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ROMFS: posix airframes update to new parameter defaults mechanism (AUTOCNF replacement)

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This commit is contained in:
Daniel Agar 2021-04-05 12:03:49 -04:00
parent 565c644b2e
commit 54438140e1
35 changed files with 590 additions and 698 deletions
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66
ROMFS/px4fmu_common/init.d-posix/airframes/10017_iris_ctrlalloc
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@ -10,43 +10,39 @@
. ${R}etc/init.d/rc.mc_defaults
. ${R}etc/init.d/rc.ctrlalloc
if [ $AUTOCNF = yes ]
then
param set MPC_USE_HTE 0
param set-default MPC_USE_HTE 0
param set VM_MASS 1.5
param set VM_INERTIA_XX 0.03
param set VM_INERTIA_YY 0.03
param set VM_INERTIA_ZZ 0.05
param set-default VM_MASS 1.5
param set-default VM_INERTIA_XX 0.03
param set-default VM_INERTIA_YY 0.03
param set-default VM_INERTIA_ZZ 0.05
param set CA_AIRFRAME 0
param set CA_METHOD 1
param set CA_ACT0_MIN 0.0
param set CA_ACT1_MIN 0.0
param set CA_ACT2_MIN 0.0
param set CA_ACT3_MIN 0.0
param set CA_ACT0_MAX 1.0
param set CA_ACT1_MAX 1.0
param set CA_ACT2_MAX 1.0
param set CA_ACT3_MAX 1.0
param set-default CA_AIRFRAME 0
param set-default CA_METHOD 1
param set-default CA_ACT0_MIN 0.0
param set-default CA_ACT1_MIN 0.0
param set-default CA_ACT2_MIN 0.0
param set-default CA_ACT3_MIN 0.0
param set-default CA_ACT0_MAX 1.0
param set-default CA_ACT1_MAX 1.0
param set-default CA_ACT2_MAX 1.0
param set-default CA_ACT3_MAX 1.0
param set CA_MC_R0_PX 0.1515
param set CA_MC_R0_PY 0.245
param set CA_MC_R0_CT 6.5
param set CA_MC_R0_KM 0.05
param set CA_MC_R1_PX -0.1515
param set CA_MC_R1_PY -0.1875
param set CA_MC_R1_CT 6.5
param set CA_MC_R1_KM 0.05
param set CA_MC_R2_PX 0.1515
param set CA_MC_R2_PY -0.245
param set CA_MC_R2_CT 6.5
param set CA_MC_R2_KM -0.05
param set CA_MC_R3_PX -0.1515
param set CA_MC_R3_PY 0.1875
param set CA_MC_R3_CT 6.5
param set CA_MC_R3_KM -0.05
fi
param set-default CA_MC_R0_PX 0.1515
param set-default CA_MC_R0_PY 0.245
param set-default CA_MC_R0_CT 6.5
param set-default CA_MC_R0_KM 0.05
param set-default CA_MC_R1_PX -0.1515
param set-default CA_MC_R1_PY -0.1875
param set-default CA_MC_R1_CT 6.5
param set-default CA_MC_R1_KM 0.05
param set-default CA_MC_R2_PX 0.1515
param set-default CA_MC_R2_PY -0.245
param set-default CA_MC_R2_CT 6.5
param set-default CA_MC_R2_KM -0.05
param set-default CA_MC_R3_PX -0.1515
param set-default CA_MC_R3_PY 0.1875
param set-default CA_MC_R3_CT 6.5
param set-default CA_MC_R3_KM -0.05
set MIXER direct

8
ROMFS/px4fmu_common/init.d-posix/airframes/10018_iris_foggy_lidar
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@ -7,8 +7,6 @@
. ${R}etc/init.d-posix/airframes/10016_iris
if [ $AUTOCNF = yes ]
then
param set EKF2_RNG_AID 1
param set EKF2_RNG_A_HMAX 10
fi
param set-default EKF2_RNG_AID 1
param set-default EKF2_RNG_A_HMAX 10

17
ROMFS/px4fmu_common/init.d-posix/airframes/10020_if750a
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@ -8,15 +8,12 @@
. ${R}etc/init.d/rc.mc_defaults
if [ $AUTOCNF = yes ]
then
# EKF2: Multi GPS blending (as the model has 2 GPS's)
param set EKF2_GPS_MASK 7 # Uses speed, hpos and vpos accuracy
param set TRIG_INTERFACE 3
param set TRIG_MODE 4
param set MNT_MODE_IN 4
param set MNT_MODE_OUT 2
param set MNT_DO_STAB 2
fi
# EKF2: Multi GPS blending (as the model has 2 GPS's)
param set-default EKF2_GPS_MASK 7
param set-default TRIG_INTERFACE 3
param set-default TRIG_MODE 4
param set-default MNT_MODE_IN 4
param set-default MNT_MODE_OUT 2
param set-default MNT_DO_STAB 2
set MIXER quad_x

20
ROMFS/px4fmu_common/init.d-posix/airframes/1010_iris_opt_flow
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@ -7,16 +7,14 @@
. ${R}etc/init.d-posix/airframes/10016_iris
if [ $AUTOCNF = yes ]
then
# EKF2
param set EKF2_AID_MASK 2
param set EKF2_EVP_NOISE 0.05
param set EKF2_EVA_NOISE 0.05
# EKF2
param set-default EKF2_AID_MASK 2
param set-default EKF2_EVP_NOISE 0.05
param set-default EKF2_EVA_NOISE 0.05
# LPE: Flow-only mode
param set LPE_FUSION 242
param set LPE_FAKE_ORIGIN 1
# LPE: Flow-only mode
param set-default LPE_FUSION 242
param set-default LPE_FAKE_ORIGIN 1
param set-default MPC_ALT_MODE 2
param set MPC_ALT_MODE 2
fi

9
ROMFS/px4fmu_common/init.d-posix/airframes/1011_iris_irlock
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@ -7,12 +7,9 @@
. ${R}etc/init.d-posix/airframes/10016_iris
if [ $AUTOCNF = yes ]
then
# enable fusion of landing target velocity
param set LTEST_MODE 1
param set PLD_HACC_RAD 0.1
fi
# enable fusion of landing target velocity
param set-default LTEST_MODE 1
param set-default PLD_HACC_RAD 0.1
# Start up Landing Target Estimator module
landing_target_estimator start

6
ROMFS/px4fmu_common/init.d-posix/airframes/1012_iris_rplidar
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@ -7,7 +7,5 @@
. ${R}etc/init.d-posix/airframes/10016_iris
if [ $AUTOCNF = yes ]
then
param set LPE_FUSION 242
fi
param set-default LPE_FUSION 242

18
ROMFS/px4fmu_common/init.d-posix/airframes/1013_iris_vision
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@ -7,15 +7,13 @@
. ${R}etc/init.d-posix/airframes/10016_iris
if [ $AUTOCNF = yes ]
then
# EKF2: Vision position and heading
param set EKF2_AID_MASK 24
param set EKF2_EV_DELAY 5
# EKF2: Vision position and heading
param set-default EKF2_AID_MASK 24
param set-default EKF2_EV_DELAY 5
# LPE: Vision + baro
param set LPE_FUSION 132
# LPE: Vision + baro
param set-default LPE_FUSION 132
# AEQ: External heading set to use vision input
param set-default ATT_EXT_HDG_M 1
# AEQ: External heading set to use vision input
param set ATT_EXT_HDG_M 1
fi

