diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1080_helicopter b/ROMFS/px4fmu_common/init.d-posix/airframes/1080_helicopter new file mode 100644 index 0000000000..d5451bcce9 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1080_helicopter @@ -0,0 +1,34 @@ +#!/bin/sh +# +# @name 3DR Iris Quadrotor SITL +# +# @type Quadrotor Wide +# +# @maintainer Julian Oes +# + +. ${R}etc/init.d/rc.heli_defaults + + +# Disable PID gains for initial setup. These should be enabled after setting the FF gain. +# P is expected to be lower than FF. +param set-default MC_ROLLRATE_P 0 +param set-default MC_ROLLRATE_I 0 +param set-default MC_ROLLRATE_D 0 +param set-default MC_ROLLRATE_FF 0.1 +param set-default MC_PITCHRATE_P 0 +param set-default MC_PITCHRATE_I 0 +param set-default MC_PITCHRATE_D 0 +param set-default MC_PITCHRATE_FF 0.1 + +param set-default CA_AIRFRAME 10 +param set-default CA_HELI_YAW_CCW 1 +param set-default CA_SP0_ANG0 0 +param set-default CA_SP0_ANG1 120 +param set-default CA_SP0_ANG2 240 + +param set-default PWM_MAIN_FUNC1 101 +param set-default PWM_MAIN_FUNC2 102 +param set-default PWM_MAIN_FUNC3 201 +param set-default PWM_MAIN_FUNC4 202 +param set-default PWM_MAIN_FUNC5 203 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt index fadd7cfb2c..ead36597ad 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt @@ -71,6 +71,7 @@ px4_add_romfs_files( 1061_r1_rover 1062_tf-r1 1070_boat + 1080_helicopter 3010_quadrotor_x 3011_hexarotor_x diff --git a/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo.cmake b/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo.cmake index 56d34b1d5b..7d6eb9c8ff 100644 --- a/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo.cmake +++ b/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo.cmake @@ -68,6 +68,7 @@ set(models boat cloudship glider + helicopter iris iris_dual_gps iris_foggy_lidar