diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane b/ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane index 47f8c70b00..8580464c49 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane @@ -26,7 +26,7 @@ param set-default CBRK_IO_SAFETY 22027 param set-default BAT_N_CELLS 3 -param set-default SIH_T_MAX 6.0 +param set-default SIH_T_MAX 6 param set-default SIH_MASS 0.3 param set-default SIH_IXX 0.00402 param set-default SIH_IYY 0.0144 @@ -45,9 +45,9 @@ param set-default CA_ROTOR_COUNT 1 param set-default CA_SV_CS_COUNT 3 param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS0_TYPE 1 -param set-default CA_SV_CS1_TRQ_P 1.0 +param set-default CA_SV_CS1_TRQ_P 1 param set-default CA_SV_CS1_TYPE 3 -param set-default CA_SV_CS2_TRQ_Y 1.0 +param set-default CA_SV_CS2_TRQ_Y 1 param set-default CA_SV_CS2_TYPE 4 param set-default PWM_MAIN_FUNC3 201 param set-default PWM_MAIN_FUNC4 202 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert b/ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert index 2782817873..536fc6076c 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert @@ -35,14 +35,14 @@ param set-default CBRK_IO_SAFETY 22027 param set-default BAT_N_CELLS 3 -param set-default SIH_T_MAX 2.0 +param set-default SIH_T_MAX 2 param set-default SIH_Q_MAX 0.0165 param set-default SIH_MASS 0.2 # IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg param set-default SIH_IXX 0.00354 param set-default SIH_IYY 0.000625 param set-default SIH_IZZ 0.00300 -param set-default SIH_IXZ 0.0 +param set-default SIH_IXZ 0 param set-default SIH_KDV 0.2 param set-default SIH_L_ROLL 0.145 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1010_gazebo-classic_iris_opt_flow b/ROMFS/px4fmu_common/init.d-posix/airframes/1010_gazebo-classic_iris_opt_flow index 28c3e34f71..38d9019adc 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1010_gazebo-classic_iris_opt_flow +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1010_gazebo-classic_iris_opt_flow @@ -47,5 +47,5 @@ param set-default MPC_ALT_MODE 2 param set-default SENS_FLOW_ROT 6 param set-default SENS_FLOW_MINHGT 0.7 -param set-default SENS_FLOW_MAXHGT 3.0 +param set-default SENS_FLOW_MAXHGT 3 param set-default SENS_FLOW_MAXR 2.5 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1030_gazebo-classic_plane b/ROMFS/px4fmu_common/init.d-posix/airframes/1030_gazebo-classic_plane index 462cfe5010..f203ee14cc 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1030_gazebo-classic_plane +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1030_gazebo-classic_plane @@ -54,9 +54,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS0_TYPE 1 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS1_TYPE 2 -param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS2_TRQ_P 1 param set-default CA_SV_CS2_TYPE 3 -param set-default CA_SV_CS3_TRQ_Y 1.0 +param set-default CA_SV_CS3_TRQ_Y 1 param set-default CA_SV_CS3_TYPE 4 param set-default CA_SV_CS4_TYPE 9 param set-default CA_SV_CS5_TYPE 10 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo-classic_plane_cam b/ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo-classic_plane_cam index 743698450c..3dc3c9ee1a 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo-classic_plane_cam +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo-classic_plane_cam @@ -57,9 +57,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS0_TYPE 1 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS1_TYPE 2 -param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS2_TRQ_P 1 param set-default CA_SV_CS2_TYPE 3 -param set-default CA_SV_CS3_TRQ_Y 1.0 +param set-default CA_SV_CS3_TRQ_Y 1 param set-default CA_SV_CS3_TYPE 4 param set-default CA_SV_CS4_TYPE 9 param set-default CA_SV_CS5_TYPE 10 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo-classic_plane_catapult b/ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo-classic_plane_catapult index 9ce6cb61dd..f8fd546366 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo-classic_plane_catapult +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo-classic_plane_catapult @@ -57,9 +57,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS0_TYPE 1 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS1_TYPE 2 -param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS2_TRQ_P 