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airframes/uuv_bluerov2_heavy: switch over to control allocation

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Beat Küng
2021-12-24 20:06:13 -05:00
committed by Daniel Agar
parent 4f8e6a9548
commit 2362feddac
3 changed files with 60 additions and 44 deletions
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ROMFS/px4fmu_common/init.d-posix/airframes/1022_uuv_bluerov2_heavy
+60 -3
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@@ -8,6 +8,63 @@
# disable circuit breaker for airspeed sensor
param set-default CBRK_AIRSPD_CHK 162128
set PWM_OUT 12345678
set MIXER_FILE etc/mixers-sitl/vectored6dof_sitl.main.mix
set MIXER custom
param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 6
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 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
param set-default PWM_MAIN_FUNC5 105
param set-default PWM_MAIN_FUNC6 106
param set-default PWM_MAIN_FUNC7 107
param set-default PWM_MAIN_FUNC8 108
set MIXER skip