mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-18 19:23:34 +08:00
merge from upstream
This commit is contained in:
luft27
@@ -1,7 +1,15 @@
|
||||
#!nsh
|
||||
#
|
||||
# HILStar
|
||||
# <lorenz@px4.io>
|
||||
# @name HILStar (XPlane)
|
||||
#
|
||||
# @type Simulation
|
||||
#
|
||||
# @output MAIN1 aileron
|
||||
# @output MAIN2 elevator
|
||||
# @output MAIN3 rudder
|
||||
# @output MAIN4 throttle
|
||||
#
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
|
||||
@@ -1,8 +1,10 @@
|
||||
#!nsh
|
||||
#
|
||||
# Team Blacksheep Discovery Quadcopter
|
||||
# @name Team Blacksheep Discovery
|
||||
#
|
||||
# Anton Babushkin <anton@px4.io>, Simon Wilks <simon@px4.io>
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
# @maintainer Anton Babushkin <anton@px4.io>, Simon Wilks <simon@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -1,8 +1,10 @@
|
||||
#!nsh
|
||||
#
|
||||
# 3DR Iris Quadcopter
|
||||
# @name 3DR Iris Quadrotor
|
||||
#
|
||||
# Anton Babushkin <anton@px4.io>
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
# @maintainer Anton Babushkin <anton@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -1,24 +1,25 @@
|
||||
#!nsh
|
||||
#
|
||||
# Steadidrone QU4D
|
||||
# @name Steadidrone QU4D
|
||||
#
|
||||
# Thomas Gubler <thomas@px4.io>
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
# @maintainer Thomas Gubler <thomas@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
if [ $AUTOCNF == yes ]
|
||||
then
|
||||
# TODO tune roll/pitch separately
|
||||
param set MC_ROLL_P 7.0
|
||||
param set MC_ROLLRATE_P 0.13
|
||||
param set MC_ROLLRATE_I 0.05
|
||||
param set MC_ROLLRATE_D 0.004
|
||||
param set MC_PITCH_P 7.0
|
||||
param set MC_PITCHRATE_P 0.13
|
||||
param set MC_PITCHRATE_P 0.19
|
||||
param set MC_PITCHRATE_I 0.05
|
||||
param set MC_PITCHRATE_D 0.004
|
||||
param set MC_YAW_P 2.8
|
||||
param set MC_YAW_P 4.0
|
||||
param set MC_YAWRATE_P 0.2
|
||||
param set MC_YAWRATE_I 0.1
|
||||
param set MC_YAWRATE_D 0.0
|
||||
|
||||
@@ -1,10 +1,10 @@
|
||||
#!nsh
|
||||
#
|
||||
# Team Blacksheep Discovery Long Range Quadcopter
|
||||
#
|
||||
# Setup: 15 x 5" Props, 6S 4000mAh TBS LiPo, TBS 30A ESCs, TBS 400kV Motors
|
||||
# @name Team Blacksheep Discovery Endurance
|
||||
#
|
||||
# Simon Wilks <simon@px4.io>
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
# @maintainer Simon Wilks <simon@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -1,8 +1,10 @@
|
||||
#!nsh
|
||||
#
|
||||
# HobbyKing SK450 DeadCat modification
|
||||
# @name HobbyKing SK450 DeadCat modification
|
||||
#
|
||||
# Anton Matosov <anton.matosov@gmail.com>
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
# @maintainer Anton Matosov <anton.matosov@gmail.com>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
@@ -10,13 +12,13 @@ sh /etc/init.d/rc.mc_defaults
|
||||
if [ $AUTOCNF == yes ]
|
||||
then
|
||||
param set MC_ROLL_P 6.0
|
||||
param set MC_ROLLRATE_P 0.04
|
||||
param set MC_ROLLRATE_I 0.1
|
||||
param set MC_ROLLRATE_P 0.08
|
||||
param set MC_ROLLRATE_I 0.03
|
||||
param set MC_ROLLRATE_D 0.0015
|
||||
|
||||
param set MC_PITCH_P 6.0
|
||||
param set MC_PITCHRATE_P 0.08
|
||||
param set MC_PITCHRATE_I 0.2
|
||||
param set MC_PITCHRATE_P 0.1
|
||||
param set MC_PITCHRATE_I 0.03
|
||||
param set MC_PITCHRATE_D 0.0015
|
||||
|
||||
param set MC_YAW_P 2.8
|
||||
|
||||
@@ -1,8 +1,10 @@
|
||||
#!nsh
|
||||
#
|
||||
# HIL Quadcopter X
|
||||
# @name HIL Quadcopter X
|
||||
#
|
||||
# Anton Babushkin <anton@px4.io>
|
||||
# @type Simulation
|
||||
#
|
||||
# @maintainer Anton Babushkin <anton@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -0,0 +1,30 @@
|
||||
#!nsh
|
||||
#
|
||||
# @name 3DR DIY Quad
|
||||
#
|
||||
# @type Quadrotor x
|
||||
#
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
if [ $AUTOCNF == yes ]
|
||||
then
|
||||
param set MC_ROLL_P 6.5
|
||||
param set MC_ROLLRATE_P 0.08
|
||||
param set MC_ROLLRATE_I 0.1
|
||||
param set MC_ROLLRATE_D 0.004
|
||||
param set MC_PITCH_P 6.0
|
||||
param set MC_PITCHRATE_P 0.16
|
||||
param set MC_PITCHRATE_I 0.09
|
||||
param set MC_PITCHRATE_D 0.004
|
||||
param set MC_YAW_P 4
|
||||
fi
|
||||
|
||||
set MIXER quad_x
|
||||
|
||||
set PWM_OUT 1234
|
||||
|
||||
set PWM_MIN 1100
|
||||
set PWM_MAX 1950
|
||||
@@ -1,8 +1,10 @@
|
||||
#!nsh
|
||||
#
|
||||
# HIL Quadcopter +
|
||||
# @name HIL Quadcopter +
|
||||
#
|
||||
# Anton Babushkin <anton@px4.io>
|
||||
# @type Simulation
|
||||
#
|
||||
# @maintainer Anton Babushkin <anton@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -1,8 +1,10 @@
|
||||
#!nsh
|
||||
#
|
||||
# HIL Rascal 110 (Flightgear)
|
||||
# @name HIL Rascal 110 (Flightgear)
|
||||
#
|
||||
# Thomas Gubler <thomas@px4.io>
|
||||
# @type Simulation
|
||||
#
|
||||
# @maintainer Thomas Gubler <thomas@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
|
||||
@@ -1,8 +1,10 @@
|
||||
#!nsh
|
||||
#
|
||||
# HIL Malolo 1 (Flightgear)
|
||||
# @name HIL Malolo 1 (Flightgear)
|
||||
#
|
||||
# Thomas Gubler <thomas@px4.io>
|
||||
# @type Simulation
|
||||
#
|
||||