1 param set-default CA_SV_CS2_TYPE 3 -param set-default CA_SV_CS3_TRQ_Y 1.0 +param set-default CA_SV_CS3_TRQ_Y 1 param set-default CA_SV_CS3_TYPE 4 param set-default CA_SV_CS4_TYPE 9 param set-default CA_SV_CS5_TYPE 10 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1033_jsbsim_rascal b/ROMFS/px4fmu_common/init.d-posix/airframes/1033_jsbsim_rascal index 89675aed62..06a845be30 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1033_jsbsim_rascal +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1033_jsbsim_rascal @@ -42,9 +42,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS0_TYPE 1 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS1_TYPE 2 -param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS2_TRQ_P 1 param set-default CA_SV_CS2_TYPE 3 -param set-default CA_SV_CS3_TRQ_Y 1.0 +param set-default CA_SV_CS3_TRQ_Y 1 param set-default CA_SV_CS3_TYPE 4 param set-default CA_SV_CS4_TYPE 9 param set-default CA_SV_CS5_TYPE 10 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1034_flightgear_rascal-electric b/ROMFS/px4fmu_common/init.d-posix/airframes/1034_flightgear_rascal-electric index e90fb1c657..7cb6a3bf81 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1034_flightgear_rascal-electric +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1034_flightgear_rascal-electric @@ -42,9 +42,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS0_TYPE 1 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS1_TYPE 2 -param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS2_TRQ_P 1 param set-default CA_SV_CS2_TYPE 3 -param set-default CA_SV_CS3_TRQ_Y 1.0 +param set-default CA_SV_CS3_TRQ_Y 1 param set-default CA_SV_CS3_TYPE 4 param set-default CA_SV_CS4_TYPE 9 param set-default CA_SV_CS5_TYPE 10 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1035_gazebo-classic_techpod b/ROMFS/px4fmu_common/init.d-posix/airframes/1035_gazebo-classic_techpod index 2c2d183806..a8b29db64c 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1035_gazebo-classic_techpod +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1035_gazebo-classic_techpod @@ -40,9 +40,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS0_TYPE 1 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS1_TYPE 2 -param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS2_TRQ_P 1 param set-default CA_SV_CS2_TYPE 3 -param set-default CA_SV_CS3_TRQ_Y 1.0 +param set-default CA_SV_CS3_TRQ_Y 1 param set-default CA_SV_CS3_TYPE 4 param set-default CA_SV_CS4_TYPE 9 param set-default CA_SV_CS5_TYPE 10 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1036_jsbsim_malolo b/ROMFS/px4fmu_common/init.d-posix/airframes/1036_jsbsim_malolo index 89675aed62..06a845be30 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1036_jsbsim_malolo +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1036_jsbsim_malolo @@ -42,9 +42,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS0_TYPE 1 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS1_TYPE 2 -param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS2_TRQ_P 1 param set-default CA_SV_CS2_TYPE 3 -param set-default CA_SV_CS3_TRQ_Y 1.0 +param set-default CA_SV_CS3_TRQ_Y 1 param set-default CA_SV_CS3_TYPE 4 param set-default CA_SV_CS4_TYPE 9 param set-default CA_SV_CS5_TYPE 10 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1037_gazebo-classic_believer b/ROMFS/px4fmu_common/init.d-posix/airframes/1037_gazebo-classic_believer index fc329d376e..83f63cec38 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1037_gazebo-classic_believer +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1037_gazebo-classic_believer @@ -48,9 +48,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS0_TYPE 1 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS1_TYPE 2 -param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS2_TRQ_P 1 param set-default CA_SV_CS2_TYPE 3 -param set-default CA_SV_CS3_TRQ_Y 1.0 +param set-default CA_SV_CS3_TRQ_Y 1 param set-default CA_SV_CS3_TYPE 4 param set-default CA_SV_CS4_TYPE 9 param set-default CA_SV_CS5_TYPE 10 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo-classic_glider b/ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo-classic_glider index 294c07b3ef..d5b59f7007 