fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

Set parameters directly rather than script variables in VTOL airframe config files and alphabetize lists.

Browse Source
This commit is contained in:
mcsauder 2018-08-22 19:17:26 -06:00 committed by Beat Küng
parent ad6e48c372
commit 4ea3306ec2
44 changed files with 339 additions and 297 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil
View File

@ -20,6 +20,7 @@ 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
@ -41,8 +42,10 @@ then
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

4
ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d
View File

@ -24,6 +24,8 @@ 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
@ -36,8 +38,6 @@ then
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0.0
param set BAT_N_CELLS 4
fi
set MIXER quad_w

1
ROMFS/px4fmu_common/init.d/10018_tbs_endurance
View File

@ -41,6 +41,7 @@ then
param set MC_YAWRATE_D 0.0
param set MPC_XY_VEL_MAX 2
param set PWM_MIN 1080
fi

8
ROMFS/px4fmu_common/init.d/1002_standard_vtol.hil
View File

@ -27,8 +27,6 @@ then
param set FW_AIRSPD_MIN 14
param set FW_AIRSPD_TRIM 16
param set MAV_TYPE 22
param set MC_PITCH_P 6
param set MC_PITCHRATE_P 0.2
param set MC_ROLL_P 6
@ -66,8 +64,10 @@ then
param set VT_TYPE 2
fi
param set SYS_HITL 1
set MAV_TYPE 22
set MIXER standard_vtol_hitl
set PWM_OUT 1234
param set SYS_HITL 1

5
ROMFS/px4fmu_common/init.d/13000_generic_vtol_standard
View File

@ -22,9 +22,11 @@ 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
param set PWM_AUX_DIS5 950
fi
set MAV_TYPE 22
@ -33,4 +35,3 @@ set MIXER quad_x
set MIXER_AUX vtol_AAERT
set PWM_OUT 1234
set PWM_RATE 400

7
ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol
View File

@ -33,13 +33,14 @@ then
param set MC_YAWRATE_D 0.0
param set MC_YAWRATE_FF 0.0
param set VT_MOT_COUNT 2
param set VT_IDLE_PWM_MC 1080
param set VT_TYPE 0
param set MAV_TYPE 19
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

16
ROMFS/px4fmu_common/init.d/13002_firefly6
View File

@ -38,20 +38,20 @@ then
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_MOT_COUNT 6
param set VT_FW_MOT_OFFID 34
param set VT_IDLE_PWM_MC 1080
param set VT_TYPE 1
fi
set MIXER firefly6
set PWM_OUT 12345678
set PWM_RATE 400
set MAV_TYPE 21
set MIXER firefly6
set MIXER_AUX firefly6
set MAV_TYPE 21
set PWM_OUT 12345678

10
ROMFS/px4fmu_common/init.d/13003_quad_tailsitter
View File

@ -12,15 +12,17 @@ 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
set PWM_MAX 2000
set PWM_RATE 400
set MAV_TYPE 20
set PWM_OUT 1234

8
ROMFS/px4fmu_common/init.d/13004_quad+_tailsitter
View File

@ -23,15 +23,17 @@ 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
set PWM_MAX 2000
set PWM_RATE 400
set MAV_TYPE 20

14
ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad
View File

@ -22,11 +22,9 @@ sh /etc/init.d/rc.vtol_defaults
if [ $AUTOCNF == yes ]
then
param set VT_TYPE 2
param set VT_MOT_COUNT 4
param set VT_F_TRANS_THR 0.75
param set VT_ARSP_TRANS 12
param set VT_ARSP_BLEND 6
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
@ -56,11 +54,12 @@ then
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
param set PWM_AUX_DIS5 950
fi
set MAV_TYPE 22
@ -69,4 +68,3 @@ set MIXER quad_x
set MIXER_AUX vtol_AAERT
set PWM_OUT 1234
set PWM_RATE 400

11
ROMFS/px4fmu_common/init.d/13006_vtol_standard_delta
View File

@ -20,10 +20,6 @@ sh /etc/init.d/rc.vtol_defaults
if [ $AUTOCNF == yes ]
then
param set VT_TYPE 2
param set VT_MOT_COUNT 4
param set VT_F_TRANS_THR 0.75
param set MC_ROLL_P 6.5
param set MC_ROLLRATE_P 0.15
param set MC_ROLLRATE_I 0.01
@ -46,11 +42,13 @@ then
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
param set PWM_AUX_DIS3 950
fi
set MAV_TYPE 22
@ -59,4 +57,3 @@ set MIXER quad_x
set MIXER_AUX vtol_delta
set PWM_OUT 1234
set PWM_RATE 400

