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Merged release_v1.0.0 branch into master

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This commit is contained in:
Lorenz Meier
2015-06-25 21:45:17 +02:00
parent 74bdec2cc6 5b93d92339
commit 454becdae5
73 changed files with 2726 additions and 887 deletions
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ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d
+2 -3
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@@ -9,16 +9,15 @@ 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 0.13
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 0.13
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 2.8
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
ROMFS/px4fmu_common/init.d/10019_sk450_deadcat
+4 -4
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@@ -10,13 +10,13 @@ sh /etc/init.d/rc.mc_defaults
if [ $AUTOCNF == yes ]
then
param set MC_ROLL_P 6.0
param set MC_ROLLRATE_P 0.04
param set MC_ROLLRATE_I 0.1
param set MC_ROLLRATE_P 0.08
param set MC_ROLLRATE_I 0.03
param set MC_ROLLRATE_D 0.0015
param set MC_PITCH_P 6.0
param set MC_PITCHRATE_P 0.08
param set MC_PITCHRATE_I 0.2
param set MC_PITCHRATE_P 0.1
param set MC_PITCHRATE_I 0.03
param set MC_PITCHRATE_D 0.0015
param set MC_YAW_P 2.8
ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol
+2 -1
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@@ -1,7 +1,7 @@
#
# Generic configuration file for caipirinha VTOL version
#
# Roman Bapst <bapstr@ethz.ch>
# Roman Bapst <bapstr@gmail.com>
#
sh /etc/init.d/rc.vtol_defaults
@@ -13,3 +13,4 @@ set PWM_MAX 2000
set PWM_RATE 400
param set VT_MOT_COUNT 2
param set VT_IDLE_PWM_MC 1080
param set VT_TYPE 0
ROMFS/px4fmu_common/init.d/13002_firefly6
+2 -1
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@@ -2,7 +2,7 @@
#
# Generic configuration file for BirdsEyeView Aerobotics FireFly6
#
# Roman Bapst <romanbapst@yahoo.de>
# Roman Bapst <bapstroman@gmail.com>
#
sh /etc/init.d/rc.vtol_defaults
@@ -41,3 +41,4 @@ set MAV_TYPE 21
param set VT_MOT_COUNT 6
param set VT_IDLE_PWM_MC 1080
param set VT_TYPE 1
ROMFS/px4fmu_common/init.d/13003_quad_tailsitter
+18
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@@ -0,0 +1,18 @@
#
# Generic configuration file for a tailsitter with motors in X configuration.
#
# Roman Bapst <bapstroman@gmail.com>
#
sh /etc/init.d/rc.vtol_defaults
set MIXER quad_x_vtol
set PWM_OUT 1234
set PWM_MAX 2000
set PWM_RATE 400
set MAV_TYPE 20
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
ROMFS/px4fmu_common/init.d/3030_io_camflyer
+24
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@@ -2,6 +2,30 @@
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_ATT_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 0.005
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 0.005
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.04
fi
set MIXER Q
# Provide ESC a constant 1000 us pulse while disarmed
set PWM_OUT 4
ROMFS/px4fmu_common/init.d/3033_wingwing
-10
View File
@@ -30,16 +30,6 @@ then
param set FW_RR_I 0.005
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.04
param set MT_TKF_PIT_MAX 30.0
param set MT_ACC_D 0.2
param set MT_ACC_P 0.6
param set MT_A_LP 0.5
param set MT_PIT_OFF 0.1
param set MT_PIT_I 0.1
param set MT_THR_OFF 0.65
param set MT_THR_I 0.35
param set MT_THR_P 0.2
param set MT_THR_FF 1.5
fi
set MIXER wingwing
ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
+5 -3
View File
@@ -34,7 +34,9 @@ then
param set PWM_MAIN_REV1 1
fi
set PWM_DISARMED p:PWM_DISARMED
set PWM_MIN p:PWM_MIN
set PWM_MAX p:PWM_MAX
set MIXER caipi
# Provide ESC a constant 1000 us pulse
set PWM_OUT 4
set PWM_DISARMED 1000
set PWM_OUT 1234
ROMFS/px4fmu_common/init.d/4010_dji_f330
+2 -2
View File
@@ -10,11 +10,11 @@ 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_P 0.13
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_P 0.13
param set MC_PITCHRATE_I 0.05
param set MC_PITCHRATE_D 0.003
param set MC_YAW_P 2.8
ROMFS/px4fmu_common/init.d/4012_quad_x_can
+6 -7
View File
