fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-21 01:43:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

ROMFS move airframes to subdirectory

Browse Source
This commit is contained in:
Daniel Agar
2018-12-01 10:03:19 -05:00
parent 7f0d2f23b7
commit 3e9e5ed372
76 changed files with 146 additions and 71 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil
+51
View File
@@ -0,0 +1,51 @@
#!nsh
#
# @name HILStar (XPlane)
#
# @type Simulation
# @class Plane
#
# @output MAIN1 aileron
# @output MAIN2 elevator
# @output MAIN3 rudder
# @output MAIN4 throttle
# @output MAIN5 flaps
# @output MAIN6 gear
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/rc.fw_defaults
if [ $AUTOCNF = yes ]
then
param set BAT_N_CELLS 3
param set FW_AIRSPD_MAX 20
param set FW_AIRSPD_MIN 12
param set FW_AIRSPD_TRIM 14
param set FW_R_TC 0.3
param set FW_P_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_I 0.1
param set FW_PR_IMAX 0.4
param set FW_PR_P 0.2
param set FW_RR_FF 0.6
param set FW_RR_I 0.1
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.3
param set RWTO_TKOFF 1
fi
param set SYS_HITL 1
set MIXER AERT
ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery
+43
View File
@@ -0,0 +1,43 @@
#!nsh
#
# @name Team Blacksheep Discovery
#
# @type Quadrotor Wide
# @class Copter
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
# @output MAIN5 feed-through of RC AUX1 channel
# @output MAIN6 feed-through of RC AUX2 channel
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
# @output AUX4 feed-through of RC FLAPS channel
#
# @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 0.1
param set MC_ROLLRATE_I 0.05
param set MC_ROLLRATE_D 0.0017
param set MC_PITCH_P 6.5
param set MC_PITCHRATE_P 0.14
param set MC_PITCHRATE_I 0.1
param set MC_PITCHRATE_D 0.0025
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.28
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0.0
fi
set MIXER quad_w
set PWM_OUT 1234
ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris
+45
View File
@@ -0,0 +1,45 @@
#!nsh
#
# @name 3DR Iris Quadrotor
#
# @type Quadrotor Wide
# @class Copter
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
# @output AUX4 feed-through of RC FLAPS channel
#
# @maintainer Lorenz Meier <lorenz@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 0.15
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 0.15
param set MC_PITCHRATE_I 0.05
param set MC_PITCHRATE_D 0.004
param set MC_YAW_P 2.5
param set MC_YAWRATE_P 0.25
param set MC_YAWRATE_I 0.25
param set MC_YAWRATE_D 0.0
param set BAT_V_DIV 12.27559
param set BAT_A_PER_V 15.39103
fi
set MIXER quad_w
set PWM_OUT 1234
ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d
+45
View File
@@ -0,0 +1,45 @@
#!nsh
#
# @name Steadidrone QU4D
#
# @type Quadrotor Wide
# @class Copter
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
# @output MAIN5 feed-through of RC AUX1 channel
# @output MAIN6 feed-through of RC AUX2 channel
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
# @output AUX4 feed-through of RC FLAPS channel
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/rc.mc_defaults
if [ $AUTOCNF = yes ]
then
param set BAT_N_CELLS 4
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 0.19
param set MC_PITCHRATE_I 0.05
param set MC_PITCHRATE_D 0.004
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
fi
set MIXER quad_w
set PWM_OUT 1234
ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance
+50
View File
@@ -0,0 +1,50 @@
#!nsh
#
# @name Team Blacksheep Discovery Endurance
#
# @type Quadrotor Wide
# @class Copter
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
# @output MAIN5 feed-through of RC AUX1 channel
# @output MAIN6 feed-through of RC AUX2 channel
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
# @output AUX4 feed-through of RC FLAPS channel
#
# @maintainer Simon Wilks <simon@uaventure.com>
#
sh /etc/init.d/rc.mc_defaults
if [ $AUTOCNF = yes ]
then
param set BAT_N_CELLS 6
param set BAT_V_EMPTY 3.5
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.08
param set MC_ROLLRATE_I 0.02
param set MC_ROLLRATE_D 0.003
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.13
param set MC_PITCHRATE_I 0.02
param set MC_PITCHRATE_D 0.005
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 MPC_XY_VEL_MAX 2
param set PWM_MIN 1080
fi
set MIXER quad_w
set PWM_OUT 1234
ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil
+13
View File
@@ -0,0 +1,13 @@
#!nsh
#
# @name HIL Quadcopter X
#
# @type Simulation
# @class Copter
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/4001_quad_x
param set SYS_HITL 1
ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
+73
View File
@@ -0,0 +1,73 @@
#!nsh
#
# @name HIL Standard VTOL QuadPlane
#
# @type Standard VTOL
# @class VTOL
#
# @maintainer Roman Bapst <roman@auterion.com>
#
sh /etc/init.d/rc.vtol_defaults
if [ $AUTOCNF = yes ]
then
param set BAT_N_CELLS 3
param set COM_DISARM_LAND 5.0
param set COM_RC_IN_MODE 1
param set EKF2_AID_MASK 1
param set EKF2_ANGERR_INIT 0.01
param set EKF2_GBIAS_INIT 0.01
param set EKF2_HGT_MODE 0
param set EKF2_MAG_TYPE 1
param set FW_AIRSPD_MAX 25
param set FW_AIRSPD_MIN 14
param set FW_AIRSPD_TRIM 16
param set MC_PITCH_P 6
param set MC_PITCHRATE_P 0.2
param set MC_ROLL_P 6
param set MC_ROLLRATE_P 0.3
param set MIS_LTRMIN_ALT 10
param set MIS_TAKEOFF_ALT 10
param set MIS_YAW_TMT 10
param set MPC_ACC_HOR_MAX 2
param set MPC_ACC_HOR_MAX 2.0
param set MPC_THR_MIN 0.1
param set MPC_TKO_SPEED 1.0
param set MPC_XY_P 0.8
param set MPC_XY_VEL_D 0.005
param set MPC_XY_VEL_I 0.2
param set MPC_XY_VEL_P 0.15
param set MPC_Z_VEL_I 0.15
param set MPC_Z_VEL_MAX_DN 1.5
param set MPC_Z_VEL_P 0.6
param set NAV_ACC_RAD 5.0
param set NAV_DLL_ACT 2
param set NAV_LOITER_RAD 80
param set RTL_DESCEND_ALT 10.0
param set RTL_LAND_DELAY 0
param set RTL_RETURN_ALT 30.0
param set SDLOG_DIRS_MAX 7
param set SYS_MC_EST_GROUP 2
param set SYS_RESTART_TYPE 2
param set VT_F_TRANS_THR 0.75
param set VT_MOT_COUNT 4
param set VT_TYPE 2
fi
param set SYS_HITL 1
set MAV_TYPE 22
set MIXER standard_vtol_hitl
set PWM_OUT 1234
ROMFS/px4fmu_common/init.d/airframes/11001_hexa_cox
+27
View File
@@ -0,0 +1,27 @@
#!nsh
#
# @name Generic Hexarotor coaxial geometry
#
# @type Hexarotor Coaxial
# @class Copter
#
# @output MAIN1 front right top, CW; angle:60; direction:CW
# @output MAIN2 front right bottom, CCW; angle:60; direction:CCW
# @output MAIN3 back top, CW; angle:180; direction:CW
# @output MAIN4 back bottom, CCW; angle:180; direction:CCW
# @output MAIN5 front left top, CW; angle:-60; direction:CW
# @output MAIN6 front left bottom, CCW;angle:-60; direction:CCW
#
# @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
set MIXER hexa_cox
# Need to set all 8 channels
set PWM_OUT 12345678
ROMFS/px4fmu_common/init.d/airframes/12001_octo_cox
+24
View File
@@ -0,0 +1,24 @@
#!nsh
#
# @name Generic 10" Octo coaxial geometry
#
# @type Octorotor Coaxial
# @class Copter
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
# @output MAIN5 motor 5
# @output MAIN6 motor 6
# @output MAIN7 motor 7
# @output MAIN8 motor 8
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/rc.mc_defaults
set MIXER octo_cox
set PWM_OUT 12345678
ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik
+50
View File
@@ -0,0 +1,50 @@
#!nsh
#
# @name Steadidrone MAVRIK
#
# @type Octo Coax Wide
# @class Copter
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
# @output MAIN5 motor 5
# @output MAIN6 motor 6
# @output MAIN7 motor 7
# @output MAIN8 motor 8
#
# @maintainer Simon Wilks <simon@uaventure.com>
#
sh /etc/init.d/rc.mc_defaults
if [ $AUTOCNF = yes ]
then
param set MC_PITCH_P 4.0
param set MC_PITCHRATE_P 0.24
param set MC_PITCHRATE_I 0.09
param set MC_PITCHRATE_D 0.013
param set MC_PITCHRATE_MAX 180.0
param set MC_ROLL_P 4.0
param set MC_ROLLRATE_P 0.16
param set MC_ROLLRATE_I 0.07
param set MC_ROLLRATE_D 0.009
param set MC_ROLLRATE_MAX 180.0
param set MC_YAW_P 3.0
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0.0
param set MPC_HOLD_MAX_XY 0.25
param set MPC_THR_MIN 0.15
param set MPC_Z_VEL_MAX_DN 2.0
param set BAT_N_CELLS 4
fi
set MIXER octo_cox_w
set PWM_OUT 12345678
ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard
+37
View File
@@ -0,0 +1,37 @@
#!nsh
#
# @name Generic Quadplane VTOL
#
# @type Standard VTOL
# @class VTOL
#
# @maintainer
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
# @output AUX1 Aileron 1
# @output AUX2 Aileron 2
# @output AUX3 Elevator
# @output AUX4 Rudder
# @output AUX5 Throttle
#
sh /etc/init.d/rc.vtol_defaults
if [ $AUTOCNF = yes ]
then
param set PWM_AUX_DIS5 950
param set PWM_RATE 400
param set VT_TYPE 2
param set VT_MOT_COUNT 4
fi
set MAV_TYPE 22
set MIXER quad_x
set MIXER_AUX vtol_AAERT
set PWM_OUT 1234
ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol
+46
View File
@@ -0,0 +1,46 @@
#!nsh
#
# @name Caipiroshka Duo Tailsitter
#
# @type VTOL Duo Tailsitter
# @class VTOL
#
# @output MAIN1 motor right
# @output MAIN2 motor left
# @output MAIN5 elevon right
# @output MAIN6 elevon left
#
# @maintainer Roman Bapst <roman@px4.io>
#
sh /etc/init.d/rc.vtol_defaults
if [ $AUTOCNF = yes ]
then
param set MC_ROLL_P 6.0
param set MC_ROLLRATE_P 0.12
param set MC_ROLLRATE_I 0.002
param set MC_ROLLRATE_D 0.003
param set MC_ROLLRATE_FF 0.0
param set MC_PITCH_P 4.5
param set MC_PITCHRATE_P 0.3
param set MC_PITCHRATE_I 0.002
param set MC_PITCHRATE_D 0.003
param set MC_PITCHRATE_FF 0.0
param set MC_YAW_P 3.8
param set MC_YAWRATE_P 0.22
param set MC_YAWRATE_I 0.02
param set MC_YAWRATE_D 0.0
param set MC_YAWRATE_FF 0.0
param set VT_IDLE_PWM_MC 1080
param set VT_ELEV_MC_LOCK 0