7
ROMFS/px4fmu_common/init.d-posix/airframes/1014_solo
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@ -7,10 +7,7 @@
. ${R}etc/init.d/rc.mc_defaults
if [ $AUTOCNF = yes ]
then
param set MC_PITCHRATE_P 0.1
param set MC_ROLLRATE_P 0.1
fi
param set-default MC_PITCHRATE_P 0.1
param set-default MC_ROLLRATE_P 0.1
set MIXER quad_x

8
ROMFS/px4fmu_common/init.d-posix/airframes/1015_iris_obs_avoid
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@ -7,8 +7,6 @@
. ${R}etc/init.d-posix/airframes/10016_iris
if [ $AUTOCNF = yes ]
then
param set COM_OBS_AVOID 1
param set MPC_XY_CRUISE 5.0
fi
param set-default COM_OBS_AVOID 1
param set-default MPC_XY_CRUISE 5.0

17
ROMFS/px4fmu_common/init.d-posix/airframes/1017_iris_opt_flow_mockup
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@ -7,15 +7,12 @@
. ${R}etc/init.d-posix/airframes/10016_iris
if [ $AUTOCNF = yes ]
then
# EKF2
param set EKF2_AID_MASK 2
param set SENS_FLOW_ROT 0
# EKF2
param set-default EKF2_AID_MASK 2
param set-default SENS_FLOW_ROT 0
# LPE: Flow-only mode
param set LPE_FUSION 242
param set LPE_FAKE_ORIGIN 1
# LPE: Flow-only mode
param set-default LPE_FUSION 242
param set-default LPE_FAKE_ORIGIN 1
param set MPC_ALT_MODE 2
fi
param set-default MPC_ALT_MODE 2

9
ROMFS/px4fmu_common/init.d-posix/airframes/1018_iris_vision_velocity
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@ -7,9 +7,6 @@
. ${R}etc/init.d-posix/airframes/10016_iris
if [ $AUTOCNF = yes ]
then
# EKF2: Vision velocity and heading
param set EKF2_AID_MASK 272
param set EKF2_EV_DELAY 5
fi
# EKF2: Vision velocity and heading
param set-default EKF2_AID_MASK 272
param set-default EKF2_EV_DELAY 5

7
ROMFS/px4fmu_common/init.d-posix/airframes/1019_iris_dual_gps
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@ -7,8 +7,5 @@
. ${R}etc/init.d-posix/airframes/10016_iris
if [ $AUTOCNF = yes ]
then
# EKF2: Multi GPS blending
param set EKF2_GPS_MASK 7 # Uses speed, hpos and vpos accuracy
fi
# EKF2: Multi GPS blending
param set-default EKF2_GPS_MASK 7

13
ROMFS/px4fmu_common/init.d-posix/airframes/1020_uuv_generic
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@ -5,16 +5,13 @@
. ${R}etc/init.d/rc.uuv_defaults
if [ $AUTOCNF = yes ]
then
#Set data link loss failsafe mode (0: disabled)
param set NAV_DLL_ACT 0
#Set data link loss failsafe mode (0: disabled)
param set-default NAV_DLL_ACT 0
# disable circuit breaker for airspeed sensor
param set CBRK_AIRSPD_CHK 162128
# disable circuit breaker for airspeed sensor
param set-default CBRK_AIRSPD_CHK 162128
#param set CBRK_GPSFAIL 240024
fi
#param set CBRK_GPSFAIL 240024
set MAV_TYPE 12
param set MAV_TYPE ${MAV_TYPE}

13
ROMFS/px4fmu_common/init.d-posix/airframes/1021_uuv_hippocampus
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@ -5,16 +5,13 @@
. ${R}etc/init.d/rc.uuv_defaults
if [ $AUTOCNF = yes ]
then
#Set data link loss failsafe mode (0: disabled)
param set NAV_DLL_ACT 0
#Set data link loss failsafe mode (0: disabled)
param set-default NAV_DLL_ACT 0
# disable circuit breaker for airspeed sensor
param set CBRK_AIRSPD_CHK 162128
# disable circuit breaker for airspeed sensor
param set-default CBRK_AIRSPD_CHK 162128
#param set CBRK_GPSFAIL 240024
fi
#param set CBRK_GPSFAIL 240024
set MAV_TYPE 12
param set MAV_TYPE ${MAV_TYPE}

12
ROMFS/px4fmu_common/init.d-posix/airframes/1022_uuv_bluerov2_heavy
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@ -5,15 +5,11 @@
. ${R}etc/init.d/rc.uuv_defaults
if [ $AUTOCNF = yes ]
then
#Set data link loss failsafe mode (0: disabled)
param set NAV_DLL_ACT 0
#Set data link loss failsafe mode (0: disabled)
param set-default NAV_DLL_ACT 0
# disable circuit breaker for airspeed sensor
param set CBRK_AIRSPD_CHK 162128
fi
# disable circuit breaker for airspeed sensor
param set-default CBRK_AIRSPD_CHK 162128
set PWM_OUT 12345678
set MIXER_FILE etc/mixers-sitl/vectored6dof_sitl.main.mix

70
ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane
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@ -5,54 +5,50 @@
. ${R}etc/init.d/rc.fw_defaults
if [ $AUTOCNF = yes ]
then
param set EKF2_ARSP_THR 8
param set EKF2_FUSE_BETA 1
param set EKF2_MAG_ACCLIM 0
param set EKF2_MAG_YAWLIM 0
param set-default EKF2_ARSP_THR 8
param set-default EKF2_FUSE_BETA 1
param set-default EKF2_MAG_ACCLIM 0
param set-default EKF2_MAG_YAWLIM 0
param set FW_LND_AIRSPD_SC 1
param set FW_LND_ANG 8
param set FW_THR_LND_MAX 0
param set-default FW_LND_AIRSPD_SC 1
param set-default FW_LND_ANG 8
param set-default FW_THR_LND_MAX 0
param set FW_L1_PERIOD 12
param set-default FW_L1_PERIOD 12
param set FW_MAN_P_MAX 30
param set-default FW_MAN_P_MAX 30
param set FW_PR_I 0.4
param set FW_PR_P 0.9
param set FW_PR_FF 0.2
param set FW_PSP_OFF 2
param set FW_P_LIM_MAX 32
param set FW_P_LIM_MIN -15
param set-default FW_PR_I 0.4
param set-default FW_PR_P 0.9
param set-default FW_PR_FF 0.2
param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MAX 32
param set-default FW_P_LIM_MIN -15
param set FW_RR_FF 0.1
param set FW_RR_P 0.3
param set-default FW_RR_FF 0.1
param set-default FW_RR_P 0.3
param set FW_THR_MAX 0.6
param set FW_THR_MIN 0.05
param set FW_THR_CRUISE 0.25
param set-default FW_THR_MAX 0.6
param set-default FW_THR_MIN 0.05
param set-default FW_THR_CRUISE 0.25
param set FW_T_ALT_TC 2
param set FW_T_CLMB_MAX 8
param set FW_T_HRATE_FF 0.5
param set FW_T_SINK_MAX 2.7
param set FW_T_SINK_MIN 2.2
param set FW_T_TAS_TC 2
param set-default FW_T_ALT_TC 2
param set-default FW_T_CLMB_MAX 8
param set-default FW_T_HRATE_FF 0.5
param set-default FW_T_SINK_MAX 2.7
param set-default FW_T_SINK_MIN 2.2
param set-default FW_T_TAS_TC 2
param set FW_W_EN 1
param set-default FW_W_EN 1
param set MIS_LTRMIN_ALT 30
param set MIS_TAKEOFF_ALT 30
param set-default MIS_LTRMIN_ALT 30
param set-default MIS_TAKEOFF_ALT 30
param set NAV_ACC_RAD 15
param set NAV_DLL_ACT 2
param set NAV_LOITER_RAD 50
param set-default NAV_ACC_RAD 15
param set-default NAV_DLL_ACT 2
param set-default NAV_LOITER_RAD 50
param set RWTO_TKOFF 1
fi
param set-default RWTO_TKOFF 1
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
set MIXER custom