# @maintainer Thomas Gubler <thomas@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
|
||||
@@ -1,8 +1,10 @@
|
||||
#!nsh
|
||||
#
|
||||
# Generic 10" Hexa coaxial geometry
|
||||
# @name Generic Hexa coaxial geometry
|
||||
#
|
||||
# Lorenz Meier <lorenz@px4.io>
|
||||
# @type Hexarotor Coaxial
|
||||
#
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -1,8 +1,10 @@
|
||||
#!nsh
|
||||
#
|
||||
# Generic 10" Octo coaxial geometry
|
||||
# @name Generic 10" Octo coaxial geometry
|
||||
#
|
||||
# Lorenz Meier <lorenz@px4.io>
|
||||
# @type Octorotor Coaxial
|
||||
#
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -1,7 +1,10 @@
|
||||
#!nsh
|
||||
#
|
||||
# Generic configuration file for caipirinha VTOL version
|
||||
# @name Duorotor Tailsitter
|
||||
#
|
||||
# Roman Bapst <bapstr@ethz.ch>
|
||||
# @type VTOL Tailsitter
|
||||
#
|
||||
# @maintainer Roman Bapst <roman@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.vtol_defaults
|
||||
@@ -13,3 +16,4 @@ set PWM_MAX 2000
|
||||
set PWM_RATE 400
|
||||
param set VT_MOT_COUNT 2
|
||||
param set VT_IDLE_PWM_MC 1080
|
||||
param set VT_TYPE 0
|
||||
|
||||
@@ -1,8 +1,10 @@
|
||||
#!nsh
|
||||
#
|
||||
# Generic configuration file for BirdsEyeView Aerobotics FireFly6
|
||||
# @name BirdsEyeView Aerobotics FireFly6
|
||||
#
|
||||
# Roman Bapst <romanbapst@yahoo.de>
|
||||
# @type VTOL Tiltrotor
|
||||
#
|
||||
# @maintainer Roman Bapst <roman@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.vtol_defaults
|
||||
@@ -41,3 +43,4 @@ set MAV_TYPE 21
|
||||
|
||||
param set VT_MOT_COUNT 6
|
||||
param set VT_IDLE_PWM_MC 1080
|
||||
param set VT_TYPE 1
|
||||
|
||||
@@ -0,0 +1,21 @@
|
||||
#!nsh
|
||||
#
|
||||
# @name Quadrotor X Tailsitter
|
||||
#
|
||||
# @type VTOL Tailsitter
|
||||
#
|
||||
# @maintainer Roman Bapst <roman@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.vtol_defaults
|
||||
|
||||
set MIXER quad_x_vtol
|
||||
|
||||
set PWM_OUT 1234
|
||||
set PWM_MAX 2000
|
||||
set PWM_RATE 400
|
||||
set MAV_TYPE 20
|
||||
param set VT_MOT_COUNT 4
|
||||
param set VT_IDLE_PWM_MC 1080
|
||||
param set VT_TYPE 0
|
||||
param set VT_ELEV_MC_LOCK 1
|
||||
@@ -0,0 +1,21 @@
|
||||
#!nsh
|
||||
#
|
||||
# @name Quadrotor + Tailsitter
|
||||
#
|
||||
# @type VTOL Tailsitter
|
||||
#
|
||||
# @maintainer Roman Bapst <roman@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.vtol_defaults
|
||||
|
||||
set MIXER quad_+_vtol
|
||||
|
||||
set PWM_OUT 1234
|
||||
set PWM_MAX 2000
|
||||
set PWM_RATE 400
|
||||
set MAV_TYPE 20
|
||||
param set VT_MOT_COUNT 4
|
||||
param set VT_IDLE_PWM_MC 1080
|
||||
param set VT_TYPE 0
|
||||
param set VT_ELEV_MC_LOCK 1
|
||||
@@ -1,9 +1,10 @@
|
||||
#!nsh
|
||||
#
|
||||
# Generic Tricopter Y Geometry
|
||||
# Yaw Servo +Output ==> +Yaw Vehicle Rotation
|
||||
# @name Generic Tricopter Y+ Geometry
|
||||
#
|
||||
# Trent Lukaczyk <aerialhedgehog@gmail.com>
|
||||
# @type Tricopter Y+
|
||||
#
|
||||
# @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -1,9 +1,10 @@
|
||||
#!nsh
|
||||
#
|
||||
# Generic Tricopter Y Geometry
|
||||
# Yaw Servo +Output ==> -Yaw Vehicle Rotation
|
||||
# @name Generic Tricopter Y- Geometry
|
||||
#
|
||||
# Trent Lukaczyk <aerialhedgehog@gmail.com>
|
||||
# @type Tricopter Y-
|
||||
#
|
||||
# @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -1,6 +1,10 @@
|
||||
#!nsh
|
||||
#
|
||||
# MPX EasyStar Plane
|
||||
# @name Multiplex Easystar
|
||||
#
|
||||
# @type Standard Plane
|
||||
#
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
|
||||
@@ -0,0 +1,22 @@
|
||||
#!nsh
|
||||
#
|
||||
# @name Standard AERT Plane
|
||||
#
|
||||
# @type Standard Plane
|
||||
#
|
||||
# @output MAIN1 aileron
|
||||
# @output MAIN2 elevator
|
||||
# @output MAIN4 rudder
|
||||
# @output MAIN3 throttle
|
||||
# @output MAIN5 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 Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
|
||||
set MIXER AERT
|
||||
@@ -1,5 +0,0 @@
|
||||
#!nsh
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
|
||||
set MIXER AERT
|
||||
@@ -1,4 +1,21 @@
|
||||
#!nsh
|
||||
#
|
||||
# @name Skywalker (3DR Aero)
|
||||
#
|
||||
# @type Standard Plane
|
||||
#
|
||||
# @output MAIN1 aileron
|
||||
# @output MAIN2 elevator
|
||||
# @output MAIN4 rudder
|
||||
# @output MAIN3 throttle
|
||||
# @output MAIN5 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 Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
|
||||
|
||||
@@ -1,4 +1,19 @@
|
||||
#!nsh
|
||||
#
|
||||
# @name Skyhunter 1800
|
||||
#
|
||||
# @type Standard Plane
|
||||
#
|
||||
# @output MAIN1 aileron
|
||||
# @output MAIN2 elevator
|
||||
# @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 <lorenz@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
|
||||
|
||||
@@ -0,0 +1,22 @@
|
||||
#!nsh
|
||||
#
|
||||
# @name Standard AETR Plane
|
||||
#
|
||||
# @type Standard Plane
|
||||
#
|
||||
# @output MAIN1 aileron
|
||||
# @output MAIN2 elevator
|
||||
# @output MAIN3 throttle
|
||||
# @output MAIN4 rudder
|
||||
# @output MAIN5 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 Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
|