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo-classic_glider +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo-classic_glider @@ -55,9 +55,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS0_TYPE 1 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS1_TYPE 2 -param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS2_TRQ_P 1 param set-default CA_SV_CS2_TYPE 3 -param set-default CA_SV_CS3_TRQ_Y 1.0 +param set-default CA_SV_CS3_TRQ_Y 1 param set-default CA_SV_CS3_TYPE 4 param set-default CA_SV_CS4_TYPE 9 param set-default CA_SV_CS5_TYPE 10 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1039_flightgear_rascal b/ROMFS/px4fmu_common/init.d-posix/airframes/1039_flightgear_rascal index 490d15b9c7..836615e635 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1039_flightgear_rascal +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1039_flightgear_rascal @@ -47,9 +47,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS0_TYPE 1 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS1_TYPE 2 -param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS2_TRQ_P 1 param set-default CA_SV_CS2_TYPE 3 -param set-default CA_SV_CS3_TRQ_Y 1.0 +param set-default CA_SV_CS3_TRQ_Y 1 param set-default CA_SV_CS3_TYPE 4 param set-default CA_SV_CS4_TYPE 9 param set-default CA_SV_CS5_TYPE 10 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1039_gazebo-classic_advanced_plane b/ROMFS/px4fmu_common/init.d-posix/airframes/1039_gazebo-classic_advanced_plane index a998b87831..1fafd1d488 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1039_gazebo-classic_advanced_plane +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1039_gazebo-classic_advanced_plane @@ -45,9 +45,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS0_TYPE 1 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS1_TYPE 2 -param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS2_TRQ_P 1 param set-default CA_SV_CS2_TYPE 3 -param set-default CA_SV_CS3_TRQ_Y 1.0 +param set-default CA_SV_CS3_TRQ_Y 1 param set-default CA_SV_CS3_TYPE 4 param set-default CA_SV_CS4_TYPE 9 param set-default CA_SV_CS5_TYPE 10 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1040_gazebo-classic_standard_vtol b/ROMFS/px4fmu_common/init.d-posix/airframes/1040_gazebo-classic_standard_vtol index 9ad99c1d83..0e25b56330 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1040_gazebo-classic_standard_vtol +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1040_gazebo-classic_standard_vtol @@ -27,8 +27,8 @@ 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_AX 1 +param set-default CA_ROTOR4_AZ 0 param set-default CA_ROTOR4_PX 0.2 param set-default CA_SV_CS_COUNT 3 @@ -37,7 +37,7 @@ param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS1_TYPE 2 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS2_TYPE 3 -param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS2_TRQ_P 1 param set-default PWM_MAIN_FUNC1 101 param set-default PWM_MAIN_FUNC2 102 param set-default PWM_MAIN_FUNC3 103 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1042_gazebo-classic_tiltrotor b/ROMFS/px4fmu_common/init.d-posix/airframes/1042_gazebo-classic_tiltrotor index 9293cd3140..060399be76 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1042_gazebo-classic_tiltrotor +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1042_gazebo-classic_tiltrotor @@ -31,7 +31,7 @@ param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS0_TYPE 1 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS1_TYPE 2 -param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS2_TRQ_P 1 param set-default CA_SV_CS2_TYPE 3 param set-default CA_SV_CS_COUNT 3 param set-default CA_SV_TL_COUNT 2 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1043_gazebo-classic_standard_vtol_drop b/ROMFS/px4fmu_common/init.d-posix/airframes/1043_gazebo-classic_standard_vtol_drop index f029918529..29f09dc47c 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1043_gazebo-classic_standard_vtol_drop +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1043_gazebo-classic_standard_vtol_drop @@ -27,8 +27,8 @@ 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_AX 1 +param set-default CA_ROTOR4_AZ 0 param set-default CA_ROTOR4_PX 0.2 param set-default CA_SV_CS_COUNT 3 @@ -37,7 +37,7 @@ param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS1_TYPE 2 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS2_TYPE 3 -param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS2_TRQ_P 1 param set-default PWM_MAIN_FUNC1 101 param set-default PWM_MAIN_FUNC2 102 param set-default PWM_MAIN_FUNC3 103 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo-classic_plane_lidar b/ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo-classic_plane_lidar index a92e0cf2c8..22d7e21119 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo-classic_plane_lidar +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo-classic_plane_lidar @@ -57,9 +57,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS0_TYPE 1 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS1_TYPE 2 -param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS2_TRQ_P 1 param set-default CA_SV_CS2_TYPE 3 -param set-default CA_SV_CS3_TRQ_Y 1.0 +param set-default CA_SV_CS3_TRQ_Y 1 param set-default CA_SV_CS3_TYPE 4 param set-default CA_SV_CS4_TYPE 9 param set-default CA_SV_CS5_TYPE 10 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1060_gazebo-classic_rover b/ROMFS/px4fmu_common/init.d-posix/airframes/1060_gazebo-classic_rover index d58f5aebae..ab8d121092 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1060_gazebo-classic_rover +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1060_gazebo-classic_rover @@ -22,7 +22,7 @@ param set-default NAV_ACC_RAD 0.5 param set-default NAV_LOITER_RAD 2 param set-default GND_MAX_ANG 0.6 -param set-default GND_WHEEL_BASE 2.0 +param set-default GND_WHEEL_BASE 2 param set-default CA_AIRFRAME 5 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1062_flightgear_tf-r1 b/ROMFS/px4fmu_common/init.d-posix/airframes/1062_flightgear_tf-r1 index 40c5cb8d04..f3a6cd1ade 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1062_flightgear_tf-r1 +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1062_flightgear_tf-r1 @@ -29,7 +29,7 @@ param set-default NAV_ACC_RAD 0.5 param set-default NAV_LOITER_RAD 2 param set-default GND_MAX_ANG 0.6 -param set-default GND_WHEEL_BASE 3.0 +param set-default GND_WHEEL_BASE 3 param set-default CA_AIRFRAME 5 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1070_gazebo-classic_boat b/ROMFS/px4fmu_common/init.d-posix/airframes/1070_gazebo-classic_boat index c173598078..01ada36f35 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1070_gazebo-classic_boat +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1070_gazebo-classic_boat @@ -22,7 +22,7 @@ param set-default NAV_ACC_RAD 0.5 param set-default NAV_LOITER_RAD 2 param set-default GND_MAX_ANG 0.6 -param set-default GND_WHEEL_BASE 2.0 +param set-default GND_WHEEL_BASE 2 param set-default CA_AIRFRAME 9 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/17001_flightgear_tf-g1 b/ROMFS/px4fmu_common/init.d-posix/airframes/17001_flightgear_tf-g1 index f733f9cf25..9c9b2c7f63 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/17001_flightgear_tf-g1 +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/17001_flightgear_tf-g1 @@ -14,7 +14,7 @@ param set-default FW_AIRSPD_STALL 8 -param set-default FW_P_RMAX_NEG 20.0 +param set-default FW_P_RMAX_NEG 20 param set-default FW_W_RMAX 10 param set-default FW_W_EN 1 @@ -37,7 +37,7 @@ 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-default FW_MAN_R_MAX 30.0 +param set-default FW_MAN_R_MAX 30 param set-default FW_THR_TRIM 0.8 param set-default FW_THR_IDLE 0 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/17002_flightgear_tf-g2 b/ROMFS/px4fmu_common/init.d-posix/airframes/17002_flightgear_tf-g2 index 5ed2fbf966..74b6d2a316 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/17002_flightgear_tf-g2 +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/17002_flightgear_tf-g2 @@ -14,7 +14,7 @@ param set-default FW_AIRSPD_STALL 5 -param set-default FW_P_RMAX_NEG 20.0 +param set-default FW_P_RMAX_NEG 20 param set-default FW_W_RMAX 10 param set-default FW_W_EN 1 @@ -29,9 +29,9 @@ param set-default NAV_LOITER_RAD 50 # Parameters related to autogyro takeoff PR #param set-default AG_TKOFF 1 #param set-default AG_PROT_TYPE 1 -#param set-default AG_PROT_MIN_RPM 50.0 -#param set-default AG_PROT_TRG_RPM 900.0 -#param set-defoult AG_ROTOR_RPM 900.0 +#param set-default