12
ROMFS/px4fmu_common/init.d-posix/airframes/1031_plane_cam
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@ -5,10 +5,8 @@
. ${R}etc/init.d-posix/airframes/1030_plane
if [ $AUTOCNF = yes ]
then
# Camera trigger interface is MAVLink
param set TRIG_INTERFACE 3
# Distance trigger mode enabled
param set TRIG_MODE 4
fi
# Camera trigger interface is MAVLink
param set-default TRIG_INTERFACE 3
# Distance trigger mode enabled
param set-default TRIG_MODE 4

5
ROMFS/px4fmu_common/init.d-posix/airframes/1032_plane_catapult
View File

@ -5,8 +5,5 @@
. ${R}etc/init.d-posix/airframes/1030_plane
if [ $AUTOCNF = yes ]
then
param set RWTO_TKOFF 0
param set-default RWTO_TKOFF 0
fi

5
ROMFS/px4fmu_common/init.d-posix/airframes/1033_plane_lidar
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@ -5,8 +5,5 @@
. ${R}etc/init.d-posix/airframes/1030_plane
if [ $AUTOCNF = yes ]
then
param set FW_LND_USETER 1
param set-default FW_LND_USETER 1
fi

79
ROMFS/px4fmu_common/init.d-posix/airframes/1033_rascal
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@ -5,54 +5,55 @@
. ${R}etc/init.d/rc.fw_defaults
if [ $AUTOCNF = yes ]
then
param set EKF2_ARSP_THR 8
param set EKF2_FUSE_BETA 1
#param set EKF2_MAG_ACCLIM 0
#param set EKF2_MAG_YAWLIM 0
param set-default EKF2_ARSP_THR 8
param set-default EKF2_FUSE_BETA 1
param set FW_LND_AIRSPD_SC 1.1
param set FW_LND_ANG 5
param set FW_THR_LND_MAX 0
param set FW_LND_HHDIST 30
param set FW_LND_FL_PMIN 9.5
param set FW_LND_FL_PMAX 20
param set FW_LND_FLALT 5
param set FW_LND_TLALT 15
param set-default FW_LND_AIRSPD_SC 1.1
param set-default FW_LND_ANG 5
param set-default FW_THR_LND_MAX 0
param set-default FW_LND_HHDIST 30
param set-default FW_LND_FL_PMIN 9.5
param set-default FW_LND_FL_PMAX 20
param set-default FW_LND_FLALT 5
param set-default FW_LND_TLALT 15
param set FW_L1_PERIOD 25
param set-default FW_L1_PERIOD 25
param set FW_P_TC 0.4
param set FW_PR_FF 0.40
param set FW_PR_I 0.05
param set FW_PR_P 0.05
param set-default FW_P_TC 0.4
param set-default FW_PR_FF 0.40
param set-default FW_PR_I 0.05
param set-default FW_PR_P 0.05
param set FW_R_TC 0.45
param set FW_RR_FF 0.40
param set FW_RR_I 0.132
param set FW_RR_P 0.085
param set-default FW_R_TC 0.45
param set-default FW_RR_FF 0.40
param set-default FW_RR_I 0.132
param set-default FW_RR_P 0.085
param set FW_W_EN 1
param set-default FW_W_EN 1
param set MIS_LTRMIN_ALT 30
param set MIS_TAKEOFF_ALT 20
param set MIS_DIST_1WP 2500
param set MIS_DIST_WPS 10000
param set-default MIS_LTRMIN_ALT 30
param set-default MIS_TAKEOFF_ALT 20
param set-default MIS_DIST_1WP 2500
param set-default MIS_DIST_WPS 10000
param set NAV_ACC_RAD 15
param set NAV_DLL_ACT 2
param set NAV_LOITER_RAD 50
param set-default NAV_ACC_RAD 15
param set-default NAV_DLL_ACT 2
param set-default NAV_LOITER_RAD 50
param set RWTO_TKOFF 1
#param set FW_THR_SLEW_MAX 0.3 # fix takeoff failure for JSBsim in autonomous mission mode.
param set RWTO_MAX_PITCH 20
param set RWTO_MAX_ROLL 10
#param set RWTO_MAX_THR 0.6 # fix takeoff failure for JSBsim in autonomous mission mode.
param set RWTO_PSP 8
param set RWTO_AIRSPD_SCL 1.8
param set-default RWTO_TKOFF 1
# fix takeoff failure for JSBsim in autonomous mission mode.
#param set FW_THR_SLEW_MAX 0.3
param set-default RWTO_MAX_PITCH 20
param set-default RWTO_MAX_ROLL 10
# fix takeoff failure for JSBsim in autonomous mission mode.
#param set-default RWTO_MAX_THR 0.6
param set-default RWTO_PSP 8
param set-default RWTO_AIRSPD_SCL 1.8
fi
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
set MIXER custom

78
ROMFS/px4fmu_common/init.d-posix/airframes/1034_rascal-electric
View File

@ -5,54 +5,54 @@
. ${R}etc/init.d/rc.fw_defaults
if [ $AUTOCNF = yes ]
then
param set EKF2_ARSP_THR 8
param set EKF2_FUSE_BETA 1
#param set EKF2_MAG_ACCLIM 0
#param set EKF2_MAG_YAWLIM 0
param set-default EKF2_ARSP_THR 8
param set-default EKF2_FUSE_BETA 1
param set FW_LND_AIRSPD_SC 1.1
param set FW_LND_ANG 5
param set FW_THR_LND_MAX 0
param set FW_LND_HHDIST 30
param set FW_LND_FL_PMIN 9.5
param set FW_LND_FL_PMAX 20
param set FW_LND_FLALT 5
param set FW_LND_TLALT 15
param set-default FW_LND_AIRSPD_SC 1.1
param set-default FW_LND_ANG 5
param set-default FW_THR_LND_MAX 0
param set-default FW_LND_HHDIST 30
param set-default FW_LND_FL_PMIN 9.5
param set-default FW_LND_FL_PMAX 20
param set-default FW_LND_FLALT 5
param set-default FW_LND_TLALT 15
param set FW_L1_PERIOD 25
param set-default FW_L1_PERIOD 25
param set FW_P_TC 0.4
param set FW_PR_FF 0.40
param set FW_PR_I 0.05
param set FW_PR_P 0.05
param set-default FW_P_TC 0.4
param set-default FW_PR_FF 0.40
param set-default FW_PR_I 0.05
param set-default FW_PR_P 0.05
param set FW_R_TC 0.45
param set FW_RR_FF 0.40
param set FW_RR_I 0.132
param set FW_RR_P 0.085
param set-default FW_R_TC 0.45
param set-default FW_RR_FF 0.40
param set-default FW_RR_I 0.132
param set-default FW_RR_P 0.085
param set FW_W_EN 1
param set-default FW_W_EN 1
param set MIS_LTRMIN_ALT 30
param set MIS_TAKEOFF_ALT 20
param set MIS_DIST_1WP 2500
param set MIS_DIST_WPS 10000
param set-default MIS_LTRMIN_ALT 30
param set-default MIS_TAKEOFF_ALT 20
param set-default MIS_DIST_1WP 2500
param set-default MIS_DIST_WPS 10000
param set NAV_ACC_RAD 15
param set NAV_DLL_ACT 2
param set NAV_LOITER_RAD 50
param set-default NAV_ACC_RAD 15
param set-default NAV_DLL_ACT 2
param set-default NAV_LOITER_RAD 50
param set RWTO_TKOFF 1
#param set FW_THR_SLEW_MAX 0.3 # fix takeoff failure for JSBsim in autonomous mission mode.
param set RWTO_MAX_PITCH 20
param set RWTO_MAX_ROLL 10
#param set RWTO_MAX_THR 0.6 # fix takeoff failure for JSBsim in autonomous mission mode.
param set RWTO_PSP 8
param set RWTO_AIRSPD_SCL 1.8
param set-default RWTO_TKOFF 1
fi
# fix takeoff failure for JSBsim in autonomous mission mode.
#param set FW_THR_SLEW_MAX 0.3
param set-default RWTO_MAX_PITCH 20
param set-default RWTO_MAX_ROLL 10
# fix takeoff failure for JSBsim in autonomous mission mode.
#param set RWTO_MAX_THR 0.6
param set-default RWTO_PSP 8
param set-default RWTO_AIRSPD_SCL 1.8
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
set MIXER custom