11
ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad
View File

@ -12,10 +12,6 @@ sh /etc/init.d/rc.vtol_defaults
if [ $AUTOCNF == yes ]
then
param set VT_TYPE 2
param set VT_MOT_COUNT 4
param set VT_F_TRANS_THR 0.75
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.15
param set MC_ROLLRATE_I 0.002
@ -34,11 +30,13 @@ then
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
param set PWM_AUX_DIS5 950
fi
set MAV_TYPE 22
@ -47,4 +45,3 @@ set MIXER quad_x
set MIXER_AUX vtol_AAVVT
set PWM_OUT 1234
set PWM_RATE 400

29
ROMFS/px4fmu_common/init.d/13008_QuadRanger
View File

@ -12,12 +12,13 @@ sh /etc/init.d/rc.vtol_defaults
if [ $AUTOCNF == yes ]
then
param set VT_TYPE 2
param set VT_MOT_COUNT 4
param set VT_F_TRANS_THR 0.75
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 PWM_AUX_REV1 1
param set PWM_AUX_REV2 1
param set MIS_YAW_TMT 10
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.15
@ -42,23 +43,18 @@ then
param set MPC_TKO_SPEED 1.5
param set MPC_LAND_SPEED 0.8
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 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_MOT_COUNT 4
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
param set PWM_AUX_DIS5 950
fi
set MAV_TYPE 22
@ -67,4 +63,3 @@ set MIXER quad_x
set MIXER_AUX vtol_AAERT
set PWM_OUT 1234
set PWM_RATE 400

48
ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger
View File

@ -12,16 +12,6 @@ sh /etc/init.d/rc.vtol_defaults
if [ $AUTOCNF == yes ]
then
param set VT_TYPE 2
param set VT_MOT_COUNT 4
param set VT_IDLE_PWM_MC 1180
param set MAV_TYPE 22
param set VT_ARSP_TRANS 15.0
param set VT_B_TRANS_DUR 4.0
param set VT_TRANS_MIN_TM 5.0
param set VT_F_TRANS_THR 0.6
param set VT_TRANS_TIMEOUT 30.0
param set FW_AIRSPD_MAX 22.0
param set FW_AIRSPD_MIN 14.0
param set FW_AIRSPD_TRIM 16.0
@ -33,20 +23,19 @@ then
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_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_YAWRATE_MAX 40.0
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
@ -76,6 +65,18 @@ then
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
@ -84,4 +85,3 @@ set MIXER quad_x
set MIXER_AUX vtol_AAERT
set PWM_OUT 1234
set PWM_RATE 400

22
ROMFS/px4fmu_common/init.d/13010_claire
View File

@ -14,14 +14,20 @@ sh /etc/init.d/rc.vtol_defaults
if [ $AUTOCNF == yes ]
then
param set VT_TYPE 1
param set VT_TILT_MC 0.08
param set VT_TILT_TRANS 0.5
param set VT_TILT_FW 0.9
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
@ -31,11 +37,3 @@ set MIXER claire
set MIXER_AUX claire
set PWM_OUT 1234
set PWM_RATE 400
set PWM_MAX 2000
set PWM_AUX_RATE 50
set PWM_AUX_RATE 123
set PWM_AUX_MIN 1000
set PWM_AUX_MAX 2000
set PWM_AUX_DISARMED 1000

38
ROMFS/px4fmu_common/init.d/13012_convergence
View File

@ -21,22 +21,9 @@ sh /etc/init.d/rc.vtol_defaults
if [ $AUTOCNF == yes ]
then
param set VT_MOT_COUNT 3
param set VT_FW_MOT_OFFID 3
param set VT_IDLE_PWM_MC 1200
param set VT_TYPE 1
param set CBRK_AIRSPD_CHK 162128
param set VT_B_TRANS_DUR 1.0
param set VT_FW_DIFTHR_EN 1
param set VT_FW_DIFTHR_SC 0.17
param set VT_FW_PERM_STAB 0
param set VT_F_TRANS_DUR 1.2
param set VT_F_TR_OL_TM 4.0
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 FW_ARSP_MODE 2
param set FW_L1_PERIOD 17
param set FW_MAN_R_MAX 50.0
@ -54,6 +41,7 @@ then
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
@ -69,10 +57,25 @@ then
param set MPC_TKO_SPEED 2.5
param set MPC_Z_VEL_MAX_UP 3.0
param set CBRK_AIRSPD_CHK 162128
param set FW_ARSP_MODE 2
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
@ -80,4 +83,3 @@ set MAV_TYPE 21
set MIXER vtol_convergence
set PWM_OUT 1234
set PWM_RATE 400