||||
set MIXER AETR
|
||||
@@ -1,7 +1,46 @@
|
||||
#!nsh
|
||||
#
|
||||
# @name IO Camflyer
|
||||
#
|
||||
# @url https://pixhawk.org/platforms/planes/bormatec_camflyer_q
|
||||
#
|
||||
# @type Flying Wing
|
||||
#
|
||||
# @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 <simon@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
|
||||
if [ $AUTOCNF == yes ]
|
||||
then
|
||||
param set FW_AIRSPD_MAX 15
|
||||
param set FW_AIRSPD_MIN 10
|
||||
param set FW_AIRSPD_TRIM 13
|
||||
param set FW_ATT_TC 0.3
|
||||
param set FW_L1_DAMPING 0.74
|
||||
param set FW_L1_PERIOD 16
|
||||
param set FW_LND_ANG 15
|
||||
param set FW_LND_FLALT 5
|
||||
param set FW_LND_HHDIST 15
|
||||
param set FW_LND_HVIRT 13
|
||||
param set FW_LND_TLALT 5
|
||||
param set FW_THR_LND_MAX 0
|
||||
param set FW_PR_FF 0.35
|
||||
param set FW_PR_IMAX 0.4
|
||||
param set FW_PR_P 0.08
|
||||
param set FW_RR_FF 0.6
|
||||
param set FW_RR_IMAX 0.2
|
||||
param set FW_RR_P 0.04
|
||||
fi
|
||||
|
||||
set MIXER Q
|
||||
# Provide ESC a constant 1000 us pulse while disarmed
|
||||
set PWM_OUT 4
|
||||
|
||||
@@ -1,8 +1,20 @@
|
||||
#!nsh
|
||||
#
|
||||
# Phantom FPV Flying Wing
|
||||
# @name Phantom FPV Flying Wing
|
||||
#
|
||||
# Simon Wilks <simon@px4.io>
|
||||
# @url https://pixhawk.org/platforms/planes/z-84_wing_wing
|
||||
#
|
||||
# @type Flying Wing
|
||||
#
|
||||
# @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 <simon@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
@@ -16,14 +28,12 @@ then
|
||||
param set FW_L1_DAMPING 0.75
|
||||
param set FW_L1_PERIOD 15
|
||||
param set FW_PR_FF 0.2
|
||||
param set FW_PR_I 0.005
|
||||
param set FW_PR_IMAX 0.2
|
||||
param set FW_PR_P 0.03
|
||||
param set FW_P_LIM_MAX 50
|
||||
param set FW_P_LIM_MIN -50
|
||||
param set FW_P_ROLLFF 1
|
||||
param set FW_RR_FF 0.5
|
||||
param set FW_RR_I 0.02
|
||||
param set FW_RR_IMAX 0.2
|
||||
param set FW_RR_P 0.08
|
||||
param set FW_R_LIM 50
|
||||
|
||||
@@ -1,8 +1,20 @@
|
||||
#!nsh
|
||||
#
|
||||
# Skywalker X5 Flying Wing
|
||||
# @name Skywalker X5 Flying Wing
|
||||
#
|
||||
# Thomas Gubler <thomas@px4.io>, Julian Oes <julian@px4.io>
|
||||
# @url https://pixhawk.org/platforms/planes/skywalker_x5
|
||||
#
|
||||
# @type Flying Wing
|
||||
#
|
||||
# @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 Thomas Gubler <thomas@px4.io>, Julian Oes <julian@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
@@ -14,18 +26,16 @@ then
|
||||
param set FW_AIRSPD_MAX 40
|
||||
param set FW_ATT_TC 0.3
|
||||
param set FW_L1_DAMPING 0.74
|
||||
param set FW_L1_PERIOD 15
|
||||
param set FW_PR_FF 0.3
|
||||
param set FW_PR_I 0
|
||||
param set FW_PR_IMAX 0.2
|
||||
param set FW_PR_P 0.03
|
||||
param set FW_P_ROLLFF 1
|
||||
param set FW_RR_FF 0.3
|
||||
param set FW_RR_I 0
|
||||
param set FW_RR_IMAX 0.2
|
||||
param set FW_RR_P 0.03
|
||||
param set FW_R_LIM 60
|
||||
param set FW_R_RMAX 0
|
||||
param set FW_L1_PERIOD 16
|
||||
param set FW_LND_ANG 15
|
||||
param set FW_LND_FLALT 5
|
||||
param set FW_LND_HHDIST 15
|
||||
param set FW_LND_HVIRT 13
|
||||
param set FW_LND_TLALT 5
|
||||
param set FW_THR_LND_MAX 0
|
||||
param set FW_PR_FF 0.35
|
||||
param set FW_RR_FF 0.6
|
||||
param set FW_RR_P 0.04
|
||||
fi
|
||||
|
||||
set MIXER X5
|
||||
|
||||
@@ -1,8 +1,20 @@
|
||||
#!nsh
|
||||
#
|
||||
# Wing Wing (aka Z-84) Flying Wing
|
||||
# @name Wing Wing (aka Z-84) Flying Wing
|
||||
#
|
||||
# Simon Wilks <simon@px4.io>
|
||||
# @url https://pixhawk.org/platforms/planes/z-84_wing_wing
|
||||
#
|
||||
# @type Flying Wing
|
||||
#
|
||||
# @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 <simon@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
@@ -23,23 +35,8 @@ then
|
||||
param set FW_LND_TLALT 5
|
||||
param set FW_THR_LND_MAX 0
|
||||
param set FW_PR_FF 0.35
|
||||
param set FW_PR_I 0.005
|
||||
param set FW_PR_IMAX 0.4
|
||||
param set FW_PR_P 0.08
|
||||
param set FW_RR_FF 0.6
|
||||
param set FW_RR_I 0.005
|
||||
param set FW_RR_IMAX 0.2
|
||||
param set FW_RR_P 0.04
|
||||
param set MT_TKF_PIT_MAX 30.0
|
||||
param set MT_ACC_D 0.2
|
||||
param set MT_ACC_P 0.6
|
||||
param set MT_A_LP 0.5
|
||||
param set MT_PIT_OFF 0.1
|
||||
param set MT_PIT_I 0.1
|
||||
param set MT_THR_OFF 0.65
|
||||
param set MT_THR_I 0.35
|
||||
param set MT_THR_P 0.2
|
||||
param set MT_THR_FF 1.5
|
||||
fi
|
||||
|
||||
set MIXER wingwing
|
||||
|
||||
@@ -1,8 +1,10 @@
|
||||
#!nsh
|
||||
#
|
||||
# FX-79 Buffalo Flying Wing
|
||||
# @name FX-79 Buffalo Flying Wing
|
||||
#
|
||||
# Simon Wilks <simon@px4.io>
|
||||
# @type Flying Wing
|
||||
#
|
||||
# @maintainer Simon Wilks <simon@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
|
||||
@@ -1,8 +1,11 @@
|
||||
#
|
||||
#!nsh
|
||||
#
|
||||
# Viper
|
||||
# @name Viper
|
||||
#
|
||||
# Simon Wilks <simon@px4.io>
|
||||
# @type Flying Wing
|
||||
#
|
||||
# @maintainer Simon Wilks <simon@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
|
||||
@@ -1,8 +1,10 @@
|
||||
#!nsh
|
||||
#
|
||||
# TBS Caipirinha
|
||||
# @name TBS Caipirinha
|
||||
#
|
||||