52
ROMFS/px4fmu_common/init.d-posix/airframes/1035_techpod
View File

@ -5,43 +5,39 @@
. ${R}etc/init.d/rc.fw_defaults
if [ $AUTOCNF = yes ]
then
param set EKF2_ARSP_THR 8
param set EKF2_FUSE_BETA 1
param set EKF2_MAG_ACCLIM 0
param set EKF2_MAG_YAWLIM 0
param set-default EKF2_ARSP_THR 8
param set-default EKF2_FUSE_BETA 1
param set-default EKF2_MAG_ACCLIM 0
param set-default EKF2_MAG_YAWLIM 0
param set FW_LND_AIRSPD_SC 1
param set FW_LND_ANG 8
param set FW_THR_LND_MAX 0
param set-default FW_LND_AIRSPD_SC 1
param set-default FW_LND_ANG 8
param set-default FW_THR_LND_MAX 0
param set FW_L1_PERIOD 15
param set-default FW_L1_PERIOD 15
param set FW_P_TC 0.5
param set FW_PR_FF 0.40
param set FW_PR_I 0.05
param set FW_PR_P 0.05
param set-default FW_P_TC 0.5
param set-default FW_PR_FF 0.40
param set-default FW_PR_I 0.05
param set-default FW_PR_P 0.05
param set FW_R_TC 0.7
param set FW_RR_FF 0.20
param set FW_RR_I 0.02
param set FW_RR_P 0.22
param set-default FW_R_TC 0.7
param set-default FW_RR_FF 0.20
param set-default FW_RR_I 0.02
param set-default FW_RR_P 0.22
param set FW_L1_PERIOD 12
param set-default FW_L1_PERIOD 12
param set FW_W_EN 1
param set-default FW_W_EN 1
param set MIS_LTRMIN_ALT 30
param set MIS_TAKEOFF_ALT 30
param set-default MIS_LTRMIN_ALT 30
param set-default MIS_TAKEOFF_ALT 30
param set NAV_ACC_RAD 15
param set NAV_DLL_ACT 2
param set NAV_LOITER_RAD 50
param set-default NAV_ACC_RAD 15
param set-default NAV_DLL_ACT 2
param set-default NAV_LOITER_RAD 50
param set RWTO_TKOFF 1
fi
param set-default RWTO_TKOFF 1
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
set MIXER custom

70
ROMFS/px4fmu_common/init.d-posix/airframes/1036_malolo
View File

@ -5,52 +5,46 @@
. ${R}etc/init.d/rc.fw_defaults
if [ $AUTOCNF = yes ]
then
param set EKF2_ARSP_THR 8
param set EKF2_FUSE_BETA 1
#param set EKF2_MAG_ACCLIM 0
#param set EKF2_MAG_YAWLIM 0
param set-default EKF2_ARSP_THR 8
param set-default EKF2_FUSE_BETA 1
param set FW_LND_AIRSPD_SC 1.1
param set FW_LND_ANG 5
param set FW_THR_LND_MAX 0
param set FW_LND_HHDIST 30
param set FW_LND_FL_PMIN 9.5
param set FW_LND_FL_PMAX 20
param set FW_LND_FLALT 5
param set FW_LND_TLALT 15
param set-default FW_LND_AIRSPD_SC 1.1
param set-default FW_LND_ANG 5
param set-default FW_THR_LND_MAX 0
param set-default FW_LND_HHDIST 30
param set-default FW_LND_FL_PMIN 9.5
param set-default FW_LND_FL_PMAX 20
param set-default FW_LND_FLALT 5
param set-default FW_LND_TLALT 15
param set FW_L1_PERIOD 25
param set-default FW_L1_PERIOD 25
param set FW_P_TC 0.4
param set FW_PR_FF 0.40
param set FW_PR_I 0.05
param set FW_PR_P 0.05
param set-default FW_P_TC 0.4
param set-default FW_PR_FF 0.40
param set-default FW_PR_I 0.05
param set-default FW_PR_P 0.05
param set FW_R_TC 0.45
param set FW_RR_FF 0.40
param set FW_RR_I 0.132
param set FW_RR_P 0.085
param set-default FW_R_TC 0.45
param set-default FW_RR_FF 0.40
param set-default FW_RR_I 0.132
param set-default FW_RR_P 0.085
param set FW_W_EN 1
param set-default FW_W_EN 1
param set MIS_LTRMIN_ALT 30
param set MIS_TAKEOFF_ALT 20
param set MIS_DIST_1WP 2500
param set MIS_DIST_WPS 10000
param set-default MIS_LTRMIN_ALT 30
param set-default MIS_TAKEOFF_ALT 20
param set-default MIS_DIST_1WP 2500
param set-default MIS_DIST_WPS 10000
param set NAV_ACC_RAD 15
param set NAV_DLL_ACT 2
param set NAV_LOITER_RAD 50
param set-default NAV_ACC_RAD 15
param set-default NAV_DLL_ACT 2
param set-default NAV_LOITER_RAD 50
param set RWTO_TKOFF 1
param set RWTO_MAX_PITCH 20
param set RWTO_MAX_ROLL 10
param set RWTO_PSP 8
param set RWTO_AIRSPD_SCL 1.8
fi
param set-default RWTO_TKOFF 1
param set-default RWTO_MAX_PITCH 20
param set-default RWTO_MAX_ROLL 10
param set-default RWTO_PSP 8
param set-default RWTO_AIRSPD_SCL 1.8
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
set MIXER custom