84
ROMFS/px4fmu_common/init.d/13013_deltaquad
View File

@ -27,24 +27,14 @@ then
param set COM_DISARM_LAND 5.0
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
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
@ -101,6 +91,10 @@ then
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
@ -118,30 +112,41 @@ then
param set MPC_TILTMAX_AIR 25
param set MPC_TILTMAX_LND 25
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 MIS_DIST_1WP 100
param set MIS_DIST_WPS 100000
param set MIS_TAKEOFF_ALT 15
param set NAV_DLL_ACT 0
param set NAV_LOITER_RAD 100
param set SYS_COMPANION 57600
param set SENS_BOARD_ROT 18
fi
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_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
param set SYS_COMPANION 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
@ -149,7 +154,4 @@ set MIXER deltaquad
set MIXER_AUX pass
set PWM_OUT 1234
set PWM_RATE 400
set PWM_AUX_OUT 12345
set PWM_AUX_DISARMED 950

27
ROMFS/px4fmu_common/init.d/15001_coax_heli
View File

@ -18,14 +18,6 @@ set MIXER coax
if [ $AUTOCNF == yes ]
then
param set NAV_ACC_RAD 2.0
param set RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 10.0
param set PWM_DISARMED 900
param set PWM_MIN 1075
param set PWM_MAX 1950
param set MC_ROLL_P 6.5
param set MC_ROLLRATE_P 0.17
param set MC_ROLLRATE_I 0.05
@ -41,13 +33,22 @@ then
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0.0
param set MC_YAWRATE_FF 0
fi
# use PWM parameters for throttle channel
set PWM_OUT 34
set PWM_RATE 400
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
set PWM_AUX_RATE 50
# use PWM parameters for throttle channel
set PWM_AUX_OUT 1234
set PWM_OUT 34

10
ROMFS/px4fmu_common/init.d/16001_helicopter
View File

@ -25,6 +25,10 @@ set MIXER blade130
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
@ -45,12 +49,8 @@ then
param set MC_ACRO_R_MAX 360.0
param set MC_ACRO_P_MAX 360.0
param set PWM_MIN 1075
param set MPC_THR_MIN 0.06
param set MPC_MANTHR_MIN 0.06
param set ATT_BIAS_MAX 0.0
param set CBRK_IO_SAFETY 22027
param set PWM_MIN 1075
fi

4
ROMFS/px4fmu_common/init.d/2100_standard_plane
View File

@ -29,5 +29,5 @@ fi
set MIXER AETRFG
# rate must be set by group (see pwm info)
# throttle is in the same group as servos
# Rate must be set by group (see pwm info).
# Throttle is in the same group as servos.

1
ROMFS/px4fmu_common/init.d/24001_dodeca_cox
View File

@ -28,6 +28,7 @@ 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

10
ROMFS/px4fmu_common/init.d/3033_wingwing
View File

@ -40,14 +40,14 @@ then
param set FW_RR_FF 0.6
param set FW_RR_P 0.04
# Configure this as plane
param set MAV_TYPE 1
param set PWM_DISARMED 1000
fi
# Set mixer
# Configure this as plane.
set MAV_TYPE 1
# Set mixer.
set MIXER wingwing
# Provide ESC a constant 1000 us pulse
# Provide ESC a constant 1000 us pulse.
set PWM_OUT 4

3
ROMFS/px4fmu_common/init.d/3034_fx79
View File

@ -12,10 +12,11 @@ sh /etc/init.d/rc.fw_defaults
if [ $AUTOCNF == yes ]
then
param set NAV_LOITER_RAD 150
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

2
ROMFS/px4fmu_common/init.d/3037_parrot_disco_mod
View File

@ -37,7 +37,7 @@ then
param set FW_L1_PERIOD 20 #units of meters
#Damping factor for L1 control (def = 0.75)
# Damping factor for L1 control (def = 0.75)
param set FW_L1_DAMPING 0.75
####################################

25
ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
View File

@ -15,13 +15,6 @@ then
param set FW_AIRSPD_MAX 25
param set FW_AIRSPD_MIN 12.5
param set FW_AIRSPD_TRIM 16.5
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 FW_R_TC 0.4
param set FW_P_TC 0.4
param set FW_THR_CRUISE 0.55
param set FW_L1_DAMPING 0.75
param set FW_L1_PERIOD 15
param set FW_LND_ANG 15
@ -33,6 +26,8 @@ then
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
@ -42,14 +37,24 @@ then
param set FW_P_RMAX_NEG 70
param set FW_P_RMAX_POS 70
param set FW_R_RMAX 70
param set SYS_COMPANION 157600
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
param set MIS_TAKEOFF_ALT 50
param set NAV_LOITER_RAD 30
param set SYS_COMPANION 157600
fi
set MIXER caipi