# Lorenz Meier <lorenz@px4.io>
|
||||
# @type Flying Wing
|
||||
#
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
@@ -22,19 +24,22 @@ then
|
||||
param set FW_LND_TLALT 5
|
||||
param set FW_THR_LND_MAX 0
|
||||
param set FW_PR_FF 0.35
|
||||
param set FW_PR_I 0.01
|
||||
param set FW_PR_IMAX 0.4
|
||||
param set FW_PR_P 0.08
|
||||
param set FW_RR_FF 0.6
|
||||
param set FW_RR_I 0.01
|
||||
param set FW_RR_IMAX 0.2
|
||||
param set FW_RR_P 0.04
|
||||
param set SYS_COMPANION 157600
|
||||
param set PWM_MAIN_REV0 1
|
||||
param set PWM_MAIN_REV1 1
|
||||
param set PWM_DISARMED 0
|
||||
param set PWM_MIN 900
|
||||
param set PWM_MAX 2100
|
||||
fi
|
||||
|
||||
set PWM_DISARMED p:PWM_DISARMED
|
||||
set PWM_MIN p:PWM_MIN
|
||||
set PWM_MAX p:PWM_MAX
|
||||
|
||||
set MIXER caipi
|
||||
# Provide ESC a constant 1000 us pulse
|
||||
set PWM_OUT 4
|
||||
set PWM_DISARMED 1000
|
||||
set PWM_OUT 1234
|
||||
|
||||
@@ -1,8 +1,14 @@
|
||||
#!nsh
|
||||
#
|
||||
# Generic 10" Quad X geometry
|
||||
# @name Generic Quadrotor X config
|
||||
#
|
||||
# Lorenz Meier <lorenz@px4.io>
|
||||
# @type Quadrotor x
|
||||
#
|
||||
# @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 <lorenz@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -1,6 +1,10 @@
|
||||
#!nsh
|
||||
#
|
||||
# ARDrone
|
||||
# @name AR.Drone Frame
|
||||
#
|
||||
# @type Quadrotor x
|
||||
#
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -1,8 +1,14 @@
|
||||
#!nsh
|
||||
#
|
||||
# DJI Flame Wheel F330
|
||||
# @name DJI Flame Wheel F330
|
||||
#
|
||||
# Anton Babushkin <anton@px4.io>
|
||||
# @type Quadrotor x
|
||||
#
|
||||
# @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 <lorenz@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/4001_quad_x
|
||||
@@ -10,18 +16,23 @@ sh /etc/init.d/4001_quad_x
|
||||
if [ $AUTOCNF == yes ]
|
||||
then
|
||||
param set MC_ROLL_P 7.0
|
||||
param set MC_ROLLRATE_P 0.1
|
||||
param set MC_ROLLRATE_P 0.13
|
||||
param set MC_ROLLRATE_I 0.05
|
||||
param set MC_ROLLRATE_D 0.003
|
||||
param set MC_PITCH_P 7.0
|
||||
param set MC_PITCHRATE_P 0.1
|
||||
param set MC_PITCHRATE_P 0.13
|
||||
param set MC_PITCHRATE_I 0.05
|
||||
param set MC_PITCHRATE_D 0.003
|
||||
param set MC_YAW_P 2.8
|
||||
param set MC_YAWRATE_P 0.2
|
||||
param set MC_YAWRATE_I 0.1
|
||||
param set MC_YAWRATE_D 0.0
|
||||
# DJI ESCs do not support calibration and need a higher min
|
||||
param set PWM_MIN 1230
|
||||
fi
|
||||
|
||||
set PWM_MIN 1200
|
||||
set PWM_MAX 1950
|
||||
# Transitional support: ensure suitable PWM min/max param values
|
||||
if param compare PWM_MIN 1075
|
||||
then
|
||||
param set PWM_MIN 1230
|
||||
fi
|
||||
|
||||
@@ -1,8 +1,14 @@
|
||||
#!nsh
|
||||
#
|
||||
# DJI Flame Wheel F450
|
||||
# @name DJI Flame Wheel F450
|
||||
#
|
||||
# Lorenz Meier <lorenz@px4.io>
|
||||
# @type Quadrotor x
|
||||
#
|
||||
# @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 <lorenz@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/4001_quad_x
|
||||
@@ -11,18 +17,23 @@ if [ $AUTOCNF == yes ]
|
||||
then
|
||||
# TODO REVIEW
|
||||
param set MC_ROLL_P 7.0
|
||||
param set MC_ROLLRATE_P 0.1
|
||||
param set MC_ROLLRATE_P 0.16
|
||||
param set MC_ROLLRATE_I 0.05
|
||||
param set MC_ROLLRATE_D 0.003
|
||||
param set MC_ROLLRATE_D 0.01
|
||||
param set MC_PITCH_P 7.0
|
||||
param set MC_PITCHRATE_P 0.1
|
||||
param set MC_PITCHRATE_P 0.16
|
||||
param set MC_PITCHRATE_I 0.05
|
||||
param set MC_PITCHRATE_D 0.003
|
||||
param set MC_PITCHRATE_D 0.01
|
||||
param set MC_YAW_P 2.8
|
||||
param set MC_YAWRATE_P 0.2
|
||||
param set MC_YAWRATE_P 0.3
|
||||
param set MC_YAWRATE_I 0.1
|
||||
param set MC_YAWRATE_D 0.0
|
||||
# DJI ESCs do not support calibration and need a higher min
|
||||
param set PWM_MIN 1230
|
||||
fi
|
||||
|
||||
set PWM_MIN 1230
|
||||
set PWM_MAX 1950
|
||||
# Transitional support: ensure suitable PWM min/max param values
|
||||
if param compare PWM_MIN 1075
|
||||
then
|
||||
param set PWM_MIN 1230
|
||||
fi
|
||||
|
||||
@@ -1,26 +1,27 @@
|
||||
#!nsh
|
||||
#
|
||||
# F450-sized quadrotor with CAN
|
||||
# @name F450-sized quadrotor with CAN
|
||||
#
|
||||
# Pavel Kirienko <pavel@px4.io>
|
||||
# @type Quadrotor x
|
||||
#
|
||||
# @maintainer Pavel Kirienko <pavel@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/4001_quad_x
|
||||
|
||||
if [ $AUTOCNF == yes ]
|
||||
then
|
||||
# TODO REVIEW
|
||||
param set MC_ROLL_P 7.0
|
||||
param set MC_ROLLRATE_P 0.1
|
||||
param set MC_ROLLRATE_P 0.16
|
||||
param set MC_ROLLRATE_I 0.05
|
||||
param set MC_ROLLRATE_D 0.003
|
||||
param set MC_ROLLRATE_D 0.01
|
||||
param set MC_PITCH_P 7.0
|
||||
param set MC_PITCHRATE_P 0.1
|
||||
param set MC_PITCHRATE_P 0.16
|
||||
param set MC_PITCHRATE_I 0.05
|
||||
param set MC_PITCHRATE_D 0.003
|
||||
param set MC_PITCHRATE_D 0.01
|
||||
param set MC_YAW_P 2.8
|
||||
param set MC_YAWRATE_P 0.2
|
||||
param set MC_YAWRATE_I 0.0
|
||||
param set MC_YAWRATE_P 0.3
|
||||
param set MC_YAWRATE_I 0.1
|
||||
param set MC_YAWRATE_D 0.0
|
||||
fi
|
||||
|
||||
|
||||
@@ -1,11 +1,11 @@
|
||||
#!nsh
|
||||
#
|
||||