param set VT_MOT_COUNT 2
param set VT_TYPE 0
fi
set MAV_TYPE 19
set MIXER caipirinha_vtol
set PWM_OUT 1234
ROMFS/px4fmu_common/init.d/airframes/13002_firefly6
+57
View File
@@ -0,0 +1,57 @@
#!nsh
#
# @name BirdsEyeView Aerobotics FireFly6
# @type VTOL Tiltrotor
# @class VTOL
#
# @maintainer Roman Bapst <roman@uaventure.com>
#
# @output MAIN1 Front right motor bottom
# @output MAIN2 Front right motor top
# @output MAIN3 Back motor bottom
# @output MAIN4 Back motor top
# @output MAIN5 Front left motor bottom
# @output MAIN6 Front left motor top
# @output AUX1 Tilt servo
# @output AUX2 Elevon 1
# @output AUX3 Elevon 2
# @output AUX4 Gear
#
sh /etc/init.d/rc.vtol_defaults
if [ $AUTOCNF = yes ]
then
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.19
param set MC_ROLLRATE_I 0.002
param set MC_ROLLRATE_D 0.005
param set MC_ROLLRATE_FF 0.0
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.14
param set MC_PITCHRATE_I 0.002
param set MC_PITCHRATE_D 0.004
param set MC_PITCHRATE_FF 0.0
param set MC_YAW_P 4.0
param set MC_YAWRATE_P 0.22
param set MC_YAWRATE_I 0.02
param set MC_YAWRATE_D 0.0
param set MC_YAWRATE_FF 0.0
param set PWM_RATE 400
param set VT_FW_MOT_OFFID 34
param set VT_IDLE_PWM_MC 1080
param set VT_MOT_COUNT 6
param set VT_TILT_MC 0.08
param set VT_TILT_TRANS 0.5
param set VT_TILT_FW 0.9
param set VT_TYPE 1
fi
set MAV_TYPE 21
set MIXER firefly6
set MIXER_AUX firefly6
set PWM_OUT 12345678
ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter
+28
View File
@@ -0,0 +1,28 @@
#!nsh
#
# @name Quadrotor X Tailsitter
#
# @type VTOL Quad Tailsitter
# @class VTOL
#
# @maintainer Roman Bapst <roman@px4.io>
#
sh /etc/init.d/rc.vtol_defaults
if [ $AUTOCNF = yes ]
then
param set PWM_MAX 2000
param set PWM_RATE 400
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
fi
set MAV_TYPE 20
set MIXER quad_x_vtol
set PWM_OUT 1234
ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter
+39
View File
@@ -0,0 +1,39 @@
#!nsh
#
# @name Quadrotor + Tailsitter
#
# @type VTOL Quad Tailsitter
# @class VTOL
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 4
# @output MAIN4 motor 5
# @output MAIN5 elevon left
# @output MAIN6 elevon right
# @output MAIN7 canard surface
# @output MAIN8 rudder
#
# @maintainer Roman Bapst <roman@px4.io>
#
# @board px4_fmu-v2 exclude
#
sh /etc/init.d/rc.vtol_defaults
if [ $AUTOCNF = yes ]
then
param set PWM_MAX 2000
param set PWM_RATE 400
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
fi
set MAV_TYPE 20
set MIXER quad_+_vtol
set PWM_OUT 1234
ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad
+70
View File
@@ -0,0 +1,70 @@
#!nsh
#
# @name Fun Cub Quad VTOL
#
# @type Standard VTOL
# @class VTOL
#
# @maintainer Simon Wilks <simon@uaventure.com>
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
# @output AUX1 Aileron 1
# @output AUX2 Aileron 2
# @output AUX3 Elevator
# @output AUX4 Rudder
# @output AUX5 Throttle
#
sh /etc/init.d/rc.vtol_defaults
if [ $AUTOCNF = yes ]
then
param set PWM_AUX_DIS5 950
param set PWM_RATE 400
param set MC_ROLL_P 6.0
param set MC_ROLLRATE_P 0.17
param set MC_ROLLRATE_I 0.002
param set MC_ROLLRATE_D 0.004
param set MC_ROLLRATE_FF 0.0
param set MC_PITCH_P 6.0
param set MC_PITCHRATE_P 0.19
param set MC_PITCHRATE_I 0.002
param set MC_PITCHRATE_D 0.004
param set MC_PITCHRATE_FF 0.0
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.22
param set MC_YAWRATE_I 0.02
param set MC_YAWRATE_D 0.0
param set MC_YAWRATE_FF 0.0
param set MC_YAWRATE_MAX 40
param set MC_YAWRAUTO_MAX 40
param set FW_PR_FF 0.5
param set FW_PR_I 0.02
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 0.05
param set FW_THR_CRUISE 0.75
param set VT_ARSP_BLEND 6
param set VT_ARSP_TRANS 12
param set VT_F_TRANS_THR 0.75
param set VT_MOT_COUNT 4
param set VT_IDLE_PWM_MC 1080
param set VT_TYPE 2
fi
set MAV_TYPE 22
set MIXER quad_x
set MIXER_AUX vtol_AAERT
set PWM_OUT 1234
ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta
+59
View File
@@ -0,0 +1,59 @@
#!nsh
#
# @name Generic quad delta VTOL
#
# @type Standard VTOL
# @class VTOL
#
# @maintainer Simon Wilks <simon@uaventure.com>
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
# @output AUX1 Right elevon
# @output AUX2 Left elevon
# @output AUX3 Motor
#
sh /etc/init.d/rc.vtol_defaults
if [ $AUTOCNF = yes ]
then
param set MC_ROLL_P 6.5
param set MC_ROLLRATE_P 0.15
param set MC_ROLLRATE_I 0.01
param set MC_ROLLRATE_D 0.003
param set MC_ROLLRATE_FF 0.0
param set MC_PITCH_P 6.5
param set MC_PITCHRATE_P 0.15
param set MC_PITCHRATE_I 0.01
param set MC_PITCHRATE_D 0.003
param set MC_PITCHRATE_FF 0.0
param set MC_YAW_P 3.5
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0.0
param set MC_YAWRATE_FF 0.0
param set MC_YAWRATE_MAX 50
param set MC_YAWRAUTO_MAX 20
param set MPC_XY_P 0.8
param set MPC_XY_VEL_P 0.1
param set MPC_ACC_HOR_MAX 2.0
param set PWM_AUX_DIS3 950
param set PWM_RATE 400
param set VT_MOT_COUNT 4
param set VT_F_TRANS_THR 0.75
param set VT_IDLE_PWM_MC 1080
param set VT_TYPE 2
fi
set MAV_TYPE 22
set MIXER quad_x
set MIXER_AUX vtol_delta
set PWM_OUT 1234
ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad
+47
View File
@@ -0,0 +1,47 @@
#!nsh
#
# @name Generic AAVVT v-tail plane airframe with Quad VTOL.
#
# @type Standard VTOL
# @class VTOL
#
# @maintainer Sander Smeets <sander@droneslab.com>
#
sh /etc/init.d/rc.vtol_defaults
if [ $AUTOCNF = yes ]
then
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.15
param set MC_ROLLRATE_I 0.002
param set MC_ROLLRATE_D 0.003
param set MC_ROLLRATE_FF 0.0
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.12
param set MC_PITCHRATE_I 0.002
param set MC_PITCHRATE_D 0.003
param set MC_PITCHRATE_FF 0.0
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.22
param set MC_YAWRATE_I 0.02
param set MC_YAWRATE_D 0.0
param set MC_YAWRATE_FF 0.0
param set MC_YAWRATE_MAX 40
param set MC_YAWRAUTO_MAX 40
param set PWM_AUX_DIS5 950
param set PWM_RATE 400
param set VT_F_TRANS_THR 0.75
param set VT_MOT_COUNT 4
param set VT_IDLE_PWM_MC 1080
param set VT_TYPE 2
fi
set MAV_TYPE 22
set MIXER quad_x
set MIXER_AUX vtol_AAVVT
set PWM_OUT 1234
ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger
+65
View File
@@ -0,0 +1,65 @@
#!nsh
#
# @name QuadRanger
#
# @type Standard VTOL
# @class VTOL
#
# @maintainer Sander Smeets <sander@droneslab.com>
#
sh /etc/init.d/rc.vtol_defaults
if [ $AUTOCNF = yes ]
then
param set FW_THR_CRUISE 65.0
param set FW_PR_P 0.08
param set FW_PR_FF 0.5
param set FW_RR_P 0.05
param set FW_RR_FF 0.6
param set MIS_YAW_TMT 10
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.15
param set MC_ROLLRATE_I 0.1
param set MC_ROLLRATE_D 0.004
param set MC_ROLLRATE_FF 0.0
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.15
param set MC_PITCHRATE_I 0.1
param set MC_PITCHRATE_D 0.004
param set MC_PITCHRATE_FF 0.0
param set MC_YAW_P 3.5
param set MC_YAWRATE_P 0.6
param set MC_YAWRATE_I 0.04
param set MC_YAWRATE_D 0.0
param set MC_YAWRATE_FF 0.0
param set MC_YAWRATE_MAX 40.0
param set MC_YAWRAUTO_MAX 40.0
param set MPC_ACC_HOR_MAX 2.0
param set MPC_Z_VEL_MAX_DN 1.5
param set MPC_TKO_SPEED 1.5
param set MPC_LAND_SPEED 0.8
param set PWM_AUX_DIS5 950
param set PWM_AUX_REV1 1
param set PWM_AUX_REV2 1
param set PWM_RATE 400
param set VT_ARSP_TRANS 15.0
param set VT_ARSP_BLEND 8.0
param set VT_B_TRANS_DUR 4.0
param set VT_F_TRANS_THR 0.75
param set VT_IDLE_PWM_MC 1080
param set VT_MOT_COUNT 4
param set VT_TYPE 2
fi
set MAV_TYPE 22
set MIXER quad_x
set MIXER_AUX vtol_AAERT
set PWM_OUT 1234
ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger
+87
View File
@@ -0,0 +1,87 @@
#!nsh
#
# @name Sparkle Tech Ranger VTOL
#
# @type Standard VTOL
# @class VTOL
#
# @maintainer Andreas Antener <andreas@uaventure.com>
#
sh /etc/init.d/rc.vtol_defaults
if [ $AUTOCNF = yes ]
then
param set FW_AIRSPD_MAX 22.0
param set FW_AIRSPD_MIN 14.0
param set FW_AIRSPD_TRIM 16.0
param set FW_L1_PERIOD 25.0
param set FW_PR_P 0.060
param set FW_P_RMAX_NEG 40.0
param set FW_P_RMAX_POS 40.0
param set FW_RR_FF 0.4
param set FW_RR_P 0.04
param set FW_R_RMAX 40.0
param set MC_PITCHRATE_D 0.004
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_MAX 60.0
param set MC_PITCHRATE_P 0.21
param set MC_PITCH_P 4.0
param set MC_ROLLRATE_D 0.004
param set MC_ROLLRATE_I 0.002
param set MC_ROLLRATE_MAX 60.0
param set MC_ROLLRATE_P 0.24
param set MC_ROLL_P 4.0
param set MC_YAWRATE_I 0.02
param set MC_YAWRATE_MAX 40.0
param set MC_YAWRATE_P 0.18
param set MC_YAWRAUTO_MAX 40.0
param set MIS_TAKEOFF_ALT 2.5
param set MIS_YAW_TMT 20.0
param set MPC_ACC_HOR_MAX 1.0
param set MPC_HOLD_MAX_XY 0.5
param set MPC_HOLD_MAX_Z 0.5
param set MPC_LAND_SPEED 1.0
param set MPC_MANTHR_MIN 0.05
param set MPC_MAN_Y_MAX 120.0
param set MPC_THR_MIN 0.07
param set MPC_TILTMAX_AIR 35.0
param set MPC_TILTMAX_LND 20.0
param set MPC_TKO_SPEED 1.0
param set MPC_XY_P 0.3
param set MPC_XY_VEL_MAX 3.0
param set MPC_XY_VEL_P 0.05
param set MPC_Z_P 0.5
param set MPC_Z_VEL_P 0.1
param set NAV_ACC_RAD 3.0
param set PWM_AUX_REV1 1
param set PWM_AUX_REV2 1
param set PWM_AUX_REV3 1
param set PWM_AUX_REV4 1
param set PWM_AUX_DIS5 950
param set PWM_RATE 400
param set VT_ARSP_TRANS 15.0
param set VT_B_TRANS_DUR 4.0
param set VT_F_TRANS_THR 0.6
param set VT_IDLE_PWM_MC 1180
param set VT_MOT_COUNT 4
param set VT_TRANS_MIN_TM 5.0
param set VT_TRANS_TIMEOUT 30.0
param set VT_TYPE 2
fi
set MAV_TYPE 22
set MIXER quad_x
set MIXER_AUX vtol_AAERT
set PWM_OUT 1234
ROMFS/px4fmu_common/init.d/airframes/13010_claire
+39
View File
@@ -0,0 +1,39 @@
#!nsh
#
# @name CruiseAder Claire
#
# @type VTOL Tiltrotor
# @class VTOL
#
# @maintainer Samay Siga <samay_s@icloud.com>
#
# @board px4_fmu-v2 exclude
#
sh /etc/init.d/rc.vtol_defaults