74
ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol
View File

@ -7,50 +7,46 @@
. ${R}etc/init.d/rc.vtol_defaults
if [ $AUTOCNF = yes ]
then
param set FW_L1_PERIOD 12
param set FW_MAN_P_MAX 30
param set FW_PR_FF 0.2
param set FW_PR_I 0.4
param set FW_PR_P 0.9
param set FW_PSP_OFF 2
param set FW_P_LIM_MAX 32
param set FW_P_LIM_MIN -15
param set FW_RR_FF 0.1
param set FW_RR_P 0.3
param set FW_THR_CRUISE 0.25
param set FW_THR_MAX 0.6
param set FW_THR_MIN 0.05
param set FW_T_ALT_TC 2
param set FW_T_CLMB_MAX 8
param set FW_T_HRATE_FF 0.5
param set FW_T_SINK_MAX 2.7
param set FW_T_SINK_MIN 2.2
param set FW_T_TAS_TC 2
param set-default FW_L1_PERIOD 12
param set-default FW_MAN_P_MAX 30
param set-default FW_PR_FF 0.2
param set-default FW_PR_I 0.4
param set-default FW_PR_P 0.9
param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MAX 32
param set-default FW_P_LIM_MIN -15
param set-default FW_RR_FF 0.1
param set-default FW_RR_P 0.3
param set-default FW_THR_CRUISE 0.25
param set-default FW_THR_MAX 0.6
param set-default FW_THR_MIN 0.05
param set-default FW_T_ALT_TC 2
param set-default FW_T_CLMB_MAX 8
param set-default FW_T_HRATE_FF 0.5
param set-default FW_T_SINK_MAX 2.7
param set-default FW_T_SINK_MIN 2.2
param set-default FW_T_TAS_TC 2
param set MC_ROLLRATE_P 0.3
param set MC_YAW_P 1.6
param set-default MC_ROLLRATE_P 0.3
param set-default MC_YAW_P 1.6
param set MIS_TAKEOFF_ALT 10
param set-default MIS_TAKEOFF_ALT 10
param set MPC_ACC_HOR_MAX 2
param set MPC_XY_P 0.8
param set MPC_XY_VEL_P_ACC 3
param set MPC_XY_VEL_I_ACC 4
param set MPC_XY_VEL_D_ACC 0.1
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_XY_P 0.8
param set-default MPC_XY_VEL_P_ACC 3
param set-default MPC_XY_VEL_I_ACC 4
param set-default MPC_XY_VEL_D_ACC 0.1
param set NAV_ACC_RAD 5
param set NAV_LOITER_RAD 80
param set-default NAV_ACC_RAD 5
param set-default NAV_LOITER_RAD 80
param set VT_FWD_THRUST_EN 4
param set VT_F_TRANS_THR 0.75
param set VT_MOT_ID 1234
param set VT_FW_MOT_OFFID 1234
param set VT_B_TRANS_DUR 8
param set VT_TYPE 2
fi
param set-default VT_FWD_THRUST_EN 4
param set-default VT_F_TRANS_THR 0.75
param set-default VT_MOT_ID 1234
param set-default VT_FW_MOT_OFFID 1234
param set-default VT_B_TRANS_DUR 8
param set-default VT_TYPE 2
set MAV_TYPE 22

62
ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter
View File

@ -7,44 +7,40 @@
. ${R}etc/init.d/rc.vtol_defaults
if [ $AUTOCNF = yes ]
then
param set FW_L1_PERIOD 12
param set FW_MAN_P_MAX 30
param set FW_PR_I 0.2
param set FW_PR_P 0.3
param set FW_PSP_OFF 2
param set FW_P_LIM_MAX 32
param set FW_P_LIM_MIN -15
param set FW_RR_P 0.3
param set FW_THR_CRUISE 0.33
param set FW_THR_MAX 0.6
param set FW_THR_MIN 0.05
param set FW_T_ALT_TC 2
param set FW_T_CLMB_MAX 8
param set FW_T_HRATE_FF 0.5
param set FW_T_SINK_MAX 2.7
param set FW_T_SINK_MIN 2.2
param set FW_T_TAS_TC 2
param set-default FW_L1_PERIOD 12
param set-default FW_MAN_P_MAX 30
param set-default FW_PR_I 0.2
param set-default FW_PR_P 0.3
param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MAX 32
param set-default FW_P_LIM_MIN -15
param set-default FW_RR_P 0.3
param set-default FW_THR_CRUISE 0.33
param set-default FW_THR_MAX 0.6
param set-default FW_THR_MIN 0.05
param set-default FW_T_ALT_TC 2
param set-default FW_T_CLMB_MAX 8
param set-default FW_T_HRATE_FF 0.5
param set-default FW_T_SINK_MAX 2.7
param set-default FW_T_SINK_MIN 2.2
param set-default FW_T_TAS_TC 2
param set MC_ROLLRATE_P 0.3
param set-default MC_ROLLRATE_P 0.3
param set MPC_ACC_HOR_MAX 2
param set MPC_XY_P 0.8
param set MPC_XY_VEL_P_ACC 3
param set MPC_XY_VEL_I_ACC 4
param set MPC_XY_VEL_D_ACC 0.1
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_XY_P 0.8
param set-default MPC_XY_VEL_P_ACC 3
param set-default MPC_XY_VEL_I_ACC 4
param set-default MPC_XY_VEL_D_ACC 0.1
param set NAV_ACC_RAD 5
param set NAV_LOITER_RAD 80
param set-default NAV_ACC_RAD 5
param set-default NAV_LOITER_RAD 80
param set VT_F_TRANS_DUR 1.5
param set VT_F_TRANS_THR 0.7
param set VT_TYPE 0
param set-default VT_F_TRANS_DUR 1.5
param set-default VT_F_TRANS_THR 0.7
param set-default VT_TYPE 0
param set WV_EN 0
fi
param set-default WV_EN 0
set MAV_TYPE 20

70
ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor
View File

@ -7,48 +7,44 @@
. ${R}etc/init.d/rc.vtol_defaults
if [ $AUTOCNF = yes ]
then
param set FW_L1_PERIOD 12
param set FW_MAN_P_MAX 30
param set FW_PR_FF 0.2
param set FW_PR_I 0.4
param set FW_PR_P 0.9
param set FW_PSP_OFF 2
param set FW_P_LIM_MAX 32
param set FW_P_LIM_MIN -15
param set FW_RR_FF 0.1
param set FW_RR_P 0.3
param set FW_THR_CRUISE 0.38
param set FW_THR_MAX 0.6
param set FW_THR_MIN 0.05
param set FW_T_ALT_TC 2
param set FW_T_CLMB_MAX 8
param set FW_T_HRATE_FF 0.5
param set FW_T_SINK_MAX 2.7
param set FW_T_SINK_MIN 2.2
param set FW_T_TAS_TC 2
param set-default FW_L1_PERIOD 12
param set-default FW_MAN_P_MAX 30
param set-default FW_PR_FF 0.2
param set-default FW_PR_I 0.4
param set-default FW_PR_P 0.9
param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MAX 32
param set-default FW_P_LIM_MIN -15
param set-default FW_RR_FF 0.1
param set-default FW_RR_P 0.3
param set-default FW_THR_CRUISE 0.38
param set-default FW_THR_MAX 0.6
param set-default FW_THR_MIN 0.05
param set-default FW_T_ALT_TC 2
param set-default FW_T_CLMB_MAX 8
param set-default FW_T_HRATE_FF 0.5
param set-default FW_T_SINK_MAX 2.7
param set-default FW_T_SINK_MIN 2.2
param set-default FW_T_TAS_TC 2
param set MC_YAW_P 1.6
param set-default MC_YAW_P 1.6
param set MIS_TAKEOFF_ALT 10
param set-default MIS_TAKEOFF_ALT 10
param set MPC_ACC_HOR_MAX 2
param set MPC_XY_P 0.8
param set MPC_XY_VEL_P_ACC 3
param set MPC_XY_VEL_I_ACC 4
param set MPC_XY_VEL_D_ACC 0.1
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_XY_P 0.8
param set-default MPC_XY_VEL_P_ACC 3
param set-default MPC_XY_VEL_I_ACC 4
param set-default MPC_XY_VEL_D_ACC 0.1
param set NAV_ACC_RAD 5
param set NAV_LOITER_RAD 80
param set-default NAV_ACC_RAD 5
param set-default NAV_LOITER_RAD 80
param set VT_B_TRANS_DUR 8
param set VT_FWD_THRUST_EN 4
param set VT_MOT_ID 1234
param set VT_TILT_TRANS 0.6
param set VT_TYPE 1
fi
param set-default VT_B_TRANS_DUR 8
param set-default VT_FWD_THRUST_EN 4
param set-default VT_MOT_ID 1234
param set-default VT_TILT_TRANS 0.6
param set-default VT_TYPE 1
set MAV_TYPE 21

