From 203e2779b0379f46b078847a922eb968c7210ee1 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Thu, 30 Jun 2022 18:06:55 +0200 Subject: [PATCH] Switch default Iris in simulation to control allocation --- .../init.d-posix/airframes/10016_iris | 26 ++++++++++++- .../airframes/10017_iris_ctrlalloc | 37 ------------------- .../init.d-posix/airframes/CMakeLists.txt | 1 - 3 files changed, 25 insertions(+), 39 deletions(-) delete mode 100644 ROMFS/px4fmu_common/init.d-posix/airframes/10017_iris_ctrlalloc diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10016_iris b/ROMFS/px4fmu_common/init.d-posix/airframes/10016_iris index 7bdbe1b283..b5b77d4305 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/10016_iris +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10016_iris @@ -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 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10017_iris_ctrlalloc b/ROMFS/px4fmu_common/init.d-posix/airframes/10017_iris_ctrlalloc deleted file mode 100644 index 7871be2329..0000000000 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/10017_iris_ctrlalloc +++ /dev/null @@ -1,37 +0,0 @@ -#!/bin/sh -# -# @name 3DR Iris Quadrotor SITL -# -# @type Quadrotor Wide -# -# @maintainer Julian Oes -# - -. ${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 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt index fba035b61e..9f7ca5ffbf 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt @@ -33,7 +33,6 @@ px4_add_romfs_files( 10016_iris - 10017_iris_ctrlalloc 10018_iris_foggy_lidar 10019_omnicopter 10020_if750a