if [ $AUTOCNF = yes ]
then
param set PWM_AUX_DISARMED 1000
param set PWM_AUX_MAX 2000
param set PWM_AUX_MIN 1000
param set PWM_AUX_RATE 50
param set PWM_MAX 2000
param set PWM_RATE 400
param set VT_MOT_COUNT 4
param set VT_FW_MOT_OFFID 13
param set VT_IDLE_PWM_MC 1080
param set VT_TILT_FW 0.9
param set VT_TILT_MC 0.08
param set VT_TILT_TRANS 0.5
param set VT_TYPE 1
fi
set MAV_TYPE 21
set MIXER claire
set MIXER_AUX claire
set PWM_OUT 1234
ROMFS/px4fmu_common/init.d/airframes/13012_convergence
+85
View File
@@ -0,0 +1,85 @@
#!nsh
#
# @name E-flite Convergence
#
# @type VTOL Tiltrotor
# @class VTOL
#
# @maintainer Andreas Antener <andreas@uaventure.com>
#
# @output MAIN1 Motor right
# @output MAIN2 Motor left
# @output MAIN3 Motor back
# @output MAIN4 empty
# @output MAIN5 Tilt servo right
# @output MAIN6 Tilt servo left
# @output MAIN7 Elevon right
# @output MAIN8 Elevon left
#
sh /etc/init.d/rc.vtol_defaults
if [ $AUTOCNF = yes ]
then
param set CBRK_AIRSPD_CHK 162128
param set FW_ARSP_MODE 2
param set FW_L1_PERIOD 17
param set FW_MAN_R_MAX 50.0
param set FW_ACRO_X_MAX 270
param set FW_ACRO_Y_MAX 270
param set FW_ACRO_Z_MAX 180
param set FW_PR_FF 0.5
param set FW_PR_P 0.08
param set FW_PSP_OFF 5.0
param set FW_P_LIM_MAX 30
param set FW_P_LIM_MIN -30
param set FW_P_RMAX_NEG 60
param set FW_P_RMAX_POS 60
param set FW_RR_FF 0.33
param set FW_RR_P 0.11
param set FW_YR_FF 0.3
param set FW_YR_P 0.05
param set MC_PITCHRATE_D 0.003
param set MC_PITCHRATE_P 0.15
param set MC_PITCH_P 6.0
param set MC_ROLLRATE_D 0.003
param set MC_ROLLRATE_P 0.15
param set MC_ROLL_P 6.0
param set MC_YAWRATE_MAX 120
param set MC_YAWRATE_P 0.27
param set MC_YAW_P 2.5
param set MC_YAWRATE_P 0.3
param set MPC_LAND_SPEED 1.2
param set MPC_TKO_SPEED 2.5
param set MPC_Z_VEL_MAX_UP 3.0
param set PWM_RATE 400
param set SENS_BOARD_ROT 8
param set VT_B_TRANS_DUR 1.0
param set VT_F_TRANS_DUR 1.2
param set VT_F_TR_OL_TM 4.0
param set VT_FW_DIFTHR_EN 1
param set VT_FW_DIFTHR_SC 0.17
param set VT_FW_MOT_OFFID 3
param set VT_FW_PERM_STAB 0
param set VT_IDLE_PWM_MC 1200
param set VT_MOT_COUNT 3
param set VT_TILT_FW 1.0
param set VT_TILT_MC 0.0
param set VT_TILT_TRANS 0.45
param set VT_TRANS_MIN_TM 1.2
param set VT_TRANS_P2_DUR 1.3
param set VT_TYPE 1
fi
set MAV_TYPE 21
set MIXER vtol_convergence
set PWM_OUT 1234
ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
+162
View File
@@ -0,0 +1,162 @@
#!nsh
#
# @name Vertical Technologies DeltaQuad
#
# @type Standard VTOL
# @class VTOL
#
# @maintainer Sander Smeets <sander@droneslab.com>
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
# @output MAIN5 Right elevon
# @output MAIN6 Left elevon
# @output MAIN7 Pusher motor
# @output MAIN8 Pusher reverse channel
#
sh /etc/init.d/rc.vtol_defaults
if [ $AUTOCNF = yes ]
then
param set BAT_CAPACITY 23000
param set BAT_N_CELLS 4
param set BAT_R_INTERNAL 0.0025
param set COM_DISARM_LAND 5.0
param set CBRK_AIRSPD_CHK 162128
param set CBRK_IO_SAFETY 22027
param set EKF2_GPS_POS_X -0.12
param set EKF2_IMU_POS_X -0.12
param set EKF2_TAU_VEL 0.5
param set EKF2_GPS_P_GATE 10
param set EKF2_GPS_V_GATE 10
param set FW_ARSP_MODE 2
param set FW_L1_PERIOD 25
param set FW_PR_FF 0.7
param set FW_PR_I 0.18
param set FW_PR_P 0.15
param set FW_P_TC 0.5
param set FW_PSP_OFF 5
param set FW_R_LIM 35
param set FW_RR_FF 0.9
param set FW_RR_I 0.08
param set FW_RR_P 0.18
param set FW_T_HRATE_FF 0.5
param set FW_T_CLMB_MAX 3
param set FW_T_SINK_MAX 3
param set FW_T_SINK_MIN 1
param set FW_T_VERT_ACC 6
param set FW_T_HRATE_P 0.1
param set FW_THR_CRUISE 0.70
param set FW_THR_SLEW_MAX 1
param set FW_MAN_P_MAX 30
param set FW_P_LIM_MAX 15
param set FW_P_LIM_MIN -25
param set FW_P_RMAX_NEG 45
param set FW_P_RMAX_POS 45
param set FW_R_RMAX 50
param set FW_THR_MIN 0.55
param set FW_BAT_SCALE_EN 1
param set FW_THR_ALT_SCL 2.7
param set FW_T_RLL2THR 20
param set LNDMC_ALT_MAX 9999
param set LNDMC_XY_VEL_MAX 1
param set LNDMC_Z_VEL_MAX 0.7
param set MC_ROLL_P 6.5
param set MC_ROLLRATE_P 0.16
param set MC_ROLLRATE_I 0.01
param set MC_ROLLRATE_D 0.003
param set MC_ROLLRATE_FF 0.0
param set MC_ROLLRATE_MAX 80
param set MC_PITCH_P 6.5
param set MC_PITCHRATE_P 0.15
param set MC_PITCHRATE_I 0.05
param set MC_PITCHRATE_D 0.003
param set MC_PITCHRATE_FF 0.0
param set MC_PITCHRATE_MAX 80
param set MC_YAW_P 3.5
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0.0
param set MC_YAWRATE_FF 0.0
param set MC_YAWRATE_MAX 20
param set MC_YAWRAUTO_MAX 20
param set MC_AIRMODE 1
param set MIS_DIST_1WP 100
param set MIS_DIST_WPS 100000
param set MIS_TAKEOFF_ALT 15
param set MPC_XY_P 0.8
param set MPC_XY_VEL_P 0.1
param set MPC_XY_VEL_MAX 5
param set MPC_ACC_HOR_MAX 2.0
param set MPC_LAND_SPEED 1.2
param set MPC_MAN_R_MAX 30
param set MPC_TILTMAX_LND 35
param set MPC_Z_VEL_MAX 1.5
param set MPC_Z_VEL_MAX_UP 1.5
param set MPC_Z_VEL_MAX_DN 1.5
param set MPC_HOLD_MAX_XY 0.5
param set MPC_HOLD_MAX_Z 0.5
param set MPC_TKO_RAMP_T 0.8
param set MPC_XY_CRUISE 5
param set MPC_TILTMAX_AIR 25
param set MPC_TILTMAX_LND 25
param set NAV_DLL_ACT 0
param set NAV_LOITER_RAD 100
param set PWM_AUX_DISARMED 950
param set PWM_MAIN_DIS5 1500
param set PWM_MAIN_DIS6 1500
param set PWM_MAIN_DIS7 900
param set PWM_MAIN_DIS8 900
param set PWM_RATE 400
param set SENS_BOARD_ROT 18
# TELEM2 config
param set MAV_1_CONFIG 102
param set MAV_1_RATE 5000
param set MAV_1_FORWARD 1
param set SER_TEL2_BAUD 57600
param set VT_TYPE 2
param set VT_MOT_COUNT 4
param set VT_F_TRANS_THR 1
param set VT_DWN_PITCH_MAX 8
param set VT_FW_QC_P 55
param set VT_FW_QC_R 55
param set VT_TRANS_MIN_TM 15
param set VT_B_TRANS_DUR 8
param set VT_WV_LND_EN 1
param set VT_WV_LTR_EN 1
param set VT_FWD_THRUST_SC 4
param set VT_F_TRANS_DUR 1
param set VT_IDLE_PWM_MC 1025
param set VT_B_REV_OUT 0.5
param set VT_B_TRANS_THR 0.7
param set VT_FW_PERM_STAB 1
param set VT_TRANS_TIMEOUT 22
param set VT_F_TRANS_RAMP 4
fi
set MAV_TYPE 22
set MIXER deltaquad
set MIXER_AUX pass
set PWM_OUT 1234
set PWM_AUX_OUT 12345
ROMFS/px4fmu_common/init.d/airframes/14001_tri_y_yaw+
+20
View File
@@ -0,0 +1,20 @@
#!nsh
#
# @name Generic Tricopter Y+ Geometry
#
# @type Tricopter Y+
# @class Copter
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 yaw servo
#
# @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
#
sh /etc/init.d/rc.mc_defaults
set MIXER tri_y_yaw+
set PWM_OUT 1234
ROMFS/px4fmu_common/init.d/airframes/14002_tri_y_yaw-
+20
View File
@@ -0,0 +1,20 @@
#!nsh
#
# @name Generic Tricopter Y- Geometry
#
# @type Tricopter Y-
# @class Copter
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 yaw servo
#
# @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
#
sh /etc/init.d/rc.mc_defaults
set MIXER tri_y_yaw-
set PWM_OUT 1234
ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli
+54
View File
@@ -0,0 +1,54 @@
#!nsh
#
# @name Esky (Big) Lama v4
#
# @type Coaxial Helicopter
# @class Copter
#
# @output MAIN1 Left swashplate servomotor, pitch axis
# @output MAIN2 Right swashplate servomotor, roll axis
# @output MAIN3 Upper rotor (CCW)
# @output MAIN4 Lower rotor (CW)
#
# @maintainer Emmanuel Roussel
#
sh /etc/init.d/rc.mc_defaults
set MIXER coax
if [ $AUTOCNF = yes ]
then
param set MC_ROLL_P 6.5
param set MC_ROLLRATE_P 0.17
param set MC_ROLLRATE_I 0.05
param set MC_ROLLRATE_D 0.005
param set MC_ROLLRATE_FF 0
param set MC_PITCH_P 6.5
param set MC_PITCHRATE_P 0.17
param set MC_PITCHRATE_I 0.05
param set MC_PITCHRATE_D 0.005
param set MC_PITCHRATE_FF 0
param set MC_YAW_P 2
param set MC_YAWRATE_P 0.1
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0.0
param set MC_YAWRATE_FF 0
param set NAV_ACC_RAD 2.0
param set PWM_AUX_RATE 50
param set PWM_DISARMED 900
param set PWM_MIN 1075
param set PWM_MAX 1950
param set PWM_RATE 400
param set RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 10.0
fi
# This is the gimbal pass mixer
set MIXER_AUX pass
# use PWM parameters for throttle channel
set PWM_AUX_OUT 1234
set PWM_OUT 34
ROMFS/px4fmu_common/init.d/airframes/16001_helicopter
+56
View File
@@ -0,0 +1,56 @@
#!nsh
#
# @name Blade 130X
#
# @type Helicopter
# @class Copter
#
# @maintainer Bart Slinger <bartslinger@gmail.com>
#
# @output MAIN1 main motor
# @output MAIN2 front swashplate servo
# @output MAIN3 right swashplate servo
# @output MAIN4 left swashplate servo
# @output MAIN5 tail-rotor servo
#
sh /etc/init.d/rc.mc_defaults
# Configure as helicopter (number 4 defined in commander_helper.cpp)
set MAV_TYPE 4
set MIXER blade130
#set PWM_OUT 1234
if [ $AUTOCNF = yes ]
then
param set ATT_BIAS_MAX 0.0
param set CBRK_IO_SAFETY 22027
param set MC_ROLL_P 5.0
param set MC_ROLLRATE_P 0.0
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.0
param set MC_ROLLRATE_FF 0.15
param set MC_PITCH_P 6.5
param set MC_PITCHRATE_P 0.0
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.0
param set MC_PITCHRATE_FF 0.15
param set MC_YAW_P 3.0
param set MC_YAWRATE_P 0.1
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0.0
param set MC_ROLLRATE_MAX 720.0
param set MC_PITCHRATE_MAX 720.0
param set MC_YAWRATE_MAX 400.0
param set MC_ACRO_R_MAX 360.0
param set MC_ACRO_P_MAX 360.0
param set MPC_THR_MIN 0.06
param set MPC_MANTHR_MIN 0.06
param set PWM_MIN 1075
fi
ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane
+33
View File
@@ -0,0 +1,33 @@
#!nsh
#
# @name Standard Plane
#
# @type Standard Plane
# @class Plane
#
# @output MAIN1 aileron
# @output MAIN2 elevator
# @output MAIN3 throttle
# @output MAIN4 rudder
# @output MAIN5 flaps
# @output MAIN6 gear
#
# @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
if [ $AUTOCNF = yes ]