79
ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop
View File

@ -7,53 +7,50 @@
. ${R}etc/init.d/rc.vtol_defaults
if [ $AUTOCNF = yes ]
then
param set FW_L1_PERIOD 12
param set FW_MAN_P_MAX 30
param set FW_PR_FF 0.2
param set FW_PR_I 0.4
param set FW_PR_P 0.9
param set FW_PSP_OFF 2
param set FW_P_LIM_MAX 32
param set FW_P_LIM_MIN -15
param set FW_RR_FF 0.1
param set FW_RR_P 0.3
param set FW_THR_CRUISE 0.25
param set FW_THR_MAX 0.6
param set FW_THR_MIN 0.05
param set FW_T_ALT_TC 2
param set FW_T_CLMB_MAX 8
param set FW_T_HRATE_FF 0.5
param set FW_T_SINK_MAX 2.7
param set FW_T_SINK_MIN 2.2
param set FW_T_TAS_TC 2
param set-default FW_L1_PERIOD 12
param set-default FW_MAN_P_MAX 30
param set-default FW_PR_FF 0.2
param set-default FW_PR_I 0.4
param set-default FW_PR_P 0.9
param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MAX 32
param set-default FW_P_LIM_MIN -15
param set-default FW_RR_FF 0.1
param set-default FW_RR_P 0.3
param set-default FW_THR_CRUISE 0.25
param set-default FW_THR_MAX 0.6
param set-default FW_THR_MIN 0.05
param set-default FW_T_ALT_TC 2
param set-default FW_T_CLMB_MAX 8
param set-default FW_T_HRATE_FF 0.5
param set-default FW_T_SINK_MAX 2.7
param set-default FW_T_SINK_MIN 2.2
param set-default FW_T_TAS_TC 2
param set MC_ROLLRATE_P 0.3
param set MC_YAW_P 1.6
param set-default MC_ROLLRATE_P 0.3
param set-default MC_YAW_P 1.6
param set MIS_TAKEOFF_ALT 10
param set-default MIS_TAKEOFF_ALT 10
param set MPC_ACC_HOR_MAX 2
param set MPC_XY_P 0.8
param set MPC_XY_VEL_P_ACC 3
param set MPC_XY_VEL_I_ACC 4
param set MPC_XY_VEL_D_ACC 0.1
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_XY_P 0.8
param set-default MPC_XY_VEL_P_ACC 3
param set-default MPC_XY_VEL_I_ACC 4
param set-default MPC_XY_VEL_D_ACC 0.1
param set NAV_ACC_RAD 5
param set NAV_LOITER_RAD 80
param set-default NAV_ACC_RAD 5
param set-default NAV_LOITER_RAD 80
param set VT_FWD_THRUST_EN 4
param set VT_F_TRANS_THR 0.75
param set VT_MOT_ID 1234
param set VT_FW_MOT_OFFID 1234
param set VT_B_TRANS_DUR 8
param set VT_TYPE 2
param set-default VT_FWD_THRUST_EN 4
param set-default VT_F_TRANS_THR 0.75
param set-default VT_MOT_ID 1234
param set-default VT_FW_MOT_OFFID 1234
param set-default VT_B_TRANS_DUR 8
param set-default VT_TYPE 2
param set RC_MAP_AUX1 8
param set RC_MAP_AUX2 9
param set RC_MAP_AUX3 10
fi
param set-default RC_MAP_AUX1 8
param set-default RC_MAP_AUX2 9
param set-default RC_MAP_AUX3 10
set MAV_TYPE 22

42
ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover
View File

@ -5,32 +5,28 @@
. ${R}etc/init.d/rc.rover_defaults
if [ $AUTOCNF = yes ]
then
param set GND_L1_DIST 5
param set GND_L1_PERIOD 10
param set GND_SP_CTRL_MODE 1
param set GND_SPEED_D 0.001
param set GND_SPEED_I 3
param set GND_SPEED_IMAX 0.125
param set GND_SPEED_P 0.25
param set GND_SPEED_THR_SC 1
param set GND_SPEED_TRIM 4
param set GND_THR_CRUISE 0.3
param set GND_THR_MAX 0.5
param set GND_THR_MIN 0
param set-default GND_L1_DIST 5
param set-default GND_L1_PERIOD 10
param set-default GND_SP_CTRL_MODE 1
param set-default GND_SPEED_D 0.001
param set-default GND_SPEED_I 3
param set-default GND_SPEED_IMAX 0.125
param set-default GND_SPEED_P 0.25
param set-default GND_SPEED_THR_SC 1
param set-default GND_SPEED_TRIM 4
param set-default GND_THR_CRUISE 0.3
param set-default GND_THR_MAX 0.5
param set-default GND_THR_MIN 0
param set MIS_LTRMIN_ALT 0.01
param set MIS_TAKEOFF_ALT 0.01
param set NAV_ACC_RAD 0.5
param set NAV_LOITER_RAD 2
param set-default MIS_LTRMIN_ALT 0.01
param set-default MIS_TAKEOFF_ALT 0.01
param set-default NAV_ACC_RAD 0.5
param set-default NAV_LOITER_RAD 2
param set CBRK_AIRSPD_CHK 162128
param set-default CBRK_AIRSPD_CHK 162128
param set GND_MAX_ANG 0.6
param set GND_WHEEL_BASE 2.0
fi
param set-default GND_MAX_ANG 0.6
param set-default GND_WHEEL_BASE 2.0
set MAV_TYPE 10

40
ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover
View File

@ -6,31 +6,27 @@
. ${R}etc/init.d/rc.rover_defaults
if [ $AUTOCNF = yes ]
then
param set GND_L1_DIST 5
param set GND_SP_CTRL_MODE 1
param set GND_SPEED_D 3
param set GND_SPEED_I 0.001
param set GND_SPEED_IMAX 0.125
param set GND_SPEED_P 0.25
param set GND_SPEED_THR_SC 1
param set GND_SPEED_TRIM 4
param set GND_THR_CRUISE 0.3
param set GND_THR_MAX 0.5
param set GND_THR_MIN 0
param set-default GND_L1_DIST 5
param set-default GND_SP_CTRL_MODE 1
param set-default GND_SPEED_D 3
param set-default GND_SPEED_I 0.001
param set-default GND_SPEED_IMAX 0.125
param set-default GND_SPEED_P 0.25
param set-default GND_SPEED_THR_SC 1
param set-default GND_SPEED_TRIM 4
param set-default GND_THR_CRUISE 0.3
param set-default GND_THR_MAX 0.5
param set-default GND_THR_MIN 0
param set MIS_LTRMIN_ALT 0.01
param set MIS_TAKEOFF_ALT 0.01
param set NAV_ACC_RAD 0.5
param set NAV_LOITER_RAD 2
param set-default MIS_LTRMIN_ALT 0.01
param set-default MIS_TAKEOFF_ALT 0.01
param set-default NAV_ACC_RAD 0.5
param set-default NAV_LOITER_RAD 2
param set CBRK_AIRSPD_CHK 162128
param set-default CBRK_AIRSPD_CHK 162128
param set GND_MAX_ANG 0.6
param set GND_WHEEL_BASE 2.0
fi
param set-default GND_MAX_ANG 0.6
param set-default GND_WHEEL_BASE 2.0
set MAV_TYPE 10