# Hobbyking Micro Integrated PCB Quadcopter
|
||||
# with SimonK ESC firmware and Mystery A1510 motors
|
||||
# @name Hobbyking Micro PCB
|
||||
#
|
||||
# Thomas Gubler <thomas@px4.io>
|
||||
# @type Quadrotor x
|
||||
#
|
||||
# @maintainer Thomas Gubler <thomas@px4.io>
|
||||
#
|
||||
echo "HK Micro PCB Quad"
|
||||
|
||||
sh /etc/init.d/4001_quad_x
|
||||
|
||||
|
||||
@@ -1,9 +1,10 @@
|
||||
#!nsh
|
||||
#
|
||||
# loading default values for the axialracing ax10
|
||||
# @name Axial Racing AX10
|
||||
#
|
||||
# @type Rover
|
||||
#
|
||||
|
||||
#load some defaults e.g. PWM values
|
||||
sh /etc/init.d/rc.axialracing_ax10_defaults
|
||||
|
||||
#choose a mixer, for rover control we need a plain passthrough to the servos
|
||||
|
||||
@@ -1,8 +1,10 @@
|
||||
#!nsh
|
||||
#
|
||||
# Generic 10" Quad + geometry
|
||||
# @name Generic 10" Quad + geometry
|
||||
#
|
||||
# Anton Babushkin <anton@px4.io>
|
||||
# @type Quadrotor +
|
||||
#
|
||||
# @maintainer Anton Babushkin <anton@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -1,8 +1,14 @@
|
||||
#!nsh
|
||||
#
|
||||
# Generic 10" Hexa X geometry
|
||||
# @name Generic Hexarotor x geometry
|
||||
#
|
||||
# Anton Babushkin <anton@px4.io>
|
||||
# @type Hexarotor x
|
||||
#
|
||||
# @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 Anton Babushkin <anton@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -1,8 +1,14 @@
|
||||
#!nsh
|
||||
#
|
||||
# Generic 10" Hexa + geometry
|
||||
# @name Generic Hexarotor + geometry
|
||||
#
|
||||
# Anton Babushkin <anton@px4.io>
|
||||
# @type Hexarotor +
|
||||
#
|
||||
# @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 Anton Babushkin <anton@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -1,8 +1,14 @@
|
||||
#!nsh
|
||||
#
|
||||
# Generic 10" Octo X geometry
|
||||
# @name Generic Octocopter X geometry
|
||||
#
|
||||
# Anton Babushkin <anton@px4.io>
|
||||
# @type Octorotor x
|
||||
#
|
||||
# @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 Anton Babushkin <anton@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -1,8 +1,14 @@
|
||||
#!nsh
|
||||
#
|
||||
# Generic 10" Octo + geometry
|
||||
# @name Generic Octocopter + geometry
|
||||
#
|
||||
# Anton Babushkin <anton@px4.io>
|
||||
# @type Octorotor +
|
||||
#
|
||||
# @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 Anton Babushkin <anton@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -1,296 +0,0 @@
|
||||
#
|
||||
# SYS_AUTOSTART = 0 means no autostart (default)
|
||||
#
|
||||
# AUTOSTART PARTITION:
|
||||
# 0 .. 999 Reserved (historical)
|
||||
# 1000 .. 1999 Simulation setups
|
||||
# 2000 .. 2999 Standard planes
|
||||
# 3000 .. 3999 Flying wing
|
||||
# 4000 .. 4999 Quad X
|
||||
# 5000 .. 5999 Quad +
|
||||
# 6000 .. 6999 Hexa X
|
||||
# 7000 .. 7999 Hexa +
|
||||
# 8000 .. 8999 Octo X
|
||||
# 9000 .. 9999 Octo +
|
||||
# 10000 .. 10999 Wide arm / H frame
|
||||
# 11000 .. 11999 Hexa Cox
|
||||
# 12000 .. 12999 Octo Cox
|
||||
# 13000 .. 13999 VTOL
|
||||
# 14000 .. 14999 Tri Y
|
||||
|
||||
#
|
||||
# Simulation
|
||||
#
|
||||
|
||||
if param compare SYS_AUTOSTART 901
|
||||
then
|
||||
sh /etc/init.d/901_bottle_drop_test.hil
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 1000
|
||||
then
|
||||
sh /etc/init.d/1000_rc_fw_easystar.hil
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 1001
|
||||
then
|
||||
sh /etc/init.d/1001_rc_quad_x.hil
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 1003
|
||||
then
|
||||
sh /etc/init.d/1003_rc_quad_+.hil
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 1004
|
||||
then
|
||||
sh /etc/init.d/1004_rc_fw_Rascal110.hil
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 1005
|
||||
then
|
||||
sh /etc/init.d/1005_rc_fw_Malolo1.hil
|
||||
fi
|
||||
|
||||
#
|
||||
# Plane
|
||||
#
|
||||
|
||||
if param compare SYS_AUTOSTART 2100 100
|
||||
then
|
||||
sh /etc/init.d/2100_mpx_easystar
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 2101 101
|
||||
then
|
||||
sh /etc/init.d/2101_hk_bixler
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 2102 102
|
||||
then
|
||||
sh /etc/init.d/2102_3dr_skywalker
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 2103 103
|
||||
then
|
||||
sh /etc/init.d/2103_skyhunter_1800
|
||||
set MODE custom
|
||||
fi
|
||||
|
||||
#
|
||||
# Flying wing
|
||||
#
|
||||
|
||||
if param compare SYS_AUTOSTART 3030 30
|
||||
then
|
||||
sh /etc/init.d/3030_io_camflyer
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 3031 31
|
||||
then
|
||||
sh /etc/init.d/3031_phantom
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 3032 32
|
||||
then
|
||||
sh /etc/init.d/3032_skywalker_x5
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 3033 33
|
||||
then
|
||||
sh /etc/init.d/3033_wingwing
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 3034 34
|
||||
then
|
||||
sh /etc/init.d/3034_fx79
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 3035 35
|
||||
then
|
||||
sh /etc/init.d/3035_viper
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 3100
|
||||
then
|
||||
sh /etc/init.d/3100_tbs_caipirinha
|
||||
fi
|