AG_PROT_MIN_RPM 50 +#param set-default AG_PROT_TRG_RPM 900 +#param set-defoult AG_ROTOR_RPM 900 param set-default FW_ARSP_SCALE_EN 0 @@ -42,7 +42,7 @@ 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-default FW_MAN_R_MAX 30.0 +param set-default FW_MAN_R_MAX 30 param set-default FW_THR_CRUISE 0.8 param set-default FW_THR_IDLE 0 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/3011_jsbsim_hexarotor_x b/ROMFS/px4fmu_common/init.d-posix/airframes/3011_jsbsim_hexarotor_x index b17de91d1b..a3fd956dfd 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/3011_jsbsim_hexarotor_x +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/3011_jsbsim_hexarotor_x @@ -13,9 +13,9 @@ param set-default MAV_TYPE 13 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_PITCH_P 6 param set-default MC_ROLLRATE_I 0.1 -param set-default MC_ROLL_P 6.0 +param set-default MC_ROLL_P 6 param set-default MPC_XY_VEL_I_ACC 4 param set-default MPC_XY_VEL_P_ACC 3 @@ -27,11 +27,11 @@ param set-default MNT_MODE_IN 4 param set-default MNT_DO_STAB 2 -param set-default CA_ROTOR0_PX 0.0 -param set-default CA_ROTOR0_PY 1.0 +param set-default CA_ROTOR0_PX 0 +param set-default CA_ROTOR0_PY 1 param set-default CA_ROTOR0_KM -0.05 -param set-default CA_ROTOR1_PX 0.0 -param set-default CA_ROTOR1_PY -1.0 +param set-default CA_ROTOR1_PX 0 +param set-default CA_ROTOR1_PY -1 param set-default CA_ROTOR1_KM 0.05 param set-default CA_ROTOR2_PX 0.866025 param set-default CA_ROTOR2_PY -0.5 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna b/ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna index e87e013e5d..d7ea1f3b37 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna @@ -70,9 +70,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS0_TYPE 1 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS1_TYPE 2 -param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS2_TRQ_P 1 param set-default CA_SV_CS2_TYPE 3 -param set-default CA_SV_CS3_TRQ_Y 1.0 +param set-default CA_SV_CS3_TRQ_Y 1 param set-default CA_SV_CS3_TYPE 4 param set-default CA_SV_CS4_TYPE 9 param set-default CA_SV_CS5_TYPE 10 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol b/ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol index 57fd1d6866..3390ee525c 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol @@ -40,8 +40,8 @@ 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_AX 1 +param set-default CA_ROTOR4_AZ 0 param set-default CA_ROTOR4_PX 0.2 param set-default SIM_GZ_EC_FUNC1 101 @@ -73,7 +73,7 @@ param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS1_TYPE 2 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS2_TYPE 3 -param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS2_TRQ_P 1 param set-default NPFG_PERIOD 12 param set-default FW_PR_FF 0.2 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4008_gz_advanced_plane b/ROMFS/px4fmu_common/init.d-posix/airframes/4008_gz_advanced_plane index 37a407383f..2a49b08541 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/4008_gz_advanced_plane +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4008_gz_advanced_plane @@ -63,9 +63,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS0_TYPE 1 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS1_TYPE 2 -param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS2_TRQ_P 1 param set-default CA_SV_CS2_TYPE 3 -param set-default CA_SV_CS3_TRQ_Y 1.0 +param set-default CA_SV_CS3_TRQ_Y 1 param set-default CA_SV_CS3_TYPE 4 param set-default CA_SV_CS4_TYPE 9 param set-default CA_SV_CS5_TYPE 10 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/6011_gazebo-classic_typhoon_h480 b/ROMFS/px4fmu_common/init.d-posix/airframes/6011_gazebo-classic_typhoon_h480 index 05ae1af81a..0174411c73 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/6011_gazebo-classic_typhoon_h480 +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/6011_gazebo-classic_typhoon_h480 @@ -9,14 +9,14 @@ param set-default MAV_TYPE 13 -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 MC_PITCHRATE_P 0.08 +param set-default MC_PITCHRATE_I 0.04 +param set-default MC_PITCHRATE_D 0.001 +param set-default MC_PITCH_P 9 +param set-default MC_ROLLRATE_P 0.08 +param set-default MC_ROLLRATE_I 0.04 +param set-default MC_ROLLRATE_D 0.001 +param set-default MC_ROLL_P 9 param