42
ROMFS/px4fmu_common/init.d-posix/airframes/1062_tf-r1
View File

@ -10,32 +10,28 @@
. ${R}etc/init.d/rc.rover_defaults
if [ $AUTOCNF = yes ]
then
param set GND_L1_DIST 5
param set GND_SP_CTRL_MODE 1
param set GND_SPEED_D 3
param set GND_SPEED_I 0.001
param set GND_SPEED_IMAX 0.125
param set GND_SPEED_P 0.25
param set GND_SPEED_THR_SC 1
param set GND_SPEED_TRIM 15
param set GND_SPEED_MAX 25
param set GND_THR_CRUISE 0.3
param set GND_THR_MAX 0.5
param set GND_THR_MIN 0
param set-default GND_L1_DIST 5
param set-default GND_SP_CTRL_MODE 1
param set-default GND_SPEED_D 3
param set-default GND_SPEED_I 0.001
param set-default GND_SPEED_IMAX 0.125
param set-default GND_SPEED_P 0.25
param set-default GND_SPEED_THR_SC 1
param set-default GND_SPEED_TRIM 15
param set-default GND_SPEED_MAX 25
param set-default GND_THR_CRUISE 0.3
param set-default GND_THR_MAX 0.5
param set-default GND_THR_MIN 0
param set MIS_LTRMIN_ALT 0.01
param set MIS_TAKEOFF_ALT 0.01
param set NAV_ACC_RAD 0.5
param set NAV_LOITER_RAD 2
param set-default MIS_LTRMIN_ALT 0.01
param set-default MIS_TAKEOFF_ALT 0.01
param set-default NAV_ACC_RAD 0.5
param set-default NAV_LOITER_RAD 2
param set CBRK_AIRSPD_CHK 162128
param set-default CBRK_AIRSPD_CHK 162128
param set GND_MAX_ANG 0.6
param set GND_WHEEL_BASE 3.0
fi
param set-default GND_MAX_ANG 0.6
param set-default GND_WHEEL_BASE 3.0
set MAV_TYPE 10

42
ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat
View File

@ -5,32 +5,28 @@
. ${R}etc/init.d/rc.boat_defaults
if [ $AUTOCNF = yes ]
then
param set GND_L1_DIST 5
param set GND_L1_PERIOD 100
param set GND_SP_CTRL_MODE 1
param set GND_SPEED_D 0.001
param set GND_SPEED_I 8
param set GND_SPEED_IMAX 0.125
param set GND_SPEED_P 2
param set GND_SPEED_THR_SC 1
param set GND_SPEED_TRIM 1
param set GND_THR_CRUISE 0.85
param set GND_THR_MAX 1
param set GND_THR_MIN 0
param set-default GND_L1_DIST 5
param set-default GND_L1_PERIOD 100
param set-default GND_SP_CTRL_MODE 1
param set-default GND_SPEED_D 0.001
param set-default GND_SPEED_I 8
param set-default GND_SPEED_IMAX 0.125
param set-default GND_SPEED_P 2
param set-default GND_SPEED_THR_SC 1
param set-default GND_SPEED_TRIM 1
param set-default GND_THR_CRUISE 0.85
param set-default GND_THR_MAX 1
param set-default GND_THR_MIN 0
param set MIS_LTRMIN_ALT 0.01
param set MIS_TAKEOFF_ALT 0.01
param set NAV_ACC_RAD 0.5
param set NAV_LOITER_RAD 2
param set-default MIS_LTRMIN_ALT 0.01
param set-default MIS_TAKEOFF_ALT 0.01
param set-default NAV_ACC_RAD 0.5
param set-default NAV_LOITER_RAD 2
param set CBRK_AIRSPD_CHK 162128
param set-default CBRK_AIRSPD_CHK 162128
param set GND_MAX_ANG 0.6
param set GND_WHEEL_BASE 2.0
fi
param set-default GND_MAX_ANG 0.6
param set-default GND_WHEEL_BASE 2.0
set MAV_TYPE 11

67
ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1
View File

@ -12,52 +12,47 @@
. ${R}etc/init.d/rc.fw_defaults
if [ $AUTOCNF = yes ]
then
param set EKF2_ARSP_THR 8
param set EKF2_FUSE_BETA 1
param set ASPD_STALL 10.0
param set-default EKF2_ARSP_THR 8
param set-default EKF2_FUSE_BETA 1
param set-default ASPD_STALL 10.0
param set FW_P_RMAX_NEG 20.0
param set FW_P_RMAX_POS 60.0
param set FW_W_RMAX 10
param set FW_W_EN 1
param set-default FW_P_RMAX_NEG 20.0
param set-default FW_P_RMAX_POS 60.0
param set-default FW_W_RMAX 10
param set-default FW_W_EN 1
param set FW_PR_IMAX 0.4
param set FW_R_TC 0.4
param set FW_RR_FF 0.5
param set FW_RR_I 0.1
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.08
param set-default FW_PR_IMAX 0.4
param set-default FW_R_TC 0.4
param set-default FW_RR_FF 0.5
param set-default FW_RR_I 0.1
param set-default FW_RR_IMAX 0.2
param set-default FW_RR_P 0.08
param set MIS_LTRMIN_ALT 50
param set MIS_TAKEOFF_ALT 3
param set-default MIS_LTRMIN_ALT 50
param set-default MIS_TAKEOFF_ALT 3
param set NAV_ACC_RAD 20
param set NAV_DLL_ACT 2
param set NAV_LOITER_RAD 100
param set-default NAV_ACC_RAD 20
param set-default NAV_DLL_ACT 2
param set-default NAV_LOITER_RAD 100
param set RWTO_TKOFF 1
param set-default RWTO_TKOFF 1
param set FW_ARSP_SCALE_EN 0
param set-default FW_ARSP_SCALE_EN 0
param set FW_AIRSPD_MAX 35
param set FW_AIRSPD_MIN 7
param set FW_AIRSPD_TRIM 15
param set-default FW_AIRSPD_MAX 35
param set-default FW_AIRSPD_MIN 7
param set-default FW_AIRSPD_TRIM 15
param set FW_P_LIM_MAX 25
param set FW_P_LIM_MIN -5
param set FW_R_LIM 30
param set-default FW_P_LIM_MAX 25
param set-default FW_P_LIM_MIN -5
param set-default FW_R_LIM 30
param set FW_MAN_P_MAX 30.0
param set FW_MAN_R_MAX 30.0
param set FW_THR_CRUISE 0.8
param set FW_THR_IDLE 0
param set COM_DISARM_PRFLT 0
fi
param set-default FW_MAN_P_MAX 30.0
param set-default FW_MAN_R_MAX 30.0
param set-default FW_THR_CRUISE 0.8
param set-default FW_THR_IDLE 0
param set-default COM_DISARM_PRFLT 0
set MIXER_FILE etc/mixers-sitl/autogyro_sitl.main.mix
set MIXER custom

