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CA testing hacks, external failure message, sitl tuning, disabling of rate controller saturation

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2024-06-10 11:50:58 +02:00
parent 94e98c2457
commit 619812cbdd
13 changed files with 251 additions and 13 deletions
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ROMFS/px4fmu_common/init.d-posix/airframes/1040_gazebo-classic_standard_vtol
+25 -10
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@@ -15,17 +15,17 @@ param set-default FD_ACT_MOT_TOUT 500
param set-default CA_AIRFRAME 2
param set-default CA_ROTOR_COUNT 5
param set-default CA_ROTOR0_PX 0.1515
param set-default CA_ROTOR0_PY 0.245
param set-default CA_ROTOR0_PX 1
param set-default CA_ROTOR0_PY 1
param set-default CA_ROTOR0_KM 0.05
param set-default CA_ROTOR1_PX -0.1515
param set-default CA_ROTOR1_PY -0.1875
param set-default CA_ROTOR1_PX -1
param set-default CA_ROTOR1_PY -1
param set-default CA_ROTOR1_KM 0.05
param set-default CA_ROTOR2_PX 0.1515
param set-default CA_ROTOR2_PY -0.245
param set-default CA_ROTOR2_PX 1
param set-default CA_ROTOR2_PY -1
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.1515
param set-default CA_ROTOR3_PY 0.1875
param set-default CA_ROTOR3_PX -1
param set-default CA_ROTOR3_PY 1
param set-default CA_ROTOR3_KM -0.05
param set-default CA_ROTOR4_AX 1
param set-default CA_ROTOR4_AZ 0
@@ -33,9 +33,9 @@ param set-default CA_ROTOR4_PX 0.2
param set-default CA_SV_CS_COUNT 3
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS0_TRQ_R -1
param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS1_TRQ_R 0.5
param set-default CA_SV_CS1_TRQ_R 1
param set-default CA_SV_CS2_TYPE 3
param set-default CA_SV_CS2_TRQ_P 1
param set-default PWM_MAIN_FUNC1 101
@@ -79,3 +79,18 @@ param set-default VT_FWD_THRUST_SC 1
param set-default VT_F_TRANS_THR 0.75
param set-default VT_TYPE 2
param set-default CA_FW_DTHR_SC_R 1
param set-default CA_FAILURE_MODE 1
# Two ways to lock servo1 and servo2, either in allocation (will automatically notify about the failure), in in the output mixer
# Only enable one of the two options
# output mixer (NO automatic failure notification)
# param set-default OUT_SRV_FAIL_IPT 1
# param set-default OUT_SRV_FAIL_NR 2
# allocation (automatic failure notification)
param set-default COM_SRV_FAIL_IPT 1
param set-default COM_SRV_FAIL_NR 2
param set-default CA_FW_DTHR_AIRMD 1 # has to be enabled otheriwse the MC motors have no differential thrust capability