6
ROMFS/px4fmu_common/init.d/4002_quad_x_mount
View File

@ -22,9 +22,13 @@
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
set PWM_AUX_RATE 50

4
ROMFS/px4fmu_common/init.d/4003_qavr5
View File

@ -28,7 +28,9 @@ then
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 PWM_MIN 1075
param set MPC_THR_MIN 0.06
param set MPC_MANTHR_MIN 0.06
param set PWM_MIN 1075
fi

11
ROMFS/px4fmu_common/init.d/4004_H4_680mm
View File

@ -15,10 +15,13 @@ sh /etc/init.d/4002_quad_x_mount
# see http://www.zhiyun-tech.com/uploadfile/datedown/instruction/Tiny2_English_instructionV1.03.pdf
# under Gimbal Connection Instruction
set PWM_AUX_RATE 400
set PWM_AUX_DISARMED 1520
set PWM_AUX_MIN 1020
set PWM_AUX_MAX 2020
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

16
ROMFS/px4fmu_common/init.d/4009_qav250
View File

@ -12,6 +12,14 @@ 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
@ -24,11 +32,7 @@ then
param set MC_YAWRATE_P 0.3
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0.0
param set PWM_MIN 1075
param set MPC_THR_MIN 0.06
param set MPC_MANTHR_MIN 0.06
param set CBRK_IO_SAFETY 22027
param set ATT_BIAS_MAX 0.0
param set MC_TPA_BREAK_P 0.5
param set MC_TPA_RATE_P 0.5
param set PWM_MIN 1075
fi

1
ROMFS/px4fmu_common/init.d/4010_dji_f330
View File

@ -24,6 +24,7 @@ then
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

1
ROMFS/px4fmu_common/init.d/4011_dji_f450
View File

@ -24,6 +24,7 @@ then
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

1
ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb
View File

@ -31,5 +31,6 @@ then
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

12
ROMFS/px4fmu_common/init.d/4040_reaper
View File

@ -30,19 +30,21 @@ then
param set MC_YAW_P 4
param set NAV_ACC_RAD 2.0
param set RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 10.0
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_AUX_DISARMED 950
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_RATE 50
set PWM_OUT 1234
set MIXER_AUX pass
set PWM_AUX_RATE 50
set PWM_AUX_OUT 1234

11
ROMFS/px4fmu_common/init.d/4051_s250aq
View File

@ -28,6 +28,10 @@ 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
@ -52,13 +56,8 @@ then
param set MC_TPA_RATE_I 0.0
param set MC_TPA_RATE_P 1.0
param set PWM_MIN 1075
param set MPC_THR_MIN 0.06
param set MPC_MANTHR_MIN 0.06
param set ATT_BIAS_MAX 0.0
param set CBRK_IO_SAFETY 22027
param set PWM_MIN 1075
fi

4
ROMFS/px4fmu_common/init.d/4060_dji_matrice_100
View File

@ -12,6 +12,8 @@ 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
@ -23,6 +25,6 @@ then
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0.0
param set BAT_N_CELLS 6
param set PWM_MIN 1200
fi

17
ROMFS/px4fmu_common/init.d/4070_aerofc
View File

@ -25,6 +25,14 @@ then
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
@ -56,13 +64,7 @@ then
param set MPC_Z_VEL_MAX_UP 5.0000
param set MPC_Z_VEL_P 0.8000
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 SYS_COMPANION 921600
fi
if param compare SYS_HITL 0
@ -76,5 +78,4 @@ fi
set MIXER quad_x
set USE_IO no
param set SYS_COMPANION 921600
set MAVLINK_COMPANION_DEVICE /dev/ttyS1

11
ROMFS/px4fmu_common/init.d/4080_zmr250
View File

@ -17,6 +17,10 @@ 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
@ -41,12 +45,9 @@ then
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
param set FAILSAFE 100
# param set NAV_RCL_ACT 6 # Lockdown
param set CBRK_IO_SAFETY 22027
fi

4
ROMFS/px4fmu_common/init.d/4090_nanomind
View File

@ -19,6 +19,8 @@ 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
@ -32,8 +34,6 @@ then
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0.0
param set BAT_N_CELLS 1
param set PWM_DISARMED 0
param set PWM_MIN 500
param set PWM_MAX 2200

