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control_allocator: generic motor configuration for standard vtols

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This adds the pusher/puller to the standard motors and makes the axis
configurable.
This commit is contained in:
Beat Küng
2022-02-25 08:30:58 +01:00
parent b2dc9ee710
commit 76d8d8cae6
14 changed files with 66 additions and 46 deletions
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ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol
+4 -1
View File
@@ -10,7 +10,7 @@
# param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 2
param set-default CA_ROTOR_COUNT 4
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_KM 0.05
@@ -23,6 +23,9 @@ 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_KM -0.05
param set-default CA_ROTOR4_AX 1.0
param set-default CA_ROTOR4_AZ 0.0
param set-default CA_ROTOR4_PX 0.2
param set-default CA_SV_CS_COUNT 3
param set-default CA_SV_CS0_TYPE 1
ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
+4 -1
View File
@@ -62,7 +62,7 @@ param set-default VT_FW_MOT_OFFID 1234
param set-default VT_TYPE 2
param set-default CA_AIRFRAME 2
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR_COUNT 5
param set-default CA_ROTOR0_PX 0.15
param set-default CA_ROTOR0_PY 0.15
param set-default CA_ROTOR1_PX -0.15
@@ -73,6 +73,9 @@ param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.15
param set-default CA_ROTOR3_PY 0.15
param set-default CA_ROTOR3_KM -0.05
param set-default CA_ROTOR4_AX 1.0
param set-default CA_ROTOR4_AZ 0.0
param set-default CA_ROTOR4_PX 0.2
param set-default CA_SV_CS_COUNT 3
param set-default CA_SV_CS1_TRQ_R 0.5
ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard
+4 -1
View File
@@ -25,7 +25,7 @@
. ${R}etc/init.d/rc.vtol_defaults
param set-default CA_AIRFRAME 2
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR_COUNT 5
param set-default CA_ROTOR0_PX 0.15
param set-default CA_ROTOR0_PY 0.15
param set-default CA_ROTOR1_PX -0.15
@@ -36,6 +36,9 @@ param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.15
param set-default CA_ROTOR3_PY 0.15
param set-default CA_ROTOR3_KM -0.05
param set-default CA_ROTOR4_AX 1.0
param set-default CA_ROTOR4_AZ 0.0
param set-default CA_ROTOR4_PX 0.2
param set-default CA_SV_CS_COUNT 4
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS0_TRQ_R -0.5