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Switch default Iris in simulation to control allocation

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This commit is contained in:
Matthias Grob
2022-06-30 18:06:55 +02:00
parent f16ea921c2
commit 203e2779b0
3 changed files with 25 additions and 39 deletions
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ROMFS/px4fmu_common/init.d-posix/airframes/10016_iris
+25 -1
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@@ -9,4 +9,28 @@
. ${R}etc/init.d/rc.mc_defaults
set MIXER quad_w
param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 0
param set-default CA_ROTOR_COUNT 4
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 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
set MIXER skip
set MIXER_AUX none
ROMFS/px4fmu_common/init.d-posix/airframes/10017_iris_ctrlalloc
-37
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@@ -1,37 +0,0 @@
#!/bin/sh
#
# @name 3DR Iris Quadrotor SITL
#
# @type Quadrotor Wide
#
# @maintainer Julian Oes <julian@oes.ch>
#
. ${R}etc/init.d/rc.mc_defaults
param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 0
param set-default CA_ROTOR_COUNT 4
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 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
set MIXER skip
set MIXER_AUX none
ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
-1
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@@ -33,7 +33,6 @@
px4_add_romfs_files(
10016_iris
10017_iris_ctrlalloc
10018_iris_foggy_lidar
10019_omnicopter
10020_if750a