then
param set PWM_AUX_RATE 50
param set PWM_RATE 50
fi
set MIXER AETRFG
# Rate must be set by group (see pwm info).
# Throttle is in the same group as servos.
ROMFS/px4fmu_common/init.d/airframes/2105_maja
+48
View File
@@ -0,0 +1,48 @@
#!nsh
#
# @name Bormatec Maja
#
# @type Standard Plane
# @class Plane
#
# @output MAIN1 aileron
# @output MAIN2 aileron
# @output MAIN3 elevator
# @output MAIN4 rudder
# @output MAIN5 throttle
# @output MAIN6 wheel
# @output MAIN7 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 Andreas Antener <andreas@uaventure.com>
#
sh /etc/init.d/rc.fw_defaults
if [ $AUTOCNF = yes ]
then
param set FW_AIRSPD_MIN 10
param set FW_AIRSPD_TRIM 15
param set FW_AIRSPD_MAX 20
param set FW_MAN_P_MAX 55
param set FW_MAN_R_MAX 55
param set FW_R_LIM 55
param set FW_WR_FF 0.2
param set FW_WR_I 0.2
param set FW_WR_IMAX 0.8
param set FW_WR_P 1
param set FW_W_RMAX 0
# set disarmed value for the ESC
param set PWM_DISARMED 1000
fi
set MIXER AAERTWF
# use PWM parameters for throttle channel
set PWM_OUT 5
ROMFS/px4fmu_common/init.d/airframes/2106_albatross
+49
View File
@@ -0,0 +1,49 @@
#!nsh
#
# @name Applied Aeronautics Albatross
#
# @type Plane A-Tail
# @class Plane
#
# @output MAIN1 aileron right
# @output MAIN2 aileron left
# @output MAIN3 v-tail right
# @output MAIN4 v-tail left
# @output MAIN5 throttle
# @output MAIN6 wheel
# @output MAIN7 flaps right
# @output MAIN8 flaps left
#
# @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 Andreas Antener <andreas@uaventure.com>
#
sh /etc/init.d/rc.fw_defaults
if [ $AUTOCNF = yes ]
then
param set FW_AIRSPD_MIN 10
param set FW_AIRSPD_TRIM 15
param set FW_AIRSPD_MAX 20
param set FW_MAN_P_MAX 55
param set FW_MAN_R_MAX 55
param set FW_R_LIM 55
param set FW_WR_FF 0.2
param set FW_WR_I 0.2
param set FW_WR_IMAX 0.8
param set FW_WR_P 1
param set FW_W_RMAX 0
# set disarmed value for the ESC
param set PWM_DISARMED 1000
fi
set MIXER AAVVTWFF
# use PWM parameters for throttle channel
set PWM_OUT 5
ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon
+52
View File
@@ -0,0 +1,52 @@
#!nsh
#
# @name X-UAV Mini Talon
#
# @type Plane V-Tail
# @class Plane
#
# @output MAIN1 aileron right
# @output MAIN2 aileron left
# @output MAIN3 v-tail right
# @output MAIN4 v-tail left
# @output MAIN5 throttle
# @output MAIN6 wheel
# @output MAIN7 flaps right
# @output MAIN8 flaps left
#
# @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 Friedrich Beckmann <friedrich.beckmann@hs-augsburg.de>
#
sh /etc/init.d/rc.fw_defaults
if [ $AUTOCNF = yes ]
then
param set FW_AIRSPD_MIN 10
param set FW_AIRSPD_TRIM 15
param set FW_AIRSPD_MAX 20
param set FW_MAN_P_MAX 55
param set FW_MAN_R_MAX 55
param set FW_R_LIM 55
param set FW_WR_FF 0.2
param set FW_WR_I 0.2
param set FW_WR_IMAX 0.8
param set FW_WR_P 1
param set FW_W_RMAX 0
# set disarmed value for the ESC
param set PWM_DISARMED 1000
fi
# The Mini Talon does not have a wheel and
# no flaps. I leave them here because the mixer
# computes also wheel and flap controls.
set MIXER AAVVTWFF_vtail
# use PWM parameters for throttle channel
set PWM_OUT 5
ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox
+51
View File
@@ -0,0 +1,51 @@
#!nsh
#
# @name Generic Dodecarotor cox geometry
#
# @type Dodecarotor cox
# @class Copter
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
# @output MAIN5 motor 5
# @output MAIN6 motor 6
#
# @output AUX1 motor 7
# @output AUX2 motor 8
# @output AUX3 motor 9
# @output AUX4 motor 10
# @output AUX5 motor 11
# @output AUX6 motor 12
#
# @maintainer Ian McNanie <ianmcnanie@gmail.com>
# @maintainer William Peale <develop707@gmail.com>
#
set VEHICLE_TYPE mc
if [ $AUTOCNF = yes ]
then
param set NAV_ACC_RAD 2.0
param set PWM_AUX_RATE 400
param set PWM_AUX_DISARMED 900
param set PWM_AUX_MIN 1075
param set PWM_AUX_MAX 1950
param set PWM_MIN 1075
param set PWM_MAX 1950
param set PWM_RATE 400
param set RTL_DESCEND_ALT 10.0
param set RTL_LAND_DELAY 0
param set RTL_RETURN_ALT 30.0
fi
set MIXER dodeca_top_cox
set MIXER_AUX dodeca_bottom_cox
# Need to set all 8 channels
set PWM_OUT 12345678
set PWM_AUX_OUT 123456
ROMFS/px4fmu_common/init.d/airframes/3000_generic_wing
+13
View File
@@ -0,0 +1,13 @@
#!nsh
#
# @name Generic Flying Wing
#
# @type Flying Wing
# @class Plane
#
# @maintainer
#
sh /etc/init.d/rc.fw_defaults
set MIXER fw_generic_wing
ROMFS/px4fmu_common/init.d/airframes/3030_io_camflyer
+49
View File
@@ -0,0 +1,49 @@
#!nsh
#
# @name IO Camflyer
#
# @type Flying Wing
# @class Plane
#
# @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@uaventure.com>
#
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_R_TC 0.3
param set FW_P_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
param set PWM_DISARMED 1000
fi
set MIXER fw_generic_wing
# Provide ESC a constant 1000 us pulse while disarmed
set PWM_OUT 4
ROMFS/px4fmu_common/init.d/airframes/3031_phantom
+54
View File
@@ -0,0 +1,54 @@
#!nsh
#
# @name Phantom FPV Flying Wing
#
# @url https://docs.px4.io/en/frames_plane/wing_wing_z84.html
#
# @type Flying Wing
# @class Plane
#
# @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@uaventure.com>
#
sh /etc/init.d/rc.fw_defaults
if [ $AUTOCNF = yes ]
then
param set FW_AIRSPD_MIN 13
param set FW_AIRSPD_TRIM 15
param set FW_AIRSPD_MAX 25
param set FW_R_TC 0.3
param set FW_P_TC 0.3
param set FW_L1_DAMPING 0.75
param set FW_L1_PERIOD 15
param set FW_PR_FF 0.2
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_IMAX 0.2
param set FW_RR_P 0.08
param set FW_R_LIM 50
param set FW_R_RMAX 50
param set PWM_DISARMED 1000
# Bottom of bay and nominal zero-pitch attitude differ
# the payload bay is pitched up about 7 degrees
param set SENS_BOARD_Y_OFF 7.0
fi
set MIXER phantom
# Provide ESC a constant 1000 us pulse
set PWM_OUT 4
ROMFS/px4fmu_common/init.d/airframes/3032_skywalker_x5
+41
View File
@@ -0,0 +1,41 @@
#!nsh
#
# @name Skywalker X5 Flying Wing
#
# @type Flying Wing
# @class Plane
#
# @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 Julian Oes <julian@px4.io>
#
sh /etc/init.d/rc.fw_defaults
if [ $AUTOCNF = yes ]
then
param set FW_AIRSPD_MIN 15
param set FW_AIRSPD_TRIM 20
param set FW_AIRSPD_MAX 40
param set FW_R_TC 0.3
param set FW_P_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_RR_FF 0.6
param set FW_RR_P 0.04
fi
set MIXER fw_generic_wing
ROMFS/px4fmu_common/init.d/airframes/3033_wingwing
+53
View File
@@ -0,0 +1,53 @@
#!nsh
#
# @name Wing Wing (aka Z-84) Flying Wing
#
# @url https://docs.px4.io/en/framebuild_plane/wing_wing_z84.html
#
# @type Flying Wing
# @class Plane
#
# @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 Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/rc.fw_defaults
if [ $AUTOCNF = yes ]