||||
|
||||
#
|
||||
# Quad X
|
||||
#
|
||||
|
||||
if param compare SYS_AUTOSTART 4001
|
||||
then
|
||||
sh /etc/init.d/4001_quad_x
|
||||
fi
|
||||
|
||||
#
|
||||
# ARDrone
|
||||
#
|
||||
|
||||
if param compare SYS_AUTOSTART 4008 8
|
||||
then
|
||||
sh /etc/init.d/4008_ardrone
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 4010 10
|
||||
then
|
||||
sh /etc/init.d/4010_dji_f330
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 4011 11
|
||||
then
|
||||
sh /etc/init.d/4011_dji_f450
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 4012
|
||||
then
|
||||
sh /etc/init.d/4012_quad_x_can
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 4020
|
||||
then
|
||||
sh /etc/init.d/4020_hk_micro_pcb
|
||||
fi
|
||||
|
||||
#
|
||||
# Quad +
|
||||
#
|
||||
|
||||
if param compare SYS_AUTOSTART 5001
|
||||
then
|
||||
sh /etc/init.d/5001_quad_+
|
||||
fi
|
||||
|
||||
#
|
||||
# Hexa X
|
||||
#
|
||||
|
||||
if param compare SYS_AUTOSTART 6001
|
||||
then
|
||||
sh /etc/init.d/6001_hexa_x
|
||||
fi
|
||||
|
||||
#
|
||||
# Hexa +
|
||||
#
|
||||
|
||||
if param compare SYS_AUTOSTART 7001
|
||||
then
|
||||
sh /etc/init.d/7001_hexa_+
|
||||
fi
|
||||
|
||||
#
|
||||
# Octo X
|
||||
#
|
||||
|
||||
if param compare SYS_AUTOSTART 8001
|
||||
then
|
||||
sh /etc/init.d/8001_octo_x
|
||||
fi
|
||||
|
||||
#
|
||||
# Octo +
|
||||
#
|
||||
|
||||
if param compare SYS_AUTOSTART 9001
|
||||
then
|
||||
sh /etc/init.d/9001_octo_+
|
||||
fi
|
||||
|
||||
#
|
||||
# Wide arm / H frame
|
||||
#
|
||||
|
||||
if param compare SYS_AUTOSTART 10015 15
|
||||
then
|
||||
sh /etc/init.d/10015_tbs_discovery
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 10016 16
|
||||
then
|
||||
sh /etc/init.d/10016_3dr_iris
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 10017
|
||||
then
|
||||
sh /etc/init.d/10017_steadidrone_qu4d
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 10018 18
|
||||
then
|
||||
sh /etc/init.d/10018_tbs_endurance
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 10019
|
||||
then
|
||||
sh /etc/init.d/10019_sk450_deadcat
|
||||
fi
|
||||
|
||||
#
|
||||
# Hexa Coaxial
|
||||
#
|
||||
|
||||
if param compare SYS_AUTOSTART 11001
|
||||
then
|
||||
sh /etc/init.d/11001_hexa_cox
|
||||
fi
|
||||
|
||||
#
|
||||
# Octo Coaxial
|
||||
#
|
||||
|
||||
if param compare SYS_AUTOSTART 12001
|
||||
then
|
||||
sh /etc/init.d/12001_octo_cox
|
||||
fi
|
||||
|
||||
# 13000 is historically reserved for the quadshot
|
||||
|
||||
#
|
||||
# VTOL Caipririnha (Tailsitter)
|
||||
#
|
||||
if param compare SYS_AUTOSTART 13001
|
||||
then
|
||||
sh /etc/init.d/13001_caipirinha_vtol
|
||||
fi
|
||||
|
||||
#
|
||||
# VTOL BirdsEyeView FireFly x6 (Tilt-Rotor)
|
||||
#
|
||||
if param compare SYS_AUTOSTART 13002
|
||||
then
|
||||
sh /etc/init.d/13002_firefly6
|
||||
fi
|
||||
|
||||
#
|
||||
# TriCopter Y Yaw+
|
||||
#
|
||||
if param compare SYS_AUTOSTART 14001
|
||||
then
|
||||
sh /etc/init.d/14001_tri_y_yaw+
|
||||
fi
|
||||
|
||||
#
|
||||
# TriCopter Y Yaw-
|
||||
#
|
||||
if param compare SYS_AUTOSTART 14002
|
||||
then
|
||||
sh /etc/init.d/14002_tri_y_yaw-
|
||||
fi
|
||||
|
||||
|
||||
|
||||
#
|
||||
# Ground Rover AxialRacing AX10
|
||||
#
|
||||
if param compare SYS_AUTOSTART 50001
|
||||
then
|
||||
sh /etc/init.d/50001_axialracing_ax10
|
||||
fi
|
||||
|
||||
@@ -17,9 +17,17 @@ then
|
||||
param set FW_T_TIME_CONST 5
|
||||
|
||||
param set PE_VELNE_NOISE 0.3
|
||||
param set PE_VELD_NOISE 0.5
|
||||
param set PE_VELD_NOISE 0.35
|
||||
param set PE_POSNE_NOISE 0.5
|
||||
param set PE_POSD_NOISE 0.5
|
||||
param set PE_POSD_NOISE 1.0
|
||||
param set PE_GBIAS_PNOISE 0.000001
|
||||
param set PE_ABIAS_PNOISE 0.0002
|
||||
fi
|
||||
|
||||
# This is the gimbal pass mixer
|
||||
set MIXER_AUX pass
|
||||
set PWM_AUX_RATE 50
|
||||
set PWM_AUX_OUT 1234
|
||||
set PWM_AUX_DISARMED 1500
|
||||
set PWM_AUX_MIN 1000
|
||||
set PWM_AUX_MAX 2000
|
||||
|
||||
@@ -4,51 +4,46 @@ set VEHICLE_TYPE mc
|
||||
|
||||
if [ $AUTOCNF == yes ]
|
||||
then
|
||||
param set MC_ROLL_P 7.0
|
||||
param set MC_ROLLRATE_P 0.1
|
||||
param set MC_ROLLRATE_I 0.0
|
||||
param set MC_ROLLRATE_D 0.003
|
||||
param set MC_PITCH_P 7.0
|
||||
param set MC_PITCHRATE_P 0.1
|
||||
param set MC_PITCHRATE_I 0.0
|
||||
param set MC_PITCHRATE_D 0.003
|
||||
param set MC_YAW_P 2.8
|
||||
param set MC_YAWRATE_P 0.2
|
||||
param set MC_YAWRATE_I 0.1
|
||||
param set MC_YAWRATE_D 0.0
|
||||
param set MC_YAW_FF 0.5
|
||||
|
||||
param set MPC_THR_MAX 1.0
|
||||
param set MPC_THR_MIN 0.1
|
||||
param set MPC_XY_P 1.0
|
||||
param set MPC_XY_VEL_P 0.1
|
||||
param set MPC_XY_VEL_I 0.02
|
||||
param set MPC_XY_VEL_D 0.01
|
||||
param set MPC_XY_VEL_MAX 5
|
||||
param set MPC_XY_FF 0.5
|
||||
param set MPC_Z_P 1.0
|
||||
param set MPC_Z_VEL_P 0.1
|
||||
param set MPC_Z_VEL_I 0.02
|
||||
param set MPC_Z_VEL_D 0.0
|
||||
param set MPC_Z_VEL_MAX 3
|
||||
param set MPC_Z_FF 0.5
|
||||
param set MPC_TILTMAX_AIR 45.0
|
||||
param set MPC_TILTMAX_LND 15.0
|
||||
param set MPC_LAND_SPEED 1.0
|
||||
|
||||
param set PE_VELNE_NOISE 0.5
|
||||
