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oscillation_ctrl
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Updating airframes to work with version 1.13dev of PX4 Firmware

This commit is contained in:
cesar.alejandro 2022-08-31 17:29:05 -03:00
parent 624a08af63
commit 6dbfabf8de
3 changed files with 72 additions and 16 deletions
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42
airframes/4000_spiri
View File

@ -7,18 +7,46 @@
. ${R}etc/init.d/rc.mc_defaults . ${R}etc/init.d/rc.mc_defaults
param set-default MC_ROLLRATE_K 2.35 param set-default MC_ROLLRATE_K 1.00
param set-default MC_ROLLRATE_D 0.0032 param set-default MC_ROLLRATE_D 0.0060
param set-default MC_ROLLRATE_I 0.15 param set-default MC_ROLLRATE_I 0.35
param set-default MC_PITCHRATE_K 2.35 param set-default MC_PITCHRATE_K 1.00
param set-default MC_PITCHRATE_D 0.0032 param set-default MC_PITCHRATE_D 0.0060
param set-default MC_PITCHRATE_I 0.15 param set-default MC_PITCHRATE_I 0.35
param set-default MPC_Z_P 0.70
#param load spiri_param/Vehicle_230_Parameters.params #param load spiri_param/Vehicle_230_Parameters.params
param set-default MPC_Z_VEL_MAX_UP 1.0 #param set-default MC_PITCHRATE_P 0.0889
#param set-default MC_ROLLRATE_P 0.0957
param set-default CA_AIRFRAME 0
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.165037
param set-default CA_ROTOR0_PY 0.165037
param set-default CA_ROTOR0_KM 0.1
param set-default CA_ROTOR1_PX -0.165037
param set-default CA_ROTOR1_PY -0.165037
param set-default CA_ROTOR1_KM 0.1
param set-default CA_ROTOR2_PX 0.165037
param set-default CA_ROTOR2_PY -0.165037
param set-default CA_ROTOR2_KM -0.1
param set-default CA_ROTOR3_PX -0.165037
param set-default CA_ROTOR3_PY 0.165037
param set-default CA_ROTOR3_KM -0.1
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 COM_RCL_EXCEPT 4 param set-default COM_RCL_EXCEPT 4
param set-default MPC_Z_VEL_MAX_UP 1.0
param set-default COM_RCL_EXCEPT 4
param set-default NAV_RCL_ACT 1
set MIXER quad_x set MIXER quad_x
set PWM_OUT 1234 set PWM_OUT 1234

44
airframes/4001_spiri_with_tether
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@ -7,18 +7,46 @@
. ${R}etc/init.d/rc.mc_defaults . ${R}etc/init.d/rc.mc_defaults
param set-default MC_ROLLRATE_K 2.35 param set-default MC_ROLLRATE_K 1.00
param set-default MC_ROLLRATE_D 0.0030 param set-default MC_ROLLRATE_D 0.0060
param set-default MC_ROLLRATE_I 0.15 param set-default MC_ROLLRATE_I 0.35
param set-default MC_PITCHRATE_K 2.35 param set-default MC_PITCHRATE_K 1.00
param set-default MC_PITCHRATE_D 0.0030 param set-default MC_PITCHRATE_D 0.0060
param set-default MC_PITCHRATE_I 0.15 param set-default MC_PITCHRATE_I 0.35
param set-default MPC_Z_VEL_MAX_UP 0.5 param set-default MPC_Z_P 0.70
param set-default MPC_TKO_SPEED 1.0
#param load spiri_param/Vehicle_230_Parameters.params
#param set-default MC_PITCHRATE_P 0.0889
#param set-default MC_ROLLRATE_P 0.0957
param set-default CA_AIRFRAME 0
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.165037
param set-default CA_ROTOR0_PY 0.165037
param set-default CA_ROTOR0_KM 0.1
param set-default CA_ROTOR1_PX -0.165037
param set-default CA_ROTOR1_PY -0.165037
param set-default CA_ROTOR1_KM 0.1
param set-default CA_ROTOR2_PX 0.165037
param set-default CA_ROTOR2_PY -0.165037
param set-default CA_ROTOR2_KM -0.1
param set-default CA_ROTOR3_PX -0.165037
param set-default CA_ROTOR3_PY 0.165037
param set-default CA_ROTOR3_KM -0.1
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 COM_RCL_EXCEPT 4
param set-default MPC_Z_VEL_MAX_UP 1.0
param set-default COM_RCL_EXCEPT 4 param set-default COM_RCL_EXCEPT 4
param set-default NAV_RCL_ACT 1
set MIXER quad_x set MIXER quad_x
set PWM_OUT 1234 set PWM_OUT 1234

2
models/spiri/spiri.sdf
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@ -5,7 +5,7 @@
<pose frame=''>0 0 0 0 -0 0</pose> <pose frame=''>0 0 0 0 -0 0</pose>
<gravity>1</gravity> <gravity>1</gravity>
<inertial> <inertial>
<pose frame=''>0 0.00268 -0.000742 0 -0 0</pose> <pose>0 0 0 0 -0 0</pose>
<mass>1.437</mass> <mass>1.437</mass>
<!--mass>0.5841</mass--> <!--mass>0.5841</mass-->
<inertia> <inertia>