then
param set BAT_N_CELLS 2
param set FW_AIRSPD_MAX 15
param set FW_AIRSPD_MIN 10
param set FW_AIRSPD_TRIM 13
param set FW_R_TC 0.3
param set FW_P_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_RR_FF 0.6
param set FW_RR_P 0.04
param set PWM_DISARMED 1000
fi
# Configure this as plane.
set MAV_TYPE 1
# Set mixer.
set MIXER wingwing
# Provide ESC a constant 1000 us pulse.
set PWM_OUT 4
ROMFS/px4fmu_common/init.d/airframes/3034_fx79
+22
View File
@@ -0,0 +1,22 @@
#!nsh
#
# @name FX-79 Buffalo Flying Wing
#
# @type Flying Wing
# @class Plane
#
# @maintainer Simon Wilks <simon@uaventure.com>
#
sh /etc/init.d/rc.fw_defaults
if [ $AUTOCNF = yes ]
then
param set FW_AIRSPD_MAX 30
param set FW_AIRSPD_MIN 13
param set FW_AIRSPD_TRIM 15
param set NAV_LOITER_RAD 150
fi
set MIXER FX79
ROMFS/px4fmu_common/init.d/airframes/3035_viper
+14
View File
@@ -0,0 +1,14 @@
#
#!nsh
#
# @name Viper
#
# @type Flying Wing
# @class Plane
#
# @maintainer Simon Wilks <simon@uaventure.com>
#
sh /etc/init.d/rc.fw_defaults
set MIXER Viper
ROMFS/px4fmu_common/init.d/airframes/3036_pigeon
+55
View File
@@ -0,0 +1,55 @@
#!nsh
#
# @name Sparkle Tech Pigeon
#
# @url http://www.sparkletech.hk/
#
# @type Flying Wing
# @class Plane
#
# @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@uaventure.com>
#
sh /etc/init.d/rc.fw_defaults
if [ $AUTOCNF = yes ]
then
param set FW_AIRSPD_MIN 15
param set FW_AIRSPD_TRIM 20
param set FW_AIRSPD_MAX 27
param set FW_ATT_TC 0.3
param set FW_L1_DAMPING 0.75
param set FW_L1_PERIOD 20.0
param set FW_PR_FF 0.35
param set FW_PR_IMAX 0.2
param set FW_PR_P 0.05
param set FW_P_LIM_MAX 45
param set FW_P_LIM_MIN -45
param set FW_P_ROLLFF 1
param set FW_P_TC 0.3
param set FW_RR_FF 0.3
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.03
param set FW_R_LIM 40
param set FW_R_RMAX 50
param set FW_R_TC 0.3
param set PWM_DISARMED 1000
# Bottom of bay and nominal zero-pitch attitude differ
# the payload bay is pitched up about 7 degrees
param set SENS_BOARD_Y_OFF 11.9
fi
set MIXER phantom
# Provide ESC a constant 1000 us pulse
set PWM_OUT 4
ROMFS/px4fmu_common/init.d/airframes/3037_parrot_disco_mod
+91
View File
@@ -0,0 +1,91 @@
#!nsh
#
# @name Modified Parrot Disco
#
# @url
#
# @type Flying Wing
# @class Plane
#
# @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 Jan Liphardt <JTLiphardt@gmail.com>
#
sh /etc/init.d/rc.fw_defaults
if [ $AUTOCNF = yes ]
then
####################################
# Airspeed
####################################
param set FW_AIRSPD_MIN 15 # = 29 knots
param set FW_AIRSPD_TRIM 20 # = 39 knots
param set FW_AIRSPD_MAX 27 # = 52 knots
####################################
# The Main L1 Controller
####################################
param set FW_L1_PERIOD 20 #units of meters
# Damping factor for L1 control (def = 0.75)
param set FW_L1_DAMPING 0.75
####################################
# Pitch
####################################
# Basic limits (def = +/- 45 deg)
param set FW_P_LIM_MAX 45
param set FW_P_LIM_MIN -45
# Time Constant (def = 0.4s)
param set FW_P_TC 0.4
# Pitch rate feed forward (def = 0.5 %/rad/sec)
param set FW_PR_FF 0.35
# Pitch rate integrator limit (def = 0.4)
param set FW_PR_IMAX 0.4
# Pitch rate proportional gain (def = 0.08 %/rad/sec)
param set FW_PR_P 0.08
####################################
# Roll
####################################
# Basic limits (def = 50 deg)
param set FW_R_LIM 40
# Roll rate upper limit (def = 70 deg/s)
param set FW_R_RMAX 50
# Roll Time Constant (def = 0.4 s)
param set FW_R_TC 0.4
# Roll rate feed forward (def = 0.5 %/rad/sec)
param set FW_RR_FF 0.5
# Roll rate proportional Gain (def = 0.05 %/rad/sec)
param set FW_RR_P 0.05
# Roll Integrator Anti-Windup
param set FW_RR_IMAX 0.2
param set PWM_DISARMED 1000
fi
set MIXER fw_generic_wing.main.mix
# Provide ESC a constant 1000 us pulse
set PWM_OUT 4
ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha
+59
View File
@@ -0,0 +1,59 @@
#!nsh
#
# @name TBS Caipirinha
#
# @type Flying Wing
# @class Plane
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/rc.fw_defaults
if [ $AUTOCNF = yes ]
then
param set FW_AIRSPD_MAX 25
param set FW_AIRSPD_MIN 12.5
param set FW_AIRSPD_TRIM 16.5
param set FW_L1_DAMPING 0.75
param set FW_L1_PERIOD 15
param set FW_LND_ANG 15
param set FW_LND_FLALT 8
param set FW_LND_HHDIST 15
param set FW_LND_HVIRT 13
param set FW_LND_TLALT 10
param set FW_THR_LND_MAX 0
param set FW_P_LIM_MAX 20
param set FW_P_LIM_MIN -30
param set FW_R_LIM 45
param set FW_R_TC 0.4
param set FW_P_TC 0.4
param set FW_PR_FF 0.45
param set FW_PR_IMAX 0.4
param set FW_PR_P 0.005
param set FW_RR_FF 0.45
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.013
param set FW_P_RMAX_NEG 70
param set FW_P_RMAX_POS 70
param set FW_R_RMAX 70
param set FW_THR_CRUISE 0.55
param set LNDFW_AIRSPD_MAX 6
param set LNDFW_XYACC_MAX 4
param set LNDFW_VEL_XY_MAX 3
param set LNDFW_VEL_Z_MAX 5
param set MIS_TAKEOFF_ALT 50
param set NAV_LOITER_RAD 30
param set PWM_MAIN_REV1 1
param set PWM_MAIN_REV2 1
param set PWM_DISARMED 0
param set PWM_MIN 900
param set PWM_MAX 2100
fi
set MIXER caipi
set PWM_OUT 1234
ROMFS/px4fmu_common/init.d/airframes/4001_quad_x
+27
View File
@@ -0,0 +1,27 @@
#!nsh
#
# @name Generic Quadrotor x
#
# @type Quadrotor x
# @class Copter
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
# @output MAIN5 feed-through of RC AUX1 channel
# @output MAIN6 feed-through of RC AUX2 channel
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
# @output AUX4 feed-through of RC FLAPS channel
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/rc.mc_defaults
set MIXER quad_x
set PWM_OUT 1234
ROMFS/px4fmu_common/init.d/airframes/4002_quad_x_mount
+34
View File
@@ -0,0 +1,34 @@
#!nsh
#
# @name Generic Quadrotor x with mount (e.g. gimbal)
#
# @type Quadrotor x
# @class Copter
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
# @output MAIN5 feed-through of RC AUX1 channel
# @output MAIN6 feed-through of RC AUX2 channel
#
# @output AUX1 Mount pitch
# @output AUX2 Mount roll
# @output AUX3 Mount yaw
# @output AUX4 Mount retract
#
# @maintainer Leon Mueller <thedevleon>
#
sh /etc/init.d/rc.mc_defaults
if [ $AUTOCNF = yes ]
then
param set PWM_AUX_RATE 50
fi
set MIXER quad_x
set PWM_OUT 1234
set MIXER_AUX mount
set PWM_AUX_OUT 123456
ROMFS/px4fmu_common/init.d/airframes/4003_qavr5
+36
View File
@@ -0,0 +1,36 @@
#!nsh
#
# @name Lumenier QAV-R (raceblade) 5" arms
#
# @type Quadrotor x
# @class Copter
#
# @board px4_fmu-v2 exclude
#
# @maintainer James Goppert <james.goppert@gmail.com>
#
sh /etc/init.d/4001_quad_x
if [ $AUTOCNF = yes ]
then
param set MC_ROLL_P 8.0
param set MC_ROLLRATE_P 0.08
param set MC_ROLLRATE_I 0.16
param set MC_ROLLRATE_D 0.003
param set MC_PITCH_P 8.0
param set MC_PITCHRATE_P 0.1
param set MC_PITCHRATE_I 0.2
param set MC_PITCHRATE_D 0.003
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.15
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0.0
param set MC_TPA_BREAK_P 0.7
param set MC_TPA_RATE_P 0.3
param set MPC_THR_MIN 0.06
param set MPC_MANTHR_MIN 0.06
param set PWM_MIN 1075
fi
ROMFS/px4fmu_common/init.d/airframes/4004_H4_680mm
+30
View File
@@ -0,0 +1,30 @@
#!nsh
#
# @name H4 680mm with Z1 Tiny2 Gimbal
#
# @type Quadrotor x
# @class Copter
#
# @maintainer Leon Mueller <thedevleon>
#
sh /etc/init.d/4002_quad_x_mount
# The Z1 Tiny2 can handle up to 400Hz
# and works with min 1020us, middle 1520us, max 2020us
# see http://www.zhiyun-tech.com/uploadfile/datedown/instruction/Tiny2_English_instructionV1.03.pdf
# under Gimbal Connection Instruction
if [ $AUTOCNF = yes ]
then
param set PWM_AUX_DISARMED 1520
param set PWM_AUX_MIN 1020
param set PWM_AUX_MAX 2020
param set PWM_AUX_RATE 400
fi
# Start FrSky telemetry on SERIAL4 (ttyS6, designated "SERIAL4/5" on the case)
frsky_telemetry start -d /dev/ttyS6
# GPIO LED
gpio_led start -p 6
ROMFS/px4fmu_common/init.d/airframes/4009_qav250
+38
View File
@@ -0,0 +1,38 @@
#!nsh
#
# @name Lumenier QAV250
#
# @type Quadrotor x
# @class Copter
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/4001_quad_x
if [ $AUTOCNF = yes ]
then
param set ATT_BIAS_MAX 0.0
param set CBRK_IO_SAFETY 22027
param set MC_TPA_BREAK_P 0.5
param set MC_TPA_RATE_P 0.5
param set MPC_MANTHR_MIN 0.06
param set MC_ROLL_P 6.0
param set MC_ROLLRATE_P 0.14
param set MC_ROLLRATE_I 0.23
param set MC_ROLLRATE_D 0.0025
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.235
param set MC_PITCHRATE_I 0.17
param set MC_PITCHRATE_D 0.004
param set MC_YAW_P 4
param set MC_YAWRATE_P 0.3
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0.0
param set MPC_THR_MIN 0.06
param set PWM_MIN 1075
fi
ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330
+30
View File
@@ -0,0 +1,30 @@
#!nsh
#
# @name DJI Flame Wheel F330
#
# @type Quadrotor x
# @class Copter
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/4001_quad_x
if [ $AUTOCNF = yes ]
then
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.15
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 0.15
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
ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450
+30
View File
@@ -0,0 +1,30 @@
#!nsh
#
# @name DJI Flame Wheel F450
#
# @type Quadrotor x
# @class Copter
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/4001_quad_x
if [ $AUTOCNF = yes ]
then
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.15
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 0.15
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 0.3
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
ROMFS/px4fmu_common/init.d/airframes/4012_quad_x_can
+30
View File
@@ -0,0 +1,30 @@
#!nsh
#
# @name F450-sized quadrotor with CAN
#
# @type Quadrotor x
# @class Copter
#
# @maintainer Pavel Kirienko <pavel.kirienko@gmail.com>
#
sh /etc/init.d/4001_quad_x
if [ $AUTOCNF = yes ]
then
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.16
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 0.16
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 0.3
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0.0
fi
set MIXER quad_x_can
set OUTPUT_MODE uavcan_esc
ROMFS/px4fmu_common/init.d/airframes/4013_bebop
+42
View File
@@ -0,0 +1,42 @@
#!nsh
#
# @name Parrot Bebop Frame
#
# @type Quadrotor x
# @class Copter
#
# @board px4_fmu-v2 exclude
# @board px4_fmu-v3 exclude
# @board px4_fmu-v4 exclude
# @board px4_fmu-v4pro exclude
# @board px4_fmu-v5 exclude
# @board aerofc-v1 exclude
#
# @maintainer Michael Schaeuble
#
sh /etc/init.d/rc.mc_defaults
#
# Load default params for this platform
#
if [ $AUTOCNF = yes ]
then
# Set all params here, then disable autoconfig
param set MC_ROLL_P 6.5
param set MC_ROLLRATE_P 0.109999999403953552
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.0006
param set MC_PITCH_P 6.5
param set MC_PITCHRATE_P 0.1
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.000799999
param set MC_YAW_P 1.049999
param set MC_YAWRATE_P 0.05
param set MC_YAWRATE_I 0.001
param set MC_YAWRATE_D 0.0
fi
set OUTPUT_MODE bebop
set USE_IO no
set MIXER bebop
ROMFS/px4fmu_common/init.d/airframes/4014_s500
+23
View File
@@ -0,0 +1,23 @@
#!nsh
#
# @name S500
#
# @type Quadrotor x
# @class Copter
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/4001_quad_x
if [ $AUTOCNF = yes ]
then
param set MC_ROLL_P 6.5
param set MC_ROLLRATE_P 0.18
param set MC_ROLLRATE_I 0.15
param set MC_ROLLRATE_D 0.003
param set MC_PITCH_P 6.5
param set MC_PITCHRATE_P 0.18
param set MC_PITCHRATE_I 0.15
param set MC_PITCHRATE_D 0.003
fi
ROMFS/px4fmu_common/init.d/airframes/4020_hk_micro_pcb
+36
View File
@@ -0,0 +1,36 @@
#!nsh
#
# @name Hobbyking Micro PCB
#
# @type Quadrotor x
# @class Copter
#
# @board px4_fmu-v2 exclude
# @board px4_fmu-v3 exclude
# @board px4_fmu-v4 exclude
# @board px4_fmu-v4pro exclude
# @board px4_fmu-v5 exclude
# @board aerofc-v1 exclude
#
# @maintainer Thomas Gubler <thomas@px4.io>
#
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_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_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
param set PWM_MIN 1200
fi
ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo
+98
View File
@@ -0,0 +1,98 @@
#!nsh
#
# @name 3DR Solo
#
# @type Quadrotor x
# @class Copter
#
# @board px4_fmu-v2 exclude
# @board px4_fmu-v4 exclude
# @board px4_fmu-v4pro exclude
# @board px4_fmu-v5 exclude
# @board aerofc-v1 exclude
#
# @maintainer Andreas Antener <andreas@uaventure.com>
#
sh /etc/init.d/rc.mc_defaults
if [ $AUTOCNF = yes ]
then
# tuning
param set MC_PITCHRATE_P 0.11
param set MC_ROLLRATE_P 0.11
param set MPC_MANTHR_MIN 0.08
param set MPC_XY_VEL_MAX 3.0
param set MPC_Z_VEL_MAX_DN 2.0
# INAV: higher GPS weights for better altitude control
param set INAV_W_Z_BARO 0.3
param set INAV_W_Z_GPS_P 0.8
param set INAV_W_Z_GPS_V 0.8
# takeoff, land and RTL settings
param set MIS_TAKEOFF_ALT 4.0
param set COM_DISARM_LAND 1.0
param set RTL_LAND_DELAY 1
param set RTL_DESCEND_ALT 5.0
param set RTL_RETURN_ALT 15.0
param set MPC_TILTMAX_LND 8.0
param set MPC_LAND_SPEED 0.4
param set MPC_HOLD_MAX_Z 1.5
param set MPC_TKO_JMPSPD 2.0
param set MPC_TKO_SPEED 1.5
# setup
# main board rotation: pitch 180
param set SENS_BOARD_ROT 12
# solo external mag rotation
param set CAL_MAG0_ROT 30
# no safety switch
param set CBRK_IO_SAFETY 22027
# battery voltage not available yet
param set CBRK_SUPPLY_CHK 894281
# RC configuration
param set RC_MAP_MODE_SW 5
param set RC_MAP_PITCH 2
param set RC_MAP_ROLL 1
param set RC_MAP_THROTTLE 3
param set RC_MAP_YAW 4
param set RC1_DZ 10
param set RC1_MAX 1988
param set RC1_MIN 1003
param set RC1_REV 1
param set RC1_TRIM 1499
param set RC2_DZ 10
param set RC2_MAX 1987
param set RC2_MIN 1023
param set RC2_REV -1
param set RC2_TRIM 1499
param set RC3_DZ 10
param set RC3_MAX 1877
param set RC3_MIN 1023
param set RC3_REV 1
param set RC3_TRIM 1023
param set RC4_DZ 10
param set RC4_MAX 1998
param set RC4_MIN 1012
param set RC4_REV 1
param set RC4_TRIM 1500
param set RC5_DZ 10
param set RC5_MAX 2000
param set RC5_MIN 1000
param set RC5_REV 1
param set RC5_TRIM 1500
# enable high-speed link on telem 1
param set MAV_0_RATE 80000
param set MAV_0_MODE 2
param set SER_TEL1_BAUD 921600
fi
set MIXER quad_x
set PWM_OUT 1234
set MIXER_AUX none
ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad
+24
View File
@@ -0,0 +1,24 @@
#!nsh
#
# @name 3DR DIY Quad
#
# @type Quadrotor x
# @class Copter
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/4001_quad_x
if [ $AUTOCNF = yes ]
then
param set MC_ROLL_P 6.5
param set MC_ROLLRATE_P 0.14
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 0.14
param set MC_PITCHRATE_I 0.09
param set MC_PITCHRATE_D 0.004
param set MC_YAW_P 4
fi
ROMFS/px4fmu_common/init.d/airframes/4040_reaper
+50
View File
@@ -0,0 +1,50 @@
#!nsh
#
# @name Reaper 500 Quad
#
# @type Quadrotor H
# @class Copter
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
# @output MAIN5 feed-through of RC AUX1 channel
# @output MAIN6 feed-through of RC AUX2 channel
#
# @maintainer Blankered
#
sh /etc/init.d/rc.mc_defaults
if [ $AUTOCNF = yes ]
then
param set MC_ROLL_P 6.5
param set MC_ROLLRATE_P 0.14
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 0.14
param set MC_PITCHRATE_I 0.09
param set MC_PITCHRATE_D 0.004
param set MC_YAW_P 4
param set NAV_ACC_RAD 2.0
param set PWM_AUX_DISARMED 950
param set PWM_AUX_RATE 50
param set PWM_MIN 1100
param set PWM_MAX 1900
param set PWM_RATE 50
param set RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 10.0
fi
set MIXER quad_h
set PWM_OUT 1234
set MIXER_AUX pass
set PWM_AUX_OUT 1234
ROMFS/px4fmu_common/init.d/airframes/4050_generic_250
+49
View File
@@ -0,0 +1,49 @@
#!nsh
#
# @name Generic 250 Racer
#
# @type Quadrotor x
# @class Copter
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/4001_quad_x
if [ $AUTOCNF = yes ]
then
param set MC_ROLL_P 8.0
param set MC_ROLLRATE_P 0.08
param set MC_ROLLRATE_I 0.25
param set MC_ROLLRATE_D 0.001
param set MC_PITCH_P 8.0
param set MC_PITCHRATE_P 0.08
param set MC_PITCHRATE_I 0.25
param set MC_PITCHRATE_D 0.001
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
param set MC_ROLLRATE_MAX 1600.0
param set MC_PITCHRATE_MAX 1600.0
param set MC_YAWRATE_MAX 1000.0
param set MPC_MANTHR_MIN 0.0
param set MPC_MAN_TILT_MAX 60
# use thrust curve factor (instead of TPA)
param set THR_MDL_FAC 0.3
param set PWM_MIN 1075
# enable one-shot
param set PWM_RATE 0
# enable high-rate logging profile (helps with tuning)
param set SDLOG_PROFILE 19
# disable RC filtering
param set RC_FLT_CUTOFF 0.00000
param set CBRK_IO_SAFETY 22027
fi
ROMFS/px4fmu_common/init.d/airframes/4051_s250aq
+63
View File
@@ -0,0 +1,63 @@
#!nsh
#
# @name Spedix S250AQ
# @url https://docs.px4.io/en/framebuild_multicopter/spedix_s250_pixracer.html
#
# @board px4_fmu-v2 exclude
#
# @type Quadrotor asymmetric
# @class Copter
#
# @output MAIN1 motor1 (front right: CCW)
# @output MAIN2 motor2 (back left: CCW)
# @output MAIN3 motor3 (front left: CW)
# @output MAIN4 motor4 (back right: CW)
#
# @output MAIN5 feed-through of RC AUX1 channel
# @output MAIN6 feed-through of RC AUX2 channel
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/rc.mc_defaults
set MIXER quad_s250aq
set MAV_TYPE 2
set PWM_OUT 1234
if [ $AUTOCNF = yes ]
then
param set ATT_BIAS_MAX 0.0
param set CBRK_IO_SAFETY 22027
param set MC_ROLL_P 8.0
param set MC_ROLLRATE_P 0.19
param set MC_ROLLRATE_I 0.1
param set MC_ROLLRATE_D 0.0055
param set MC_PITCH_P 8.0
param set MC_PITCHRATE_P 0.19
param set MC_PITCHRATE_I 0.1
param set MC_PITCHRATE_D 0.0055
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
param set MC_ROLLRATE_MAX 720.0
param set MC_PITCHRATE_MAX 720.0
param set MC_YAWRATE_MAX 400.0
param set MC_ACRO_R_MAX 360.0
param set MC_ACRO_P_MAX 360.0
param set MC_TPA_BREAK_D 0.3
param set MC_TPA_BREAK_I 1.0
param set MC_TPA_BREAK_P 0.3
param set MC_TPA_RATE_D 1.0
param set MC_TPA_RATE_I 0.0
param set MC_TPA_RATE_P 1.0
param set MPC_THR_MIN 0.06
param set MPC_MANTHR_MIN 0.06
param set PWM_MIN 1075
fi
ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100
+30
View File
@@ -0,0 +1,30 @@
#!nsh
