From 0e65753568061c2e170d7300ba5a8676c9b74213 Mon Sep 17 00:00:00 2001 From: Julien Lecoeur Date: Tue, 16 Jan 2018 10:09:16 +0100 Subject: [PATCH] Iris: set mixer to quad_wide The geometry was previously quad_deadcat in which front motors are closer to CG and thus more loaded in hover. quad_wide is the same geometry as quad_deadcat except the CG is centered so all motors are loaded equally. Flight logs on IRIS with deadcat mixer showed that - all motors are equally loaded during hover (actuator_outputs 0 to 3 have similar values) - a negative pitch offset is building up soon after takeoff (visible in actuator_controls) --- ROMFS/px4fmu_common/init.d/10016_3dr_iris | 2 +- posix-configs/SITL/init/ekf2/iris | 2 +- posix-configs/SITL/init/ekf2/iris_1 | 2 +- posix-configs/SITL/init/ekf2/iris_2 | 2 +- posix-configs/SITL/init/ekf2/iris_irlock | 2 +- posix-configs/SITL/init/ekf2/iris_rplidar | 2 +- posix-configs/SITL/init/ekf2/multiple_iris | 2 +- posix-configs/SITL/init/lpe/iris | 2 +- posix-configs/SITL/init/lpe/iris_1 | 2 +- posix-configs/SITL/init/lpe/iris_2 | 2 +- posix-configs/SITL/init/lpe/iris_irlock | 2 +- posix-configs/SITL/init/lpe/iris_opt_flow | 2 +- posix-configs/SITL/init/lpe/iris_rplidar | 2 +- 13 files changed, 13 insertions(+), 13 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/10016_3dr_iris b/ROMFS/px4fmu_common/init.d/10016_3dr_iris index f270153c7c..3ea7fead9f 100644 --- a/ROMFS/px4fmu_common/init.d/10016_3dr_iris +++ b/ROMFS/px4fmu_common/init.d/10016_3dr_iris @@ -40,6 +40,6 @@ then param set BAT_A_PER_V 15.39103 fi -set MIXER quad_dc +set MIXER quad_w set PWM_OUT 1234 diff --git a/posix-configs/SITL/init/ekf2/iris b/posix-configs/SITL/init/ekf2/iris index 7bc1e2e1ae..1e9166f3d8 100644 --- a/posix-configs/SITL/init/ekf2/iris +++ b/posix-configs/SITL/init/ekf2/iris @@ -60,7 +60,7 @@ navigator start ekf2 start mc_pos_control start mc_att_control start -mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_dc.main.mix +mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix mavlink start -x -u 14556 -r 4000000 mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556 diff --git a/posix-configs/SITL/init/ekf2/iris_1 b/posix-configs/SITL/init/ekf2/iris_1 index 4c386005d7..5cb67d8772 100644 --- a/posix-configs/SITL/init/ekf2/iris_1 +++ b/posix-configs/SITL/init/ekf2/iris_1 @@ -62,7 +62,7 @@ navigator start ekf2 start mc_pos_control start mc_att_control start -mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_dc.main.mix +mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix mavlink start -x -u 14556 -r 4000000 mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556 diff --git a/posix-configs/SITL/init/ekf2/iris_2 b/posix-configs/SITL/init/ekf2/iris_2 index 237bf02d7b..09ba400bad 100644 --- a/posix-configs/SITL/init/ekf2/iris_2 +++ b/posix-configs/SITL/init/ekf2/iris_2 @@ -62,7 +62,7 @@ navigator start ekf2 start mc_pos_control start mc_att_control start -mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_dc.main.mix +mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix mavlink start -x -u 14558 -r 4000000 mavlink start -x -u 14559 -r 4000000 -m onboard -o 14541 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14558 diff --git a/posix-configs/SITL/init/ekf2/iris_irlock b/posix-configs/SITL/init/ekf2/iris_irlock index c3b9eceba2..363e59844d 100644 --- a/posix-configs/SITL/init/ekf2/iris_irlock +++ b/posix-configs/SITL/init/ekf2/iris_irlock @@ -62,7 +62,7 @@ ekf2 start landing_target_estimator start mc_pos_control start mc_att_control start -mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_dc.main.mix +mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix mavlink start -u 14556 -r 4000000 mavlink start -u 14557 -r 4000000 -m onboard -o 14540 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556 diff --git a/posix-configs/SITL/init/ekf2/iris_rplidar b/posix-configs/SITL/init/ekf2/iris_rplidar index 7bc1e2e1ae..1e9166f3d8 100644 --- a/posix-configs/SITL/init/ekf2/iris_rplidar +++ b/posix-configs/SITL/init/ekf2/iris_rplidar @@ -60,7 +60,7 @@ navigator start ekf2 start mc_pos_control start mc_att_control start -mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_dc.main.mix +mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix mavlink start -x -u 14556 -r 4000000 mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556 diff --git a/posix-configs/SITL/init/ekf2/multiple_iris b/posix-configs/SITL/init/ekf2/multiple_iris index e2200c7824..f07eebe8aa 100644 --- a/posix-configs/SITL/init/ekf2/multiple_iris +++ b/posix-configs/SITL/init/ekf2/multiple_iris @@ -60,7 +60,7 @@ navigator start ekf2 start mc_pos_control start mc_att_control start -mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_dc.main.mix +mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix mavlink start -x -u _MAVPORT_ -r 4000000 -o _MAVOPORT_ mavlink start -x -u _MAVPORT2_ -r 4000000 -m onboard -o _MAVOPORT2_ mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u _MAVPORT_ diff --git a/posix-configs/SITL/init/lpe/iris b/posix-configs/SITL/init/lpe/iris index 61dff160cb..fb3e1aae51 100644 --- a/posix-configs/SITL/init/lpe/iris +++ b/posix-configs/SITL/init/lpe/iris @@ -61,7 +61,7 @@ attitude_estimator_q start local_position_estimator start mc_pos_control start mc_att_control start -mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_dc.main.mix +mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix mavlink start -x -u 14556 -r 4000000 mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556 diff --git a/posix-configs/SITL/init/lpe/iris_1 b/posix-configs/SITL/init/lpe/iris_1 index fde4b0e4f9..3f73c09a70 100644 --- a/posix-configs/SITL/init/lpe/iris_1 +++ b/posix-configs/SITL/init/lpe/iris_1 @@ -63,7 +63,7 @@ attitude_estimator_q start local_position_estimator start mc_pos_control start mc_att_control start -mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_dc.main.mix +mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix mavlink start -x -u 14556 -r 4000000 mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556 diff --git a/posix-configs/SITL/init/lpe/iris_2 b/posix-configs/SITL/init/lpe/iris_2 index 8f3d567e35..a075766a4b 100644 --- a/posix-configs/SITL/init/lpe/iris_2 +++ b/posix-configs/SITL/init/lpe/iris_2 @@ -63,7 +63,7 @@ attitude_estimator_q start local_position_estimator start mc_pos_control start mc_att_control start -mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_dc.main.mix +mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix mavlink start -x -u 14558 -r 4000000 mavlink start -x -u 14559 -r 4000000 -m onboard -o 14541 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14558 diff --git a/posix-configs/SITL/init/lpe/iris_irlock b/posix-configs/SITL/init/lpe/iris_irlock index abc1c0ed5a..830aff5d6f 100644 --- a/posix-configs/SITL/init/lpe/iris_irlock +++ b/posix-configs/SITL/init/lpe/iris_irlock @@ -70,7 +70,7 @@ local_position_estimator start landing_target_estimator start mc_pos_control start mc_att_control start -mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_dc.main.mix +mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix mavlink start -u 14556 -r 4000000 mavlink start -u 14557 -r 4000000 -m onboard -o 14540 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556 diff --git a/posix-configs/SITL/init/lpe/iris_opt_flow b/posix-configs/SITL/init/lpe/iris_opt_flow index 2490d2e1f7..ae7d078b32 100644 --- a/posix-configs/SITL/init/lpe/iris_opt_flow +++ b/posix-configs/SITL/init/lpe/iris_opt_flow @@ -79,7 +79,7 @@ attitude_estimator_q start local_position_estimator start mc_pos_control start mc_att_control start -mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_dc.main.mix +mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix mavlink start -x -u 14556 -r 2000000 mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540 mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556 diff --git a/posix-configs/SITL/init/lpe/iris_rplidar b/posix-configs/SITL/init/lpe/iris_rplidar index 115b164dd7..7705fe1860 100644 --- a/posix-configs/SITL/init/lpe/iris_rplidar +++ b/posix-configs/SITL/init/lpe/iris_rplidar @@ -61,7 +61,7 @@ attitude_estimator_q start local_position_estimator start mc_pos_control start mc_att_control start -mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_dc.main.mix +mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix mavlink start -x -u 14556 -r 4000000 mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556