set-default MPC_XY_VEL_I_ACC 4 param set-default MPC_XY_VEL_P_ACC 3 @@ -31,11 +31,11 @@ param set-default MAV_PROTO_VER 2 param set-default CA_AIRFRAME 0 param set-default CA_ROTOR_COUNT 6 -param set-default CA_ROTOR0_PX 0.0 -param set-default CA_ROTOR0_PY 1.0 +param set-default CA_ROTOR0_PX 0 +param set-default CA_ROTOR0_PY 1 param set-default CA_ROTOR0_KM -0.05 -param set-default CA_ROTOR1_PX 0.0 -param set-default CA_ROTOR1_PY -1.0 +param set-default CA_ROTOR1_PX 0 +param set-default CA_ROTOR1_PY -1 param set-default CA_ROTOR1_KM 0.05 param set-default CA_ROTOR2_PX 0.866025 param set-default CA_ROTOR2_PY -0.5 diff --git a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil b/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil index 5bac16ad47..461120e572 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil +++ b/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil @@ -54,18 +54,8 @@ param set-default VT_TYPE 2 param set-default CA_AIRFRAME 2 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 -param set-default CA_ROTOR1_PY -0.15 -param set-default CA_ROTOR2_PX 0.15 -param set-default CA_ROTOR2_PY -0.15 -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_AX 1 +param set-default CA_ROTOR4_AZ 0 param set-default CA_ROTOR4_PX 0.2 # Square quadrotor X PX4 numbering @@ -86,7 +76,7 @@ param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS0_TYPE 1 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS1_TYPE 2 -param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS2_TRQ_P 1 param set-default CA_SV_CS2_TYPE 3 param set-default HIL_ACT_FUNC1 101 diff --git a/ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil b/ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil index 0ec506b68f..07c7d925c2 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil +++ b/ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil @@ -21,9 +21,9 @@ param set-default CA_ROTOR0_PX 0.3 param set-default CA_SV_CS_COUNT 4 param set-default CA_SV_CS0_TRQ_R 0.5 param set-default CA_SV_CS0_TYPE 2 -param set-default CA_SV_CS1_TRQ_P 1.0 +param set-default CA_SV_CS1_TRQ_P 1 param set-default CA_SV_CS1_TYPE 3 -param set-default CA_SV_CS2_TRQ_Y 1.0 +param set-default CA_SV_CS2_TRQ_Y 1 param set-default CA_SV_CS2_TYPE 4 param set-default CA_SV_CS3_TYPE 10 @@ -46,7 +46,7 @@ param set-default CBRK_IO_SAFETY 22027 param set-default BAT_N_CELLS 3 -param set SIH_T_MAX 6.0 +param set SIH_T_MAX 6 param set SIH_MASS 0.3 param set SIH_IXX 0.00402 param set SIH_IYY 0.0144 diff --git a/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil b/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil index d47d11545b..6ac7bea691 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil +++ b/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil @@ -71,7 +71,7 @@ param set SIH_MASS 0.2 param set SIH_IXX 0.00354 param set SIH_IYY 0.000625 param set SIH_IZZ 0.00300 -param set SIH_IXZ 0.0 +param set SIH_IXZ 0 param set SIH_KDV 0.2 param set SIH_L_ROLL 0.145 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard b/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard index 087df06c0a..d360b3835e 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard +++ b/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard @@ -14,26 +14,16 @@ param set-default CA_AIRFRAME 2 param set-default CA_ROTOR_COUNT 5 -param set-default CA_ROTOR0_PX 1 -param set-default CA_ROTOR0_PY 1 -param set-default CA_ROTOR1_PX -1 -param set-default CA_ROTOR1_PY -1 -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 -1 -param set-default CA_ROTOR3_PY 1 -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_AX 1 +param set-default CA_ROTOR4_AZ 0 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 param set-default CA_SV_CS1_TYPE 2 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS2_TYPE 3 -param set-default CA_SV_CS2_TRQ_P 1.0 -param set-default CA_SV_CS3_TRQ_Y 1.0 +param set-default CA_SV_CS2_TRQ_P 1 +param set-default CA_SV_CS3_TRQ_Y 1 param set-default CA_SV_CS3_TYPE 4 param set-default VT_TYPE 2 param set-default MAV_TYPE 22 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad b/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad index a6d97aedc1..0b2ea25966 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad +++ b/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad @@ -120,8 +120,8 @@ 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_AX 1 +param set-default CA_ROTOR4_AZ 0 param set-default CA_ROTOR4_PX 0.2 param set-default CA_SV_CS_COUNT 3 @@ -130,4 +130,4 @@ param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS1_TYPE 2 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS2_TYPE 3 -param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS2_TRQ_P 1 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark b/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark index c5ab7b8a24..cc8db21732 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark +++ b/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark @@ -80,18 +80,8 @@ param set-default VT_TYPE 2 param set-default CA_AIRFRAME 2 param set-default CA_ROTOR_COUNT 5 -param set-default CA_ROTOR0_PX 1 -param set-default CA_ROTOR0_PY 1 -param set-default CA_ROTOR1_PX -1 -param set-default CA_ROTOR1_PY -1 -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 -1 -param set-default CA_ROTOR3_PY 1 -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_AX 1 +param set-default CA_ROTOR4_AZ 0 # Square quadrotor X PX4 numbering param set-default CA_ROTOR0_PX 1 @@ -107,7 +97,7 @@ param set-default CA_ROTOR3_KM -0.05 param set-default CA_SV_CS_COUNT 3 param set-default CA_SV_CS0_TYPE 15 -param set-default CA_SV_CS0_TRQ_R 1.0 +param set-default CA_SV_CS0_TRQ_R 1 param set-default CA_SV_CS1_TRQ_P 0.5 param set-default CA_SV_CS1_TRQ_R 0 param set-default CA_SV_CS1_TRQ_Y -0.5 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor b/ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor index e4683145d4..783b646391 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor +++ b/ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor @@ -28,9 +28,9 @@ param set-default CA_SV_CS0_TYPE 1 param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS1_TYPE 2 -param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS2_TRQ_P 1 param set-default CA_SV_CS2_TYPE 3 -param set-default CA_SV_CS3_TRQ_Y 1.0 +param set-default CA_SV_CS3_TRQ_Y 1 param set-default CA_SV_CS3_TYPE 4 param set-default CA_SV_TL_COUNT 4 diff --git a/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane b/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane index cd454eafed..d872654722 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane +++ b/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane @@ -18,7 +18,7 @@ param set-default CA_SV_CS0_TYPE 1 param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS1_TYPE 2 -param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS2_TRQ_P 1 param set-default CA_SV_CS2_TYPE 3 -param set-default CA_SV_CS3_TRQ_Y 1.0 +param set-default CA_SV_CS3_TRQ_Y 1 param set-default CA_SV_CS3_TYPE 4 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu b/ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu index 89e17bacf7..d3f48bcc07 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu +++ b/ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu @@ -15,7 +15,7 @@ param set-default BAT_CRIT_THR 0.20 param set-default BAT_LOW_THR 0.25 -param set-default BAT1_CAPACITY 2800.0 +param set-default BAT1_CAPACITY 2800 param set-default BAT1_N_CELLS 3 param set-default BAT1_R_INTERNAL 0.02 param set-default BAT1_V_CHARGED 4.26 @@ -37,7 +37,7 @@ param set-default COM_RC_LOSS_T 3 # ekf2 param set-default EKF2_TERR_MASK 1 -param set-default EKF2_BARO_NOISE 2.0 +param set-default EKF2_BARO_NOISE 2 param set-default EKF2_BCOEF_X 31.5 param set-default EKF2_BCOEF_Y 25.5 @@ -55,11 +55,11 @@ param set-default EKF2_MAG_NOISE 0.1 param set-default EKF2_MIN_RNG 0.15 param set-default EKF2_OF_DELAY 38 -param set-default EKF2_OF_GATE 2.0 +param set-default EKF2_OF_GATE 2 param set-default EKF2_OF_POS_X -0.035 param set-default EKF2_OF_POS_Z 0.033 param set-default EKF2_OF_MIN_RNG 0.01 -param set-default EKF2_OF_A_HMAX 7.0 +param set-default EKF2_OF_A_HMAX 7 param set-default EKF2_OF_QMIN 30 param set-default EKF2_PCOEF_XN -0.3 @@ -67,18 +67,18 @@ param set-default EKF2_PCOEF_XP -0.4 param set-default EKF2_PCOEF_YN -0.4 param set-default EKF2_PCOEF_YP -0.4 -param set-default EKF2_RNG_A_VMAX 1.0 +param set-default EKF2_RNG_A_VMAX 1 param set-default