#
# @name DJI Matrice 100
#
# @type Quadrotor x
# @class Copter
#
# @maintainer James Goppert <james.goppert@gmail.com>
#
sh /etc/init.d/4001_quad_x
if [ $AUTOCNF = yes ]
then
param set BAT_N_CELLS 6
param set MC_ROLL_P 6.5
param set MC_ROLLRATE_P 0.05
param set MC_ROLLRATE_I 0.05
param set MC_ROLLRATE_D 0.001
param set MC_PITCH_P 6.5
param set MC_PITCHRATE_P 0.05
param set MC_PITCHRATE_I 0.05
param set MC_PITCHRATE_D 0.001
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0.0
param set PWM_MIN 1200
fi
ROMFS/px4fmu_common/init.d/airframes/4070_aerofc
+84
View File
@@ -0,0 +1,84 @@
#!nsh
#
# @name Intel Aero Ready to Fly Drone
#
# @board px4_fmu-v2 exclude
# @board px4_fmu-v3 exclude
# @board px4_fmu-v4 exclude
# @board px4_fmu-v4pro exclude
# @board px4_fmu-v5 exclude
#
# @type Quadrotor x
# @class Copter
#
# @maintainer Beat Kueng <beat@px4.io>
#
sh /etc/init.d/rc.mc_defaults
#
# Load default params for this platform
#
if [ $AUTOCNF = yes ]
then
# Set all params here, then disable autoconfig
param set COM_DISARM_LAND 3.0
param set EKF2_GPS_POS_X -0.0600
param set EKF2_GPS_POS_Z -0.1000
param set EKF2_MIN_OBS_DT 50
param set EKF2_BARO_GATE 10.0
param set EKF2_BARO_NOISE 5.0
param set EKF2_ACC_NOISE 0.7
param set LNDMC_Z_VEL_MAX 2.0000
param set MC_ROLL_P 8.0000
param set MC_ROLLRATE_P 0.1300
param set MC_ROLLRATE_I 0.07
param set MC_ROLLRATE_D 0.0012
param set MC_ROLLRATE_MAX 360
param set MC_PITCH_P 8.0000
param set MC_PITCHRATE_P 0.1300
param set MC_PITCHRATE_I 0.07
param set MC_PITCHRATE_D 0.0012
param set MC_PITCHRATE_MAX 360
param set MC_YAW_P 4.0
param set MC_YAWRATE_P 0.119999997317790985
param set MC_YAWRATE_I 0.050000000745058060
param set MC_YAWRATE_D 0.0
param set MPC_LAND_SPEED 0.7000
param set MPC_MANTHR_MIN 0.0400
param set MPC_THR_HOVER 0.5000
param set MPC_THR_MAX 0.9400
param set MPC_THR_MIN 0.1000
param set MPC_XY_CRUISE 8.0000
param set MPC_XY_P 1.5000
param set MPC_XY_VEL_P 0.1500
param set MPC_Z_P 1.5000
param set MPC_Z_VEL_I 0.1500
param set MPC_Z_VEL_MAX_DN 4.0000
param set MPC_Z_VEL_MAX_UP 5.0000
param set MPC_Z_VEL_P 0.8000
# TELEM2 config
param set MAV_1_CONFIG 102
param set MAV_1_RATE 80000
param set MAV_1_FORWARD 1
param set SER_TEL2_BAUD 921600
fi
if param compare SYS_HITL 0
then
tap_esc start -d /dev/ttyS0 -n 4
usleep 300000
set OUTPUT_MODE tap_esc
fi
set MIXER quad_x
set USE_IO no
ROMFS/px4fmu_common/init.d/airframes/4080_zmr250
+53
View File
@@ -0,0 +1,53 @@
#!nsh
#
# @name ZMR250 Racer
#
# @type Quadrotor x
# @class Copter
#
# @board px4_fmu-v2 exclude
#
# @maintainer Anton Matosov <anton.matosov@gmail.com>
#
sh /etc/init.d/rc.mc_defaults
set MIXER zmr250
set PWM_OUT 1234
if [ $AUTOCNF = yes ]
then
param set CBRK_IO_SAFETY 22027
param set FAILSAFE 100
param set MC_ROLL_P 2.2
param set MC_ROLLRATE_P 0.06
param set MC_ROLLRATE_I 0.2
param set MC_ROLLRATE_D 0.0017
param set MC_PITCH_P 2.2
param set MC_PITCHRATE_P 0.06
param set MC_PITCHRATE_I 0.2
param set MC_PITCHRATE_D 0.0017
param set MC_YAW_P 1.0
param set MC_YAWRATE_P 0.15
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0.0
param set MC_ACRO_R_MAX 1000.0
param set MC_ACRO_P_MAX 1000.0
param set MC_ACRO_Y_MAX 1000.0
param set MC_TPA_BREAK_P 0.5
param set MC_TPA_BREAK_D 0.7
param set MC_TPA_RATE_P 0.5
param set MC_TPA_RATE_D 0.5
# param set NAV_RCL_ACT 6 # Lockdown
param set PWM_MIN 1075
param set PWM_RATE 400
param set PWM_DISARMED 900
fi
ROMFS/px4fmu_common/init.d/airframes/4090_nanomind
+40
View File
@@ -0,0 +1,40 @@
#!nsh
#
# @name NanoMind 110 Quad
#
# @type Quadrotor x
# @class Copter
#
# @board px4_fmu-v2 exclude
# @board px4_fmu-v3 exclude
# @board px4_fmu-v4 exclude
# @board px4_fmu-v4pro exclude
# @board px4_fmu-v5 exclude
# @board aerofc-v1 exclude
#
# @maintainer Henry Zhang <zhanghui629@gmail.com>
#
sh /etc/init.d/4001_quad_x
if [ $AUTOCNF = yes ]
then
param set BAT_N_CELLS 1
param set MC_ROLL_P 8.0
param set MC_ROLLRATE_P 0.19
param set MC_ROLLRATE_I 0.1
param set MC_ROLLRATE_D 0.0055
param set MC_PITCH_P 8.0
param set MC_PITCHRATE_P 0.19
param set MC_PITCHRATE_I 0.1
param set MC_PITCHRATE_D 0.0055
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
param set PWM_DISARMED 0
param set PWM_MIN 500
param set PWM_MAX 2200
fi
ROMFS/px4fmu_common/init.d/airframes/4100_tiltquadrotor
+35
View File
@@ -0,0 +1,35 @@
#!nsh
#
# @name Tilt-Quadrotor
#
# @url http://www.alivaero.com/the-project.html
#
# @type Tilt-Quad
# @class Copter
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
# @output AUX1 Outer servo motor for rotor 2 arm
# @output AUX2 Outer servo motor for rotor 4 arm
# @output AUX3 Inner servo motor for rotor 2 arm
# @output AUX4 Inner servo motor for rotor 4 arm
#
# @maintainer Ricardo Marques <marques.ricardo17@gmail.com>
#
sh /etc/init.d/rc.mc_defaults
#Parameters here:
param set LED_RGB_MAXBRT 8
# Configure this as Quadrotor
# set MAV_TYPE 14
# Set mixer
set MIXER tilt_quad
set MIXER_AUX tilt_quad
set PWM_OUT 1234
ROMFS/px4fmu_common/init.d/airframes/4250_teal
+174
View File
@@ -0,0 +1,174 @@
#!nsh
#
# @name Teal One
#
# @type Quadrotor x
# @class Copter
#
# @board px4_fmu-v2 exclude
# @board px4_fmu-v3 exclude
# @board px4_fmu-v4pro exclude
# @board px4_fmu-v5 exclude
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
#
# @maintainer Jacob Dahl <jacob.dahl@tealdrones.com>
# @maintainer Alex Klimaj <alex.klimaj@tealdrones.com>
#
echo "Executing 4250_teal script."
sh /etc/init.d/4001_quad_x
set MIXER_AUX none
if [ $AUTOCNF = yes ]
then
# battery
param set BAT_CAPACITY 2750
param set BAT_CRIT_THR 0.15
param set BAT_EMERGEN_THR 0.075
param set BAT_LOW_THR 0.20
param set BAT_N_CELLS 4
param set BAT_R_INTERNAL 0.06
param set BAT_SOURCE 1
param set BAT_V_CHARGED 4.15
param set BAT_V_DIV 11.1625
param set BAT_V_EMPTY 3.65
param set BAT_V_OFFS_CURR -0.0045
# primary accel
param set CAL_ACC_PRIME 1442826 #mpu6500
#param set CAL_ACC_PRIME 1445386 #mpu9250
# primary gyro
param set CAL_GYRO_PRIME 2360330 #mpu6500
#param set CAL_GYRO_PRIME 2362890 #mpu9250
#primary Mag
#param set CAL_MAG_PRIME 265738 #mpu9250
# sensor calibration
param set CAL_MAG0_ROT 0
param set CAL_MAG_SIDES 63
param set SENS_BOARD_ROT 0
param set COM_ARM_MAG 1.5
param set COM_ARM_EKF_AB 0.0032
# circuit breakers
param set CBRK_IO_SAFETY 22027
param set CBRK_USB_CHK 197848
# commander
param set COM_DISARM_LAND 1
param set COM_LOW_BAT_ACT 3
param set COM_LOSS_LTR_T 20
# ekf2
param set EKF2_AID_MASK 1
param set EKF2_GPS_CHECK 511
param set EKF2_GPS_POS_X -0.04
param set EKF2_IMU_POS_X -0.06
param set EKF2_MIN_RNG 0.07
param set EKF2_PCOEF_XN 0.1
param set EKF2_PCOEF_XP -0.5
param set EKF2_RNG_AID 1
param set EKF2_RNG_A_VMAX 20.0
param set EKF2_RNG_NOISE 0.2
# gps
param set GPS_UBX_DYNMODEL 7
# geofence
param set GF_ACTION 1
# land detector
param set LNDMC_THR_RANGE 0.50
param set LNDMC_XY_VEL_MAX 1.0
param set LNDMC_ROT_MAX 50.0
# mavlink stream configuration
param set MAV_1_CONFIG 102
param set MAV_1_RATE 20000
# mc_att_control
param set MC_ACRO_P_MAX 360.0
param set MC_ACRO_R_MAX 360.0
param set MC_ACRO_Y_MAX 360.0
param set MC_ROLL_P 6.0
param set MC_ROLLRATE_P 0.055
param set MC_ROLLRATE_I 0.2
param set MC_ROLLRATE_D 0.0012
param set MC_ROLLRATE_MAX 180.0
param set MC_PITCHRATE_P 0.06
param set MC_PITCHRATE_I 0.2
param set MC_PITCHRATE_D 0.0012
param set MC_PITCHRATE_MAX 180.0
param set MC_YAW_P 1.0
param set MC_YAWRATE_P 0.08
param set MC_YAWRATE_I 0.08
param set MC_YAWRATE_D 0.0
param set MC_YAWRATE_MAX 180.0
param set MOT_SLEW_MAX 0.15
# mc_pos_control
param set MPC_ACC_DOWN_MAX 10.0
param set MPC_ACC_HOR 10.0
param set MPC_ACC_HOR_MAX 15.0
param set MPC_ACC_UP_MAX 10.0
param set MPC_JERK_MAX 5.0
param set MPC_LAND_ALT1 8.0
param set MPC_LAND_ALT2 5.0
param set MPC_MANTHR_MAX 0.85
param set MPC_MANTHR_MIN 0.15
param set MPC_MAN_TILT_MAX 45.0
param set MPC_MAN_Y_MAX 200.0
param set MPC_THR_MAX 0.85
param set MPC_THR_MIN 0.15
param set MPC_TILTMAX_AIR 45.0
param set MPC_TKO_RAMP_T 0.75
param set MPC_TKO_SPEED 0.75
param set MPC_VEL_MANUAL 26.5
param set MPC_XY_CRUISE 15.0
param set MPC_XY_P 1.15
param set MPC_XY_VEL_P 0.14
param set MPC_XY_VEL_I 0.014
param set MPC_XY_VEL_D 0.014
param set MPC_XY_VEL_MAX 26.5
param set MPC_Z_P 0.8
param set MPC_TILTMAX_LND 18.0
param set MPC_Z_VEL_D 0.02
param set MPC_Z_VEL_MAX_DN 2.5
param set MPC_Z_VEL_MAX_UP 6.0
# navigator
param set NAV_ACC_RAD 2.5
param set NAV_RCL_ACT 1
# pwm control
param set PWM_DISARMED 900
param set PWM_MAX 1850
param set PWM_MIN 1075
param set PWM_RATE 400
# rtl
param set RTL_DESCEND_ALT 5
param set RTL_LAND_DELAY 5
param set RTL_MIN_DIST 7.5
param set RTL_RETURN_ALT 25
# sensors
param set SENS_EN_PGA460 1
param set SENS_EN_THERMAL 1
# serial comms
param set SER_TEL2_BAUD 921600
fi
ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie
+80
View File
@@ -0,0 +1,80 @@
#!nsh
#
# @name Crazyflie 2.0
#
# @board px4_fmu-v2 exclude
# @board px4_fmu-v3 exclude
# @board px4_fmu-v4 exclude
# @board px4_fmu-v4pro exclude
# @board px4_fmu-v5 exclude
# @board aerofc-v1 exclude
#
# @type Quadrotor x
# @class Copter
#
# @maintainer Dennis Shtatov <densht@gmail.com>
#
sh /etc/init.d/4001_quad_x