@@ -9,18 +9,17 @@ sh /etc/init.d/4001_quad_x
if [ $AUTOCNF == yes ]
then
# TODO REVIEW
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.1
param set MC_ROLLRATE_P 0.16
param set MC_ROLLRATE_I 0.05
param set MC_ROLLRATE_D 0.003
param set MC_ROLLRATE_D 0.01
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.1
param set MC_PITCHRATE_P 0.16
param set MC_PITCHRATE_I 0.05
param set MC_PITCHRATE_D 0.003
param set MC_PITCHRATE_D 0.01
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_P 0.3
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0.0
fi
ROMFS/px4fmu_common/init.d/rc.autostart
+8
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@@ -268,6 +268,14 @@ then
sh /etc/init.d/13002_firefly6
fi
#
# Tailsitter with 4 motors in x config
#
if param compare SYS_AUTOSTART 13003
then
sh /etc/init.d/13003_quad_tailsitter
fi
#
# TriCopter Y Yaw+
#
ROMFS/px4fmu_common/init.d/rc.mc_defaults
-32
View File
@@ -4,38 +4,6 @@ set VEHICLE_TYPE mc
if [ $AUTOCNF == yes ]
then
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.1
param set MC_ROLLRATE_I 0.0
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 0.0
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 MC_YAW_FF 0.5
param set MPC_THR_MAX 1.0
param set MPC_THR_MIN 0.1
param set MPC_XY_P 1.0
param set MPC_XY_VEL_P 0.1
param set MPC_XY_VEL_I 0.02
param set MPC_XY_VEL_D 0.01
param set MPC_XY_VEL_MAX 5
param set MPC_XY_FF 0.5
param set MPC_Z_P 1.0
param set MPC_Z_VEL_P 0.1
param set MPC_Z_VEL_I 0.02
param set MPC_Z_VEL_D 0.0
param set MPC_Z_VEL_MAX 3
param set MPC_Z_FF 0.5
param set MPC_TILTMAX_AIR 45.0
param set MPC_TILTMAX_LND 15.0
param set MPC_LAND_SPEED 1.0
param set PE_VELNE_NOISE 0.5
param set PE_VELD_NOISE 0.7
param set PE_POSNE_NOISE 0.5
ROMFS/px4fmu_common/init.d/rc.usb
+3 -3
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@@ -3,7 +3,7 @@
# USB MAVLink start
#
mavlink start -r 80000 -d /dev/ttyACM0 -x
mavlink start -r 800000 -d /dev/ttyACM0 -x
# Enable a number of interesting streams we want via USB
mavlink stream -d /dev/ttyACM0 -s PARAM_VALUE -r 300
mavlink stream -d /dev/ttyACM0 -s MISSION_ITEM -r 50
@@ -11,14 +11,14 @@ mavlink stream -d /dev/ttyACM0 -s NAMED_VALUE_FLOAT -r 10
mavlink stream -d /dev/ttyACM0 -s OPTICAL_FLOW_RAD -r 10
mavlink stream -d /dev/ttyACM0 -s DISTANCE_SENSOR -r 10
mavlink stream -d /dev/ttyACM0 -s VFR_HUD -r 20
mavlink stream -d /dev/ttyACM0 -s ATTITUDE -r 20
mavlink stream -d /dev/ttyACM0 -s ATTITUDE -r 100
mavlink stream -d /dev/ttyACM0 -s ACTUATOR_CONTROL_TARGET0 -r 30
mavlink stream -d /dev/ttyACM0 -s RC_CHANNELS_RAW -r 5
mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 20
mavlink stream -d /dev/ttyACM0 -s POSITION_TARGET_GLOBAL_INT -r 10
mavlink stream -d /dev/ttyACM0 -s LOCAL_POSITION_NED -r 30
mavlink stream -d /dev/ttyACM0 -s MANUAL_CONTROL -r 5
mavlink stream -d /dev/ttyACM0 -s HIGHRES_IMU -r 20
mavlink stream -d /dev/ttyACM0 -s HIGHRES_IMU -r 100
mavlink stream -d /dev/ttyACM0 -s GPS_RAW_INT -r 20
# Exit shell to make it available to MAVLink
ROMFS/px4fmu_common/mixers/firefly6.aux.mix
+2 -2
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@@ -11,12 +11,12 @@ Elevon mixers
-------------
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 7500 7500 0 -10000 10000
S: 1 0 -7500 -7500 0 -10000 10000
S: 1 1 8000 8000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 7500 7500 0 -10000 10000
S: 1 0 -7500 -7500 0 -10000 10000
S: 1 1 -8000 -8000 0 -10000 10000
Landing gear mixer
ROMFS/px4fmu_common/mixers/quad_x_vtol.main.mix
+18
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@@ -0,0 +1,18 @@
Mixer for Tailsitter with x motor configuration and elevons
===========================================================
This file defines a single mixer for tailsitter with motors in X configuration. All controls
are mixed 100%.
R: 4x 10000 10000 10000 0
#mixer for the elevons
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 10000 10000 0 -10000 10000
S: 1 1 10000 10000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 10000 10000 0 -10000 10000
S: 1 1 -10000 -10000 0 -10000 10000