29
ROMFS/px4fmu_common/init.d-posix/airframes/3011_hexarotor_x
View File

@ -9,24 +9,21 @@
. ${R}etc/init.d/rc.mc_defaults
if [ $AUTOCNF = yes ]
then
param set MC_PITCHRATE_P 0.1
param set MC_PITCHRATE_I 0.05
param set MC_PITCH_P 6.0
param set MC_ROLLRATE_P 0.15
param set MC_ROLLRATE_I 0.1
param set MC_ROLL_P 6.0
param set MPC_XY_VEL_I_ACC 4
param set MPC_XY_VEL_P_ACC 3
param set-default MC_PITCHRATE_P 0.1
param set-default MC_PITCHRATE_I 0.05
param set-default MC_PITCH_P 6.0
param set-default MC_ROLLRATE_P 0.15
param set-default MC_ROLLRATE_I 0.1
param set-default MC_ROLL_P 6.0
param set-default MPC_XY_VEL_I_ACC 4
param set-default MPC_XY_VEL_P_ACC 3
param set RTL_DESCEND_ALT 10
param set-default RTL_DESCEND_ALT 10
param set TRIG_INTERFACE 3
param set TRIG_MODE 4
param set MNT_MODE_IN 4
param set MNT_DO_STAB 2
fi
param set-default TRIG_INTERFACE 3
param set-default TRIG_MODE 4
param set-default MNT_MODE_IN 4
param set-default MNT_DO_STAB 2
set MAV_TYPE 13

35
ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480
View File

@ -7,27 +7,24 @@
. ${R}etc/init.d/rc.mc_defaults
if [ $AUTOCNF = yes ]
then
param set MC_PITCHRATE_P 0.0800
param set MC_PITCHRATE_I 0.0400
param set MC_PITCHRATE_D 0.0010
param set MC_PITCH_P 9.0
param set MC_ROLLRATE_P 0.0800
param set MC_ROLLRATE_I 0.0400
param set MC_ROLLRATE_D 0.0010
param set MC_ROLL_P 9.0
param set MPC_XY_VEL_I_ACC 4
param set MPC_XY_VEL_P_ACC 3
param set-default MC_PITCHRATE_P 0.0800
param set-default MC_PITCHRATE_I 0.0400
param set-default MC_PITCHRATE_D 0.0010
param set-default MC_PITCH_P 9.0
param set-default MC_ROLLRATE_P 0.0800
param set-default MC_ROLLRATE_I 0.0400
param set-default MC_ROLLRATE_D 0.0010
param set-default MC_ROLL_P 9.0
param set-default MPC_XY_VEL_I_ACC 4
param set-default MPC_XY_VEL_P_ACC 3
param set RTL_DESCEND_ALT 10
param set-default RTL_DESCEND_ALT 10
param set TRIG_INTERFACE 3
param set TRIG_MODE 4
param set MNT_MODE_IN 4
param set MNT_MODE_OUT 2
param set MAV_PROTO_VER 2
fi
param set-default TRIG_INTERFACE 3
param set-default TRIG_MODE 4
param set-default MNT_MODE_IN 4
param set-default MNT_MODE_OUT 2
param set-default MAV_PROTO_VER 2
set MAV_TYPE 13

105
ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_ctrlalloc
View File

@ -8,66 +8,63 @@
. ${R}etc/init.d/rc.mc_defaults
. ${R}etc/init.d/rc.ctrlalloc
if [ $AUTOCNF = yes ]
then
param set MPC_XY_VEL_I_ACC 4
param set MPC_XY_VEL_P_ACC 3
param set-default MPC_XY_VEL_I_ACC 4
param set-default MPC_XY_VEL_P_ACC 3
param set RTL_DESCEND_ALT 10
param set RTL_LAND_DELAY 0
param set-default RTL_DESCEND_ALT 10
param set-default RTL_LAND_DELAY 0
param set TRIG_INTERFACE 3
param set TRIG_MODE 4
param set MNT_MODE_IN 0
param set MAV_PROTO_VER 2
param set-default TRIG_INTERFACE 3
param set-default TRIG_MODE 4
param set-default MNT_MODE_IN 0
param set-default MAV_PROTO_VER 2
param set MPC_USE_HTE 0
param set-default MPC_USE_HTE 0
param set VM_MASS 2.66
param set VM_INERTIA_XX 0.06
param set VM_INERTIA_YY 0.06
param set VM_INERTIA_ZZ 0.10
param set-default VM_MASS 2.66
param set-default VM_INERTIA_XX 0.06
param set-default VM_INERTIA_YY 0.06
param set-default VM_INERTIA_ZZ 0.10
param set CA_AIRFRAME 0
param set CA_METHOD 1
param set CA_ACT0_MIN 0.0
param set CA_ACT1_MIN 0.0
param set CA_ACT2_MIN 0.0
param set CA_ACT3_MIN 0.0
param set CA_ACT4_MIN 0.0
param set CA_ACT5_MIN 0.0
param set CA_ACT0_MAX 1.0
param set CA_ACT1_MAX 1.0
param set CA_ACT2_MAX 1.0
param set CA_ACT3_MAX 1.0
param set CA_ACT4_MAX 1.0
param set CA_ACT5_MAX 1.0
param set-default CA_AIRFRAME 0
param set-default CA_METHOD 1
param set-default CA_ACT0_MIN 0.0
param set-default CA_ACT1_MIN 0.0
param set-default CA_ACT2_MIN 0.0
param set-default CA_ACT3_MIN 0.0
param set-default CA_ACT4_MIN 0.0
param set-default CA_ACT5_MIN 0.0
param set-default CA_ACT0_MAX 1.0
param set-default CA_ACT1_MAX 1.0
param set-default CA_ACT2_MAX 1.0
param set-default CA_ACT3_MAX 1.0
param set-default CA_ACT4_MAX 1.0
param set-default CA_ACT5_MAX 1.0
param set CA_MC_R0_PX 0.0
param set CA_MC_R0_PY 1.0
param set CA_MC_R0_CT 9.5
param set CA_MC_R0_KM -0.05
param set CA_MC_R1_PX 0.0
param set CA_MC_R1_PY -1.0
param set CA_MC_R1_CT 9.5
param set CA_MC_R1_KM 0.05
param set CA_MC_R2_PX 0.866025
param set CA_MC_R2_PY -0.5
param set CA_MC_R2_CT 9.5
param set CA_MC_R2_KM -0.05
param set CA_MC_R3_PX -0.866025
param set CA_MC_R3_PY 0.5
param set CA_MC_R3_CT 9.5
param set CA_MC_R3_KM 0.05
param set CA_MC_R4_PX 0.866025
param set CA_MC_R4_PY 0.5
param set CA_MC_R4_CT 9.5
param set CA_MC_R4_KM 0.05
param set CA_MC_R5_PX -0.866025
param set CA_MC_R5_PY -0.5
param set CA_MC_R5_CT 9.5
param set CA_MC_R5_KM -0.05
fi
param set-default CA_MC_R0_PX 0.0
param set-default CA_MC_R0_PY 1.0
param set-default CA_MC_R0_CT 9.5
param set-default CA_MC_R0_KM -0.05
param set-default CA_MC_R1_PX 0.0
param set-default CA_MC_R1_PY -1.0
param set-default CA_MC_R1_CT 9.5
param set-default CA_MC_R1_KM 0.05
param set-default CA_MC_R2_PX 0.866025
param set-default CA_MC_R2_PY -0.5
param set-default CA_MC_R2_CT 9.5
param set-default CA_MC_R2_KM -0.05
param set-default CA_MC_R3_PX -0.866025
param set-default CA_MC_R3_PY 0.5
param set-default CA_MC_R3_CT 9.5
param set-default CA_MC_R3_KM 0.05
param set-default CA_MC_R4_PX 0.866025
param set-default CA_MC_R4_PY 0.5
param set-default CA_MC_R4_CT 9.5
param set-default CA_MC_R4_KM 0.05
param set-default CA_MC_R5_PX -0.866025
param set-default CA_MC_R5_PY -0.5
param set-default CA_MC_R5_CT 9.5
param set-default CA_MC_R5_KM -0.05
set MAV_TYPE 13