56
ROMFS/px4fmu_common/init.d/4900_crazyflie
View File

@ -17,14 +17,25 @@
sh /etc/init.d/4001_quad_x
if [ $AUTOCNF == yes ]
then
param set COM_RC_IN_MODE 1
param set BAT_N_CELLS 1
param set BAT_CAPACITY 240
param set BAT_SOURCE 1
param set PWM_DISARMED 0
param set PWM_MIN 0
param set PWM_MAX 255
param set SYS_COMPANION 20
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
@ -34,9 +45,7 @@ then
param set MC_ROLLRATE_P 0.07
param set MC_ROLL_P 6.5
param set MC_YAW_P 3.0
param set EKF2_HGT_MODE 2
param set EKF2_AID_MASK 3
param set EKF2_OF_DELAY 10
param set MPC_THR_HOVER 0.7
param set MPC_MANTHR_MAX 1.0
param set MPC_THR_MAX 1.0
@ -45,21 +54,24 @@ then
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 IMU_GYRO_CUTOFF 100
param set IMU_ACCEL_CUTOFF 30
param set MC_DTERM_CUTOFF 70
param set SYS_FMU_TASK 1
param set CBRK_SUPPLY_CHK 894281
param set CBRK_USB_CHK 197848
param set SDLOG_PROFILE 1
param set EKF2_MAG_TYPE 1
param set EKF2_ABL_LIM 2.0
param set MC_AIRMODE 1
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_COMPANION 20
param set SYS_FMU_TASK 1
fi
set PWM_MIN none
set PWM_MAX none
# TODO - These values overwrite param sets above. Can they be removed?
set PWM_DISARMED none
# Will run the motors at 328.125 kHz (recommended)
set PWM_RATE 3921
set PWM_MAX none
set PWM_MIN none

46
ROMFS/px4fmu_common/init.d/50000_generic_ground_vehicle
View File

@ -19,35 +19,39 @@ if [ $AUTOCNF == yes ]
then
param set BAT_N_CELLS 2
param set FW_AIRSPD_MIN 0
param set FW_AIRSPD_TRIM 1
param set FW_AIRSPD_MAX 3
param set NAV_ACC_RAD 0.5
param set MIS_LTRMIN_ALT 0.01
param set MIS_TAKEOFF_ALT 0.01
param set EKF2_GBIAS_INIT 0.01
param set EKF2_ANGERR_INIT 0.01
param set EKF2_GBIAS_INIT 0.01
param set EKF2_MAG_TYPE 1
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 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_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_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
@ -56,8 +60,4 @@ set MAV_TYPE 10
# Set mixer
set MIXER ugv_generic
# Provide ESC a constant 1500 us pulse
set PWM_DISARMED 1500
set PWM_MAIN_REV2 1
set PWM_MAX 2000
set PWM_MIN 1000

26
ROMFS/px4fmu_common/init.d/50002_traxxas_stampede_2wd
View File

@ -21,19 +21,14 @@ if [ $AUTOCNF == yes ]
then
param set BAT_N_CELLS 7
param set FW_AIRSPD_MIN 0
param set FW_AIRSPD_TRIM 1
param set FW_AIRSPD_MAX 3
param set NAV_ACC_RAD 0.5
param set MIS_LTRMIN_ALT 0.01
param set MIS_TAKEOFF_ALT 0.01
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
@ -50,6 +45,15 @@ then
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
@ -58,8 +62,4 @@ set MAV_TYPE 10
# Set mixer
set MIXER stampede
# Provide ESC a constant 1500 us pulse
set PWM_DISARMED 1500
set PWM_MAIN_REV2 1
set PWM_MAX 2000
set PWM_MIN 1000

2
ROMFS/px4fmu_common/init.d/rc.mc_defaults
View File

@ -25,5 +25,5 @@ fi
#
set MIXER_AUX pass
set PWM_AUX_RATE 50
set PWM_AUX_OUT 1234
set PWM_AUX_RATE 50

2
ROMFS/px4fmu_common/init.d/rc.ugv_defaults
View File

@ -39,5 +39,5 @@ set PWM_RATE 50
# This is the gimbal pass mixer.
#
set MIXER_AUX pass
set PWM_AUX_RATE 50
set PWM_AUX_OUT 1234
set PWM_AUX_RATE 50

4
ROMFS/px4fmu_common/init.d/rc.vtol_defaults
View File

@ -21,7 +21,9 @@ then
param set NAV_ACC_RAD 3
param set RTL_LAND_DELAY 0
fi
# Set environment variables (!= parameters)
set PWM_RATE 400
param set PWM_RATE 400
param set PWM_AUX_RATE 50