diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1021_gazebo-classic_uuv_hippocampus b/ROMFS/px4fmu_common/init.d-posix/airframes/1021_gazebo-classic_uuv_hippocampus index ca67af3f01..f6f07d700e 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1021_gazebo-classic_uuv_hippocampus +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1021_gazebo-classic_uuv_hippocampus @@ -8,34 +8,34 @@ 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 1.0000 -param set-default CA_ROTOR0_AY 0.0000 -param set-default CA_ROTOR0_AZ 0.0000 -param set-default CA_ROTOR0_KM 0.0000 -param set-default CA_ROTOR0_PX 0.0000 -param set-default CA_ROTOR0_PY -0.3000 -param set-default CA_ROTOR0_PZ -0.3000 -param set-default CA_ROTOR1_AX 1.0000 -param set-default CA_ROTOR1_AY 0.0000 -param set-default CA_ROTOR1_AZ 0.0000 -param set-default CA_ROTOR1_KM 0.0000 -param set-default CA_ROTOR1_PX 0.0000 -param set-default CA_ROTOR1_PY 0.3000 -param set-default CA_ROTOR1_PZ -0.3000 -param set-default CA_ROTOR2_AX 1.0000 -param set-default CA_ROTOR2_AY 0.0000 -param set-default CA_ROTOR2_AZ 0.0000 -param set-default CA_ROTOR2_KM 0.0000 -param set-default CA_ROTOR2_PX 0.0000 -param set-default CA_ROTOR2_PY 0.3000 -param set-default CA_ROTOR2_PZ 0.3000 -param set-default CA_ROTOR3_AX 1.0000 -param set-default CA_ROTOR3_AY 0.0000 -param set-default CA_ROTOR3_AZ 0.0000 -param set-default CA_ROTOR3_KM 0.0000 -param set-default CA_ROTOR3_PX 0.0000 -param set-default CA_ROTOR3_PY -0.3000 -param set-default CA_ROTOR3_PZ 0.3000 +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 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1022_gazebo-classic_uuv_bluerov2_heavy b/ROMFS/px4fmu_common/init.d-posix/airframes/1022_gazebo-classic_uuv_bluerov2_heavy index 71d0574e1d..0c6c802f8d 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1022_gazebo-classic_uuv_bluerov2_heavy +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1022_gazebo-classic_uuv_bluerov2_heavy @@ -9,49 +9,49 @@ 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 CA_ROTOR0_AX 1 +param set-default CA_ROTOR0_AY -1 +param set-default CA_ROTOR0_AZ 0 +param set-default CA_ROTOR0_KM 0 +param set-default CA_ROTOR0_PX 0.5 +param set-default CA_ROTOR0_PY 0.3 +param set-default CA_ROTOR0_PZ 0.2 +param set-default CA_ROTOR1_AX 1 +param set-default CA_ROTOR1_AY 1 +param set-default CA_ROTOR1_AZ 0 +param set-default CA_ROTOR1_KM 0 +param set-default CA_ROTOR1_PX 0.5 +param set-default CA_ROTOR1_PY -0.3 +param set-default CA_ROTOR1_PZ 0.2 +param set-default CA_ROTOR2_AX 1 +param set-default CA_ROTOR2_AY 1 +param set-default CA_ROTOR2_AZ 0 +param set-default CA_ROTOR2_KM 0 +param set-default CA_ROTOR2_PX -0.5 +param set-default CA_ROTOR2_PY 0.3 +param set-default CA_ROTOR2_PZ 0.2 +param set-default CA_ROTOR3_AX 1 +param set-default CA_ROTOR3_AY -1 +param set-default CA_ROTOR3_AZ 0 +param set-default CA_ROTOR3_KM 0 +param set-default CA_ROTOR3_PX -0.5 +param set-default CA_ROTOR3_PY -0.3 +param set-default CA_ROTOR3_PZ 0.2 +param set-default CA_ROTOR4_AZ -1 +param set-default CA_ROTOR4_KM 0 +param set-default CA_ROTOR4_PX 0.5 +param set-default CA_ROTOR4_PY 0.5 +param set-default CA_ROTOR5_AZ 1 +param set-default CA_ROTOR5_KM 0 +param set-default CA_ROTOR5_PX 0.5 +param set-default