EKF2_RNG_CTRL 0 param set-default EKF2_RNG_DELAY 55 param set-default EKF2_RNG_POS_X -0.035 -param set-default EKF2_RNG_POS_Y 0.0 +param set-default EKF2_RNG_POS_Y 0 param set-default EKF2_RNG_POS_Z 0.033 -param set-default EKF2_TERR_NOISE 1.0 +param set-default EKF2_TERR_NOISE 1 # Maximum allowed angle velocity in the landed state -param set-default LNDMC_ROT_MAX 40.0 +param set-default LNDMC_ROT_MAX 40 # Maximum vertical velocity allowed in the landed state param set-default LNDMC_Z_VEL_MAX 0.7 @@ -93,36 +93,36 @@ param set-default IMU_GYRO_CUTOFF 65 param set-default MC_PITCHRATE_P 0.075 param set-default MC_PITCHRATE_I 0.1 param set-default MC_PITCHRATE_D 0.0005 -param set-default MC_PITCHRATE_MAX 360.0 -param set-default MC_PITCH_P 8.0 +param set-default MC_PITCHRATE_MAX 360 +param set-default MC_PITCH_P 8 # Roll angle & rate setting param set-default MC_ROLLRATE_P 0.055 param set-default MC_ROLLRATE_I 0.1 param set-default MC_ROLLRATE_D 0.0005 -param set-default MC_ROLLRATE_MAX 360.0 -param set-default MC_ROLL_P 8.0 +param set-default MC_ROLLRATE_MAX 360 +param set-default MC_ROLL_P 8 # Yaw angle & rate setting param set-default MC_YAWRATE_P 0.1 -param set-default MC_YAWRATE_MAX 120.0 +param set-default MC_YAWRATE_MAX 120 param set-default MC_YAW_P 2.5 -param set-default MPC_ACC_DOWN_MAX 2.0 -param set-default MPC_ACC_HOR 3.0 -param set-default MPC_ACC_HOR_MAX 10.0 -param set-default MPC_ACC_UP_MAX 3.0 +param set-default MPC_ACC_DOWN_MAX 2 +param set-default MPC_ACC_HOR 3 +param set-default MPC_ACC_HOR_MAX 10 +param set-default MPC_ACC_UP_MAX 3 param set-default MPC_ALT_MODE 0 param set-default MPC_LAND_SPEED 0.5 param set-default MPC_MAN_TILT_MAX 20 -param set-default MPC_YAWRAUTO_MAX 80.0 +param set-default MPC_YAWRAUTO_MAX 80 param set-default MPC_THR_HOVER 0.54 param set-default MPC_THR_MAX 0.9 param set-default MPC_THR_MIN 0.06 param set-default MPC_TILTMAX_AIR 30 -param set-default MPC_XY_P 1.0 -param set-default MPC_Z_P 2.0 -param set-default MPC_Z_VEL_MAX_DN 2.0 +param set-default MPC_XY_P 1 +param set-default MPC_Z_P 2 +param set-default MPC_Z_VEL_MAX_DN 2 # gimbal configuration param set-default MNT_MODE_IN 0 @@ -149,7 +149,7 @@ param set-default RC1_TRIM 1000 # optical flow param set-default SENS_FLOW_MAXR 7.4 param set-default SENS_FLOW_MINHGT 0.15 -param set-default SENS_FLOW_MAXHGT 5.0 +param set-default SENS_FLOW_MAXHGT 5 # ignore the SD card errors and use normal startup sound set STARTUP_TUNE "1" diff --git a/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx b/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx index 6d4bd2f4f5..67620ddc03 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx +++ b/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx @@ -36,9 +36,9 @@ param set-default GND_THR_MAX 0.5 param set-default GND_MAX_ANG 1.042 param set-default GND_WHEEL_BASE 0.17 -# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase +# TODO: Set to -1, to allow reversing. This will require many changes in the codebase # to support negative throttle. -param set-default GND_THR_MIN 0.0 +param set-default GND_THR_MIN 0 param set-default GND_SPEED_P 0.25 param set-default GND_SPEED_I 3 param set-default GND_SPEED_D 0.001 diff --git a/ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy b/ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy index e3a2bca4b8..2afdc17eee 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy +++ b/ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy @@ -30,7 +30,7 @@ param set-default MAV_1_CONFIG 102 param set-default BAT1_A_PER_V 37.8798 param set-default BAT1_CAPACITY 18000 -param set-default BAT1_V_DIV 11.0 +param set-default BAT1_V_DIV 11 param set-default BAT1_N_CELLS 4 param set-default BAT_V_OFFS_CURR 0.33 diff --git a/ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x b/ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x index 73c2f5ca42..ec8720d1dc 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x +++ b/ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x @@ -16,10 +16,10 @@ param set-default MAV_TYPE 13 param set-default CA_ROTOR_COUNT 6 -param set-default CA_ROTOR0_PX 0.0 +param set-default CA_ROTOR0_PX 0 param set-default CA_ROTOR0_PY 0.5 param set-default CA_ROTOR0_KM -0.05 -param set-default