param set PE_VELD_NOISE 0.7
|
||||
param set PE_VELD_NOISE 0.35
|
||||
param set PE_POSNE_NOISE 0.5
|
||||
param set PE_POSD_NOISE 1.0
|
||||
param set PE_POSD_NOISE 1.25
|
||||
param set PE_GBIAS_PNOISE 0.000001
|
||||
param set PE_ABIAS_PNOISE 0.0001
|
||||
|
||||
param set NAV_ACC_RAD 2.0
|
||||
param set RTL_RETURN_ALT 30.0
|
||||
param set RTL_DESCEND_ALT 10.0
|
||||
param set PWM_DISARMED 900
|
||||
param set PWM_MIN 1075
|
||||
param set PWM_MAX 1950
|
||||
fi
|
||||
|
||||
# Transitional support: ensure suitable PWM min/max param values
|
||||
if param compare PWM_MIN 1000
|
||||
then
|
||||
param set PWM_MIN 1075
|
||||
fi
|
||||
if param compare PWM_MAX 2000
|
||||
then
|
||||
param set PWM_MAX 1950
|
||||
fi
|
||||
if param compare PWM_DISARMED 0
|
||||
then
|
||||
param set PWM_DISARMED 900
|
||||
fi
|
||||
|
||||
# set environment variables (!= parameters)
|
||||
set PWM_RATE 400
|
||||
set PWM_DISARMED 900
|
||||
set PWM_MIN 1075
|
||||
set PWM_MAX 2000
|
||||
# tell the mixer to use parameters for these instead
|
||||
set PWM_DISARMED p:PWM_DISARMED
|
||||
set PWM_MIN p:PWM_MIN
|
||||
set PWM_MAX p:PWM_MAX
|
||||
|
||||
# This is the gimbal pass mixer
|
||||
set MIXER_AUX pass
|
||||
set PWM_AUX_RATE 50
|
||||
set PWM_AUX_OUT 1234
|
||||
set PWM_AUX_DISARMED 1500
|
||||
set PWM_AUX_MIN 1000
|
||||
set PWM_AUX_MAX 2000
|
||||
|
||||
@@ -111,21 +111,10 @@ else
|
||||
fi
|
||||
|
||||
# Check for flow sensor
|
||||
if px4flow start
|
||||
if px4flow start &
|
||||
then
|
||||
fi
|
||||
|
||||
if param compare SENS_EN_LL40LS 1
|
||||
then
|
||||
if pwm_input start
|
||||
then
|
||||
fi
|
||||
|
||||
if ll40ls start pwm
|
||||
then
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Start sensors
|
||||
#
|
||||
|
||||
@@ -4,7 +4,7 @@
|
||||
# att & pos estimator, att & pos control.
|
||||
#
|
||||
|
||||
attitude_estimator_ekf start
|
||||
attitude_estimator_q start
|
||||
#ekf_att_pos_estimator start
|
||||
position_estimator_inav start
|
||||
|
||||
|
||||
@@ -34,9 +34,9 @@ then
|
||||
param set FW_RR_P 0.02
|
||||
|
||||
param set PE_VELNE_NOISE 0.5
|
||||
param set PE_VELD_NOISE 0.7
|
||||
param set PE_VELD_NOISE 0.3
|
||||
param set PE_POSNE_NOISE 0.5
|
||||
param set PE_POSD_NOISE 1.0
|
||||
param set PE_POSD_NOISE 1.25
|
||||
param set PE_GBIAS_PNOISE 0.000001
|
||||
param set PE_ABIAS_PNOISE 0.0001
|
||||
fi
|
||||
|
||||
@@ -451,19 +451,30 @@ then
|
||||
fi
|
||||
fi
|
||||
|
||||
# Start sensors depending on the interface being up
|
||||
if param compare SENS_EN_LL40LS 1
|
||||
then
|
||||
if pwm_input start
|
||||
then
|
||||
if ll40ls start pwm
|
||||
then
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ $MAVLINK_F == default ]
|
||||
then
|
||||
# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s
|
||||
if [ $TTYS1_BUSY == yes ]
|
||||
then
|
||||
# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else
|
||||
set MAVLINK_F "-r 1000 -d /dev/ttyS0"
|
||||
set MAVLINK_F "-r 1200 -d /dev/ttyS0"
|
||||
|
||||
# Exit from nsh to free port for mavlink
|
||||
set EXIT_ON_END yes
|
||||
else
|
||||
# Start MAVLink on default port: ttyS1
|
||||
set MAVLINK_F "-r 1000"
|
||||
set MAVLINK_F "-r 1200"
|
||||
fi
|
||||
fi
|
||||
|
||||
@@ -479,11 +490,11 @@ then
|
||||
# but this works for now
|
||||
if param compare SYS_COMPANION 921600
|
||||
then
|
||||
mavlink start -d /dev/ttyS2 -b 921600 -m onboard -r 20000
|
||||
mavlink start -d /dev/ttyS2 -b 921600 -m onboard -r 80000 -x
|
||||
fi
|
||||
if param compare SYS_COMPANION 57600
|
||||
then
|
||||
mavlink start -d /dev/ttyS2 -b 57600 -m onboard -r 1000
|
||||
mavlink start -d /dev/ttyS2 -b 57600 -m onboard -r 5000 -x
|
||||
fi
|
||||
if param compare SYS_COMPANION 157600
|
||||
then
|
||||
@@ -564,7 +575,7 @@ then
|
||||
fi
|
||||
if [ $MIXER == tri_y_yaw- -o $MIXER == tri_y_yaw+ ]
|
||||
then
|
||||
set MAV_TYPE 2
|
||||
set MAV_TYPE 15
|
||||
fi
|
||||
if [ $MIXER == hexa_x -o $MIXER == hexa_+ ]
|
||||
then
|
||||
@@ -588,6 +599,7 @@ then
|
||||
if [ $MAV_TYPE == none ]
|
||||
then
|
||||
echo "Unknown MAV_TYPE"
|
||||
param set MAV_TYPE 2
|
||||
else
|
||||
param set MAV_TYPE $MAV_TYPE
|
||||
fi
|
||||
@@ -631,6 +643,7 @@ then
|
||||
if [ $MAV_TYPE == none ]
|
||||
then
|
||||
echo "Unknown MAV_TYPE"
|
||||
param set MAV_TYPE 19
|
||||
else
|
||||
param set MAV_TYPE $MAV_TYPE
|
||||
fi
|
||||
@@ -661,6 +674,8 @@ then
|
||||
then
|
||||
sh /etc/init.d/rc.axialracing_ax10_apps
|
||||
fi
|
||||
|
||||
param set MAV_TYPE 10
|
||||
fi
|
||||
|
||||
unset MIXER
|
||||
@@ -697,7 +712,7 @@ then
|
||||
fi
|
||||
unset EXIT_ON_END
|
||||
|
||||
# Run no SD alarm last
|
||||
# Run no SD alarm
|
||||
if [ $LOG_FILE == /dev/null ]
|
||||
then
|
||||
echo "[i] No microSD card found"
|
||||
@@ -705,6 +720,9 @@ then
|
||||
tone_alarm error
|
||||
fi
|
||||
|
||||
# Boot is complete, inform MAVLink app(s) that the system is now fully up and running
|
||||
mavlink boot_complete
|
||||
|
||||
# End of autostart
|
||||
fi
|
||||
|
||||
|
||||
@@ -0,0 +1,84 @@
|
||||
Aileron/Elevator/Throttle/Rudder mixer for PX4FMU
|
||||
==================================================