if [ $AUTOCNF = yes ]
then
param set BAT_N_CELLS 1
param set BAT_CAPACITY 240
param set BAT_SOURCE 1
param set CBRK_SUPPLY_CHK 894281
param set CBRK_USB_CHK 197848
param set COM_RC_IN_MODE 1
param set EKF2_ABL_LIM 2.0
param set EKF2_AID_MASK 3
param set EKF2_HGT_MODE 2
param set EKF2_MAG_TYPE 1
param set EKF2_OF_DELAY 10
param set IMU_GYRO_CUTOFF 100
param set IMU_ACCEL_CUTOFF 30
param set MC_AIRMODE 1
param set MC_DTERM_CUTOFF 70
param set MC_PITCHRATE_D 0.002
param set MC_PITCHRATE_I 0.2
param set MC_PITCHRATE_P 0.07
param set MC_PITCH_P 6.5
param set MC_ROLLRATE_D 0.002
param set MC_ROLLRATE_I 0.2
param set MC_ROLLRATE_P 0.07
param set MC_ROLL_P 6.5
param set MC_YAW_P 3.0
param set MPC_THR_HOVER 0.7
param set MPC_THR_MAX 1.0
param set MPC_Z_P 1.5
param set MPC_Z_VEL_I 0.3
param set MPC_Z_VEL_P 0.4
param set MPC_HOLD_MAX_XY 0.1
param set MPC_MAX_FLOW_HGT 3
param set NAV_RCL_ACT 3
param set PWM_DISARMED 0
param set PWM_MIN 0
param set PWM_MAX 255
# Run the motors at 328.125 kHz (recommended)
param set PWM_RATE 3921
param set SDLOG_PROFILE 1
param set SENS_FLOW_MINRNG 0.05
param set SYS_FMU_TASK 1
fi
set PWM_DISARMED none
set PWM_MAX none
set PWM_MIN none
syslink start
mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000
ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle
+63
View File
@@ -0,0 +1,63 @@
#!nsh
#
# @name Generic Ground Vehicle
#
# @type Rover
# @class Rover
#
# @output MAIN2 steering
# @output MAIN4 throttle
#
# @maintainer
#
# @board px4_fmu-v2 exclude
#
sh /etc/init.d/rc.ugv_defaults
if [ $AUTOCNF = yes ]
then
param set BAT_N_CELLS 2
param set EKF2_ANGERR_INIT 0.01
param set EKF2_GBIAS_INIT 0.01
param set EKF2_MAG_TYPE 1
param set FW_AIRSPD_MAX 3
param set FW_AIRSPD_MIN 0
param set FW_AIRSPD_TRIM 1
param set GND_L1_DIST 10
param set GND_SP_CTRL_MODE 1
param set GND_SPEED_P 0.25
param set GND_SPEED_I 0.001
param set GND_SPEED_D 3
param set GND_SPEED_IMAX 0.125
param set GND_SPEED_THR_SC 1
param set GND_THR_IDLE 0
param set GND_THR_CRUISE 0
param set GND_THR_MAX 0.5
param set GND_THR_MIN 0
param set GND_WR_P 2
param set GND_WR_I 0.9674
param set GND_WR_IMAX 0.1
param set GND_WR_D 1.2
param set MIS_LTRMIN_ALT 0.01
param set MIS_TAKEOFF_ALT 0.01
param set NAV_ACC_RAD 0.5
# Provide ESC a constant 1500 us pulse
param set PWM_DISARMED 1500
param set PWM_MAX 2000
param set PWM_MIN 1000
fi
# Configure this as ugv
set MAV_TYPE 10
# Set mixer
set MIXER ugv_generic
set PWM_MAIN_REV2 1
ROMFS/px4fmu_common/init.d/airframes/50001_axialracing_ax10
+38
View File
@@ -0,0 +1,38 @@
#!nsh
#
# @name Axial Racing AX10
#
# @type Rover
# @class Rover
#
# @output MAIN1 pass-through of control group 0, channel 0
# @output MAIN2 pass-through of control group 0, channel 1
# @output MAIN3 pass-through of control group 0, channel 2
# @output MAIN4 pass-through of control group 0, channel 3
# @output MAIN5 pass-through of control group 0, channel 4
# @output MAIN6 pass-through of control group 0, channel 5
# @output MAIN7 pass-through of control group 0, channel 6
# @output MAIN8 pass-through of control group 0, channel 7
#
# @board px4_fmu-v2 exclude
#
sh /etc/init.d/rc.ugv_defaults
#
# This section can be enabled once tuning parameters for this particular
# rover model are known. It allows to configure default gains via the GUI.
#
if [ $AUTOCNF = yes ]
then
# PWM default value for "disarmed" mode.
# This centers the steering and throttle, which means
# no motion for a rover.
param set PWM_DISARMED 1500
# PWM range.
param set PWM_MIN 1200
param set PWM_MAX 1800
fi
set MIXER IO_pass
ROMFS/px4fmu_common/init.d/airframes/50002_traxxas_stampede_2wd
+65
View File
@@ -0,0 +1,65 @@
#!nsh
#
# @name Traxxas stampede vxl 2wd
#
# @url https://traxxas.com/products/models/electric/stampede-vxl-tsm
#
# @type Rover
# @class Rover
#
# @output MAIN2 steering
# @output MAIN4 throttle
#
# @maintainer Marco Zorzi
#
# @board px4_fmu-v2 exclude
#
sh /etc/init.d/rc.ugv_defaults
if [ $AUTOCNF = yes ]
then
param set BAT_N_CELLS 7
param set EKF2_GBIAS_INIT 0.01
param set EKF2_ANGERR_INIT 0.01
param set EKF2_MAG_TYPE 1
param set FW_AIRSPD_MIN 0
param set FW_AIRSPD_TRIM 1
param set FW_AIRSPD_MAX 3
param set GND_WR_P 2
param set GND_WR_I 0.9674
param set GND_WR_IMAX 0.1
param set GND_WR_D 1.2
param set GND_SP_CTRL_MODE 1
param set GND_L1_DIST 10
param set GND_THR_IDLE 0
param set GND_THR_CRUISE 0
param set GND_THR_MAX 0.5
param set GND_THR_MIN 0
param set GND_SPEED_P 0.25
param set GND_SPEED_I 0.001
param set GND_SPEED_D 3
param set GND_SPEED_IMAX 0.125
param set GND_SPEED_THR_SC 1
param set MIS_LTRMIN_ALT 0.01
param set MIS_TAKEOFF_ALT 0.01
param set NAV_ACC_RAD 0.5
# Provide ESC a constant 1500 us pulse
param set PWM_DISARMED 1500
param set PWM_MAX 2000
param set PWM_MIN 1000
fi
# Configure this as ugv
set MAV_TYPE 10
# Set mixer
set MIXER stampede
set PWM_MAIN_REV2 1
ROMFS/px4fmu_common/init.d/airframes/5001_quad_+
+27
View File
@@ -0,0 +1,27 @@
#!nsh
#
# @name Generic 10" Quad + geometry
#
# @type Quadrotor +
# @class Copter
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
# @output MAIN5 feed-through of RC AUX1 channel
# @output MAIN6 feed-through of RC AUX2 channel
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
# @output AUX4 feed-through of RC FLAPS channel
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/rc.mc_defaults
set MIXER quad_+
set PWM_OUT 1234
ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x
+27
View File
@@ -0,0 +1,27 @@
#!nsh
#
# @name Generic Hexarotor x geometry
#
# @type Hexarotor x
# @class Copter
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
# @output MAIN5 motor 5
# @output MAIN6 motor 6
#
# @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
set MIXER hexa_x
# Need to set all 8 channels
set PWM_OUT 12345678
ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+
+27
View File
@@ -0,0 +1,27 @@
#!nsh
#
# @name Generic Hexarotor + geometry
#
# @type Hexarotor +
# @class Copter
#
# @output MAIN1 motor1
# @output MAIN2 motor2
# @output MAIN3 motor3
# @output MAIN4 motor4
# @output MAIN5 motor5
# @output MAIN6 motor6
#
# @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
set MIXER hexa_+
# Need to set all 8 channels
set PWM_OUT 12345678
ROMFS/px4fmu_common/init.d/airframes/8001_octo_x
+28
View File
@@ -0,0 +1,28 @@
#!nsh
#
# @name Generic Octocopter X geometry
#
# @type Octorotor x
# @class Copter
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
# @output MAIN5 motor 5
# @output MAIN6 motor 6
# @output MAIN7 motor 7
# @output MAIN8 motor 8
#
# @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
set MIXER octo_x
set PWM_OUT 12345678
ROMFS/px4fmu_common/init.d/airframes/9001_octo_+
+28
View File
@@ -0,0 +1,28 @@
#!nsh
#
# @name Generic Octocopter + geometry
#
# @type Octorotor +
# @class Copter
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
# @output MAIN5 motor 5
# @output MAIN6 motor 6
# @output MAIN7 motor 7
# @output MAIN8 motor 8
#
# @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
set MIXER octo_+
set PWM_OUT 12345678
ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
+141
View File
@@ -0,0 +1,141 @@
############################################################################
#
# Copyright (c) 2018 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_romfs_files(
# [0-999] Reserved (historical)"
# [1000, 1999] Simulation setups"
1000_rc_fw_easystar.hil
1001_rc_quad_x.hil
1002_standard_vtol.hil
# [2000, 2999] Standard planes"
2100_standard_plane
2105_maja
2106_albatross
2200_mini_talon
# [3000, 3999] Flying wing"
3000_generic_wing
3030_io_camflyer
3031_phantom
3032_skywalker_x5
3033_wingwing
3034_fx79
3035_viper
3036_pigeon
3037_parrot_disco_mod
3100_tbs_caipirinha
# [4000, 4999] Quadrotor x"
4001_quad_x
4002_quad_x_mount
4003_qavr5
4004_H4_680mm
4009_qav250
4010_dji_f330
4011_dji_f450
4012_quad_x_can
4013_bebop
4014_s500
4020_hk_micro_pcb
4030_3dr_solo
4031_3dr_quad
4040_reaper
4050_generic_250
4051_s250aq
4060_dji_matrice_100
4070_aerofc
4080_zmr250
4090_nanomind
4100_tiltquadrotor
4250_teal
4900_crazyflie
# [5000, 5999] Quadrotor +"
5001_quad_+
# [6000, 6999] Hexarotor x"
6001_hexa_x
# [7000, 7999] Hexarotor +"
7001_hexa_+
# [8000, 8999] Octorotor +"
8001_octo_x
# [9000, 9999] Octorotor +"
9001_octo_+
# [10000, 10999] Quadrotor Wide arm / H frame"
10015_tbs_discovery
10016_3dr_iris
10017_steadidrone_qu4d
10018_tbs_endurance
# [11000, 11999] Hexa Cox
11001_hexa_cox
# [12000, 12999] Octo Cox
12001_octo_cox
12002_steadidrone_mavrik
# [13000, 13999] VTOL
13000_generic_vtol_standard
13001_caipirinha_vtol
13002_firefly6
13003_quad_tailsitter
13004_quad+_tailsitter
13005_vtol_AAERT_quad
13006_vtol_standard_delta
13007_vtol_AAVVT_quad
13008_QuadRanger
13009_vtol_spt_ranger
13010_claire
13012_convergence
13013_deltaquad
# [14000, 14999] Tri Y
14001_tri_y_yaw+
14002_tri_y_yaw-
15001_coax_heli
16001_helicopter
24001_dodeca_cox
50000_generic_ground_vehicle
50001_axialracing_ax10
50002_traxxas_stampede_2wd
)