CA_ROTOR5_PY -0.5 +param set-default CA_ROTOR6_AZ 1 +param set-default CA_ROTOR6_KM 0 +param set-default CA_ROTOR6_PX -0.5 +param set-default CA_ROTOR6_PY 0.5 +param set-default CA_ROTOR7_KM 0 +param set-default CA_ROTOR7_PX -0.5 +param set-default CA_ROTOR7_PY -0.5 param set-default PWM_MAIN_FUNC1 101 param set-default PWM_MAIN_FUNC2 102 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/2507_gazebo-classic_cloudship b/ROMFS/px4fmu_common/init.d-posix/airframes/2507_gazebo-classic_cloudship index 01f7c2ac2b..153247203d 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/2507_gazebo-classic_cloudship +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/2507_gazebo-classic_cloudship @@ -14,21 +14,21 @@ 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_ROTOR0_AX 1 +param set-default CA_ROTOR0_AZ 0 +param set-default CA_ROTOR0_KM 0 +param set-default CA_ROTOR0_PY 2 +param set-default CA_ROTOR1_AX 1 +param set-default CA_ROTOR1_AZ 0 +param set-default CA_ROTOR1_KM 0 +param set-default CA_ROTOR1_PY -2 +param set-default CA_ROTOR2_AY -1 +param set-default CA_ROTOR2_AZ 0 +param set-default CA_ROTOR2_KM 0 +param set-default CA_ROTOR2_PX -10 param set-default CA_SV_CS_COUNT 1 -param set-default CA_SV_CS0_TRQ_P 1.0000 +param set-default CA_SV_CS0_TRQ_P 1 param set-default CA_R_REV 7 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark b/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark index ac59310758..eb1c8f9aa0 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark +++ b/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark @@ -96,12 +96,12 @@ param set-default CA_ROTOR4_AZ 0.0 param set-default CA_SV_CS_COUNT 3 param set-default CA_SV_CS0_TYPE 15 param set-default CA_SV_CS0_TRQ_R 1.0 -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_TRQ_P 0.5 +param set-default CA_SV_CS1_TRQ_R 0 +param set-default CA_SV_CS1_TRQ_Y -0.5 param set-default CA_SV_CS1_TYPE 13 -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_TRQ_P 0.5 +param set-default CA_SV_CS2_TRQ_Y 0.5 param set-default CA_SV_CS2_TYPE 14 param set-default PWM_MAIN_FUNC1 201 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 index e675cafe1b..3eb558c46e 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/14001_generic_mc_with_tilt +++ b/ROMFS/px4fmu_common/init.d/airframes/14001_generic_mc_with_tilt @@ -20,16 +20,16 @@ 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_ROTOR0_PX 0.25 +param set-default CA_ROTOR0_PY 0.433 +param set-default CA_ROTOR1_PX 0.25 +param set-default CA_ROTOR1_PY -0.43 +param set-default CA_ROTOR2_PX -0.5 +param set-default CA_ROTOR2_PY 0 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_MAXA 45 +param set-default CA_SV_TL0_MINA -45 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/2106_albatross b/ROMFS/px4fmu_common/init.d/airframes/2106_albatross index 3b51c32f61..feac59e94e 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/2106_albatross +++ b/ROMFS/px4fmu_common/init.d/airframes/2106_albatross @@ -35,17 +35,17 @@ param set-default FW_W_RMAX 0 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_TRQ_R -0.5 param set-default CA_SV_CS0_TYPE 1 #left aileron -param set-default CA_SV_CS1_TRQ_R 0.5000 +param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS1_TYPE 2 #right aileron -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_TRQ_P 0.5 +param set-default CA_SV_CS2_TRQ_Y -0.5 param set-default CA_SV_CS2_TYPE 13 #left A-tail -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_TRQ_P 0.5 +param set-default CA_SV_CS3_TRQ_Y 0.5 param set-default CA_SV_CS3_TYPE 14 #right A-tail -param set-default CA_SV_CS4_TRQ_Y 1.0000 +param set-default CA_SV_CS4_TRQ_Y 1 param set-default CA_SV_CS4_TYPE 12 param set-default CA_SV_CS5_TYPE 9 #left flap param set-default CA_SV_CS6_TYPE 10 #right flap diff --git a/ROMFS/px4fmu_common/init.d/airframes/2507_cloudship b/ROMFS/px4fmu_common/init.d/airframes/2507_cloudship index a458d830ea..65ecfe25eb 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/2507_cloudship +++ b/ROMFS/px4fmu_common/init.d/airframes/2507_cloudship @@ -21,21 +21,21 @@ param set-default CBRK_IO_SAFETY 22027 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_ROTOR0_AX 1 +param set-default CA_ROTOR0_AZ 0 +param set-default CA_ROTOR0_KM 0 +param set-default CA_ROTOR0_PY 2 +param set-default CA_ROTOR1_AX 1 +param set-default CA_ROTOR1_AZ 0 +param set-default CA_ROTOR1_KM 0 +param set-default CA_ROTOR1_PY -2 +param set-default CA_ROTOR2_AY -1 +param set-default CA_ROTOR2_AZ 0 +param set-default CA_ROTOR2_KM 0 +param set-default CA_ROTOR2_PX -10 param set-default CA_SV_CS_COUNT 1 -param set-default CA_SV_CS0_TRQ_P 1.0000 +param set-default CA_SV_CS0_TRQ_P 1 param set-default CA_R_REV 7 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 fb63525159..e3a2bca4b8 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy +++ b/ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy @@ -38,49 +38,49 @@ 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 CA_ROTOR0_AX 1 +param set-default CA_ROTOR0_AY -1 +param set-default CA_ROTOR0_AZ 0 +param set-default CA_ROTOR0_KM 0 +param set-default CA_ROTOR0_PX 0.5 +param set-default CA_ROTOR0_PY 0.3 +param set-default CA_ROTOR0_PZ 0.2 +param set-default CA_ROTOR1_AX 1 +param set-default CA_ROTOR1_AY 1 +param set-default CA_ROTOR1_AZ 0 +param set-default CA_ROTOR1_KM 0 +param set-default CA_ROTOR1_PX 0.5 +param set-default CA_ROTOR1_PY -0.3 +param set-default CA_ROTOR1_PZ 0.2 +param set-default CA_ROTOR2_AX 1 +param set-default CA_ROTOR2_AY 1 +param set-default CA_ROTOR2_AZ 0 +param set-default CA_ROTOR2_KM 0 +param set-default CA_ROTOR2_PX -0.5 +param set-default CA_ROTOR2_PY 0.3 +param set-default CA_ROTOR2_PZ 0.2 +param set-default CA_ROTOR3_AX 1 +param set-default CA_ROTOR3_AY -1 +param set-default CA_ROTOR3_AZ 0 +param set-default CA_ROTOR3_KM 0 +param set-default CA_ROTOR3_PX -0.5 +param set-default CA_ROTOR3_PY -0.3 +param set-default CA_ROTOR3_PZ 0.2 +param set-default CA_ROTOR4_AZ -1 +param set-default CA_ROTOR4_KM 0 +param set-default CA_ROTOR4_PX 0.5 +param set-default CA_ROTOR4_PY 0.5 +param set-default CA_ROTOR5_AZ 1 +param set-default CA_ROTOR5_KM 0 +param set-default CA_ROTOR5_PX 0.5 +param set-default CA_ROTOR5_PY -0.5 +param set-default CA_ROTOR6_AZ 1 +param set-default CA_ROTOR6_KM 0 +param set-default CA_ROTOR6_PX -0.5 +param set-default CA_ROTOR6_PY 0.5 +param set-default CA_ROTOR7_KM 0 +param set-default CA_ROTOR7_PX -0.5 +param set-default CA_ROTOR7_PY -0.5 param set-default PWM_MAIN_FUNC1 101 param set-default PWM_MAIN_FUNC2 102