|
||||
|
||||
This file defines mixers suitable for controlling a fixed wing aircraft with
|
||||
aileron, rudder, elevator and throttle controls using PX4FMU. The configuration
|
||||
assumes the aileron servo(s) are connected to PX4FMU servo output 0, the
|
||||
elevator to output 1, the throttle to output 2 and the rudder to output 3.
|
||||
|
||||
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
|
||||
(roll), 1 (pitch) and 3 (thrust).
|
||||
|
||||
Aileron mixer
|
||||
-------------
|
||||
Two scalers total (output, roll).
|
||||
|
||||
This mixer assumes that the aileron servos are set up correctly mechanically;
|
||||
depending on the actual configuration it may be necessary to reverse the scaling
|
||||
factors (to reverse the servo movement) and adjust the offset, scaling and
|
||||
endpoints to suit.
|
||||
|
||||
As there is only one output, if using two servos adjustments to compensate for
|
||||
differences between the servos must be made mechanically. To obtain the correct
|
||||
motion using a Y cable, the servos can be positioned reversed from one another.
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
|
||||
Elevator mixer
|
||||
------------
|
||||
Two scalers total (output, roll).
|
||||
|
||||
This mixer assumes that the elevator servo is set up correctly mechanically;
|
||||
depending on the actual configuration it may be necessary to reverse the scaling
|
||||
factors (to reverse the servo movement) and adjust the offset, scaling and
|
||||
endpoints to suit.
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 1 -10000 -10000 0 -10000 10000
|
||||
|
||||
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
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
|
||||
Rudder mixer
|
||||
------------
|
||||
Two scalers total (output, yaw).
|
||||
|
||||
This mixer assumes that the rudder servo is set up correctly mechanically;
|
||||
depending on the actual configuration it may be necessary to reverse the scaling
|
||||
factors (to reverse the servo movement) and adjust the offset, scaling and
|
||||
endpoints to suit.
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 2 10000 10000 0 -10000 10000
|
||||
|
||||
Gimbal / flaps / payload mixer for last four channels,
|
||||
using the payload control group
|
||||
-----------------------------------------------------
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 2 0 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 2 1 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 2 2 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 2 3 10000 10000 0 -10000 10000
|
||||
@@ -11,12 +11,12 @@ Elevon mixers
|
||||
-------------
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 1 0 7500 7500 0 -10000 10000
|
||||
S: 1 0 -7500 -7500 0 -10000 10000
|
||||
S: 1 1 8000 8000 0 -10000 10000
|
||||
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 1 0 7500 7500 0 -10000 10000
|
||||
S: 1 0 -7500 -7500 0 -10000 10000
|
||||
S: 1 1 -8000 -8000 0 -10000 10000
|
||||
|
||||
Landing gear mixer
|
||||
|
||||
@@ -0,0 +1,28 @@
|
||||
Mixer for Tailsitter with + motor configuration and elevons
|
||||
===========================================================
|
||||
|
||||
This file defines a single mixer for tailsitter with motors in X configuration. All controls
|
||||
are mixed 100%.
|
||||
|
||||
R: 4+ 10000 10000 10000 0
|
||||
|
||||
# mixer for the elevons
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 1 0 10000 10000 0 -10000 10000
|
||||
S: 1 1 10000 10000 0 -10000 10000
|
||||
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 1 0 10000 10000 0 -10000 10000
|
||||
S: 1 1 -10000 -10000 0 -10000 10000
|
||||
|
||||
# mixer for canard surface
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 1 1 -10000 -10000 0 -10000 10000
|
||||
|
||||
# mixer for rudder
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 1 2 -10000 -10000 0 -10000 10000
|
||||
@@ -0,0 +1,18 @@
|
||||
Mixer for Tailsitter with x motor configuration and elevons
|
||||
===========================================================
|
||||
|
||||
This file defines a single mixer for tailsitter with motors in X configuration. All controls
|
||||
are mixed 100%.
|
||||
|
||||
R: 4x 10000 10000 10000 0
|
||||
|
||||
#mixer for the elevons
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 1 0 10000 10000 0 -10000 10000
|
||||
S: 1 1 10000 10000 0 -10000 10000
|
||||
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 1 0 10000 10000 0 -10000 10000
|
||||
S: 1 1 -10000 -10000 0 -10000 10000
|
||||
@@ -0,0 +1,24 @@
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 1 10000 10000 0 -10000 10000
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 2 10000 10000 0 -10000 10000
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 4 10000 10000 0 -10000 10000
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 5 10000 10000 0 -10000 10000
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 6 10000 10000 0 -10000 10000
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 7 10000 10000 0 -10000 10000
|
||||
Reference in New Issue
Block a user