 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/delta.main.mix b/ROMFS/px4fmu_common/mixers/delta.main.mix deleted file mode 100644 index 0059951abe..0000000000 --- a/ROMFS/px4fmu_common/mixers/delta.main.mix +++ /dev/null @@ -1,47 +0,0 @@ -Delta-wing mixer for PX4FMU -=========================== -# @board px4_fmu-v2 exclude - -This file defines mixers suitable for controlling a delta wing aircraft using -PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU -servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is -assumed to be unused. - -Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 -(roll), 1 (pitch) and 3 (thrust). - -See the README for more information on the scaler format. - -Elevon mixers -------------- -Three scalers total (output, roll, pitch). - -On the assumption that the two elevon servos are physically reversed, the pitch -input is inverted between the two servos. - -The scaling factor for roll inputs is adjusted to implement differential travel -for the elevons. - -M: 2 -S: 0 0 3000 5000 0 -10000 10000 -S: 0 1 5000 5000 0 -10000 10000 - -M: 2 -S: 0 0 5000 3000 0 -10000 10000 -S: 0 1 -5000 -5000 0 -10000 10000 - -Output 2 --------- -This mixer is empty. - -Z: - -Motor speed mixer ------------------ -Two scalers total (output, thrust). - -This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1) -range. Inputs below zero are treated as zero. - -M: 1 -S: 0 3 0 20000 -10000 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/deltaquad.main.mix b/ROMFS/px4fmu_common/mixers/deltaquad.main.mix deleted file mode 100644 index 11642e3601..0000000000 --- a/ROMFS/px4fmu_common/mixers/deltaquad.main.mix +++ /dev/null @@ -1,47 +0,0 @@ -# DeltaQuad mixer for PX4FMU -#============================= -# @board px4_fmu-v2 exclude - -Quad motors 1 - 4 -------------- - -R: 4x - - -Elevon mixers -------------- -Three scalers total (output, roll, pitch). - -On the assumption that the two elevon servos are physically reversed, the pitch -input is inverted between the two servos. - -5: right -------------- - -M: 2 -S: 1 0 8000 8000 0 -10000 10000 -S: 1 1 8000 8000 0 -10000 10000 - -6: left -------------- - -M: 2 -S: 1 0 8000 8000 0 -10000 10000 -S: 1 1 -8000 -8000 0 -10000 10000 - - -7: Motor speed mixer ------------------ -Two scalers total (output, thrust). - -This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1) -range. Inputs below zero are treated as zero. - -M: 1 -S: 1 3 0 20000 -10000 -10000 10000 - -8: Reverse thrust (brake) mixer ------------------ - -M: 1 -S: 1 6 0 20000 -9000 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/firefly6.aux.mix b/ROMFS/px4fmu_common/mixers/firefly6.aux.mix deleted file mode 100644 index 9007a23b96..0000000000 --- a/ROMFS/px4fmu_common/mixers/firefly6.aux.mix +++ /dev/null @@ -1,24 +0,0 @@ -# mixer for the FireFly6 tilt mechansim servo, elevons and landing gear -======================================================================= - -# @board px4_fmu-v2 exclude - -Tilt mechanism servo mixer ---------------------------- -M: 1 -S: 1 8 0 20000 -10000 -10000 10000 - -Elevon mixers -------------- -M: 2 -S: 1 0 7500 7500 0 -10000 10000 -S: 1 1 8000 8000 0 -10000 10000 - -M: 2 -S: 1 0 7500 7500 0 -10000 10000 -S: 1 1 -8000 -8000 0 -10000 10000 - -Landing gear mixer ------------------- -M: 1 -S: 3 6 10000 10000 0 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/firefly6.main.mix b/ROMFS/px4fmu_common/mixers/firefly6.main.mix deleted file mode 100644 index 59148528c6..0000000000 --- a/ROMFS/px4fmu_common/mixers/firefly6.main.mix +++ /dev/null @@ -1,6 +0,0 @@ -# FireFly6 mixer for PX4FMU -# -#=========================== -# @board px4_fmu-v2 exclude - -R: 6c diff --git a/ROMFS/px4fmu_common/mixers/quad_s250aq.main.mix b/ROMFS/px4fmu_common/mixers/quad_s250aq.main.mix deleted file mode 100644 index 23a1b6c715..0000000000 --- a/ROMFS/px4fmu_common/mixers/quad_s250aq.main.mix +++ /dev/null @@ -1,5 +0,0 @@ -R: 4s -M: 1 -S: 3 5 10000 10000 0 -10000 10000 -M: 1 -S: 3 6 10000 10000 0 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/uuv_x.main.mix b/ROMFS/px4fmu_common/mixers/uuv_x.main.mix deleted file mode 100644 index bebc454e5d..0000000000 --- a/ROMFS/px4fmu_common/mixers/uuv_x.main.mix +++ /dev/null @@ -1,25 +0,0 @@ -Mixer for Unmanned Underwater Vehicles (UUV) with X-Motor configuration -========================================================================== - -# @board px4_fmu-v2 exclude - -M: 4 -S: 0 0 -4000 -4000 0 -10000 10000 -S: 0 1 -4000 -4000 0 -10000 10000 -S: 0 2 +4000 +4000 0 -10000 10000 -S: 0 3 +4000 +4000 0 -10000 10000 -M: 4 -S: 0 0 -4000 -4000 0 -10000 10000 -S: 0 1 +4000 +4000 0 -10000 10000 -S: 0 2 +4000 +4000 0 -10000 10000 -S: 0 3 -4000 -4000 0 -10000 10000 -M: 4 -S: 0 0 -4000 -4000 0 -10000 10000 -S: 0 1 +4000 +4000 0 -10000 10000 -S: 0 2 -4000 -4000 0 -10000 10000 -S: 0 3 +4000 +4000 0 -10000 10000 -M: 4 -S: 0 0 -4000 -4000 0 -10000 10000 -S: 0 1 -4000 -4000 0 -10000 10000 -S: 0 2 -4000 -4000 0 -10000 10000 -S: 0 3 -4000 -4000 0 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/vectored6dof.main.mix b/ROMFS/px4fmu_common/mixers/vectored6dof.main.mix deleted file mode 100644 index 47d8228645..0000000000 --- a/ROMFS/px4fmu_common/mixers/vectored6dof.main.mix +++ /dev/null @@ -1,42 +0,0 @@ -# @board px4_fmu-v2 exclude - -# Motor 1 -M: 3 -S: 0 2 -4000 -4000 0 -4000 +4000 -S: 0 3 +4000 +4000 0 -4000 +4000 -S: 0 4 +4000 +4000 0 -4000 +4000 -# Motor 2 -M: 3 -S: 0 2 +4000 +4000 0 -4000 +4000 -S: 0 3 +4000 +4000 0 -4000 +4000 -S: 0 4 -4000 -4000 0 -4000 +4000 -# Motor 3 -M: 3 -S: 0 2 -4000 -4000 0 -4000 +4000 -S: 0 3 +4000 +4000 0 -4000 +4000 -S: 0 4 -4000 -4000 0 -4000 +4000 -# Motor 4 -M: 3 -S: 0 2 +4000 +4000 0 -4000 +4000 -S: 0 3 +4000 +4000 0 -4000 +4000 -S: 0 4 +4000 +4000 0 -4000 +4000 -# Motor 5 -M: 3 -S: 0 0 -4000 -4000 0 -4000 +4000 -S: 0 1 +4000 +4000 0 -4000 +4000 -S: 0 5 +4000 +4000 0 -4000 +4000 -# Motor 6 -M: 3 -S: 0 0 -4000 -4000 0 -4000 +4000 -S: 0 1 -4000 -4000 0 -4000 +4000 -S: 0 5 -4000 -4000 0 -4000 +4000 -# Motor 7 -M: 3 -S: 0 0 +4000 +4000 0 -4000 +4000 -S: 0 1 +4000 +4000 0 -4000 +4000 -S: 0 5 -4000 -4000 0 -4000 +4000 -# Motor 8 -M: 3 -S: 0 0 +4000 +4000 0 -4000 +4000 -S: 0 1 -4000 -4000 0 -4000 +4000 -S: 0 5 +4000 +4000 0 -4000 +4000 diff --git a/ROMFS/px4fmu_common/mixers/vtol_convergence.main.mix b/ROMFS/px4fmu_common/mixers/vtol_convergence.main.mix deleted file mode 100644 index 086150c257..0000000000 --- a/ROMFS/px4fmu_common/mixers/vtol_convergence.main.mix +++ /dev/null @@ -1,29 +0,0 @@ -# E-flite Convergence Tricopter Y-Configuration Mixer -# @board px4_fmu-v2 exclude - -# Motors -R: 3y - -Z: - -Tilt mechanism servo mixer ---------------------------- -#RIGHT up:2000 down:1000 -M: 2 -S: 1 8 0 -20000 10000 -10000 10000 -S: 0 2 8000 8000 0 -10000 10000 - -#LEFT up:1000 down:2000 -M: 2 -S: 1 8 0 20000 -10000 -10000 10000 -S: 0 2 8000 8000 0 -10000 10000 - -Elevon mixers -------------- -M: 2 -S: 1 0 7500 7500 0 -10000 10000 -S: 1 1 8000 8000 0 -10000 10000 - -M: 2 -S: 1 0 7500 7500 0 -10000 10000 -S: 1 1 -8000 -8000 0 -10000 10000 diff --git a/boards/atl/mantis-edu/init/rc.board_extras b/boards/atl/mantis-edu/init/rc.board_extras index e3969b7473..36f70eb40c 100644 --- a/boards/atl/mantis-edu/init/rc.board_extras +++ b/boards/atl/mantis-edu/init/rc.board_extras @@ -1,5 +1,3 @@ #!/bin/sh tap_esc start -d /dev/ttyS4 -n 4 -sleep 1 -mixer load /dev/tap_esc /etc/mixers/quad_x.main.mix diff --git a/src/lib/mixer/MultirotorMixer/CMakeLists.txt b/src/lib/mixer/MultirotorMixer/CMakeLists.txt index 5ccc17be15..0a902d95d1 100644 --- a/src/lib/mixer/MultirotorMixer/CMakeLists.txt +++ b/src/lib/mixer/MultirotorMixer/CMakeLists.txt @@ -45,7 +45,6 @@ set(geometry_files quad_deadcat.toml quad_h.toml quad_plus.toml - quad_s250aq.toml quad_vtail.toml quad_wide.toml quad_x_cw.toml diff --git a/src/lib/mixer/MultirotorMixer/geometries/quad_s250aq.toml b/src/lib/mixer/MultirotorMixer/geometries/quad_s250aq.toml deleted file mode 100644 index f6c360bc21..0000000000 --- a/src/lib/mixer/MultirotorMixer/geometries/quad_s250aq.toml +++ /dev/null @@ -1,30 +0,0 @@ -# Spedix S250AQ Quadcopter -# Note: Rotor positions computed from specifications: length:210mm, width:260mm, wheel base:280mm - -[info] -key = "4s" -description = "Spedix S250AQ Quadcopter" - -[rotor_default] -direction = "CW" -axis = [0.0, 0.0, -1.0] -Ct = 1.0 -Cm = 0.01 - -[[rotors]] -name = "front_right" -position = [0.105, 0.130, 0.0] -direction = "CCW" - -[[rotors]] -name = "rear_left" -position = [-0.105, -0.0552, 0.0] -direction = "CCW" - -[[rotors]] -name = "front_left" -position = [0.105, -0.130, 0.0] - -[[rotors]] -name = "rear_right" -position = [-0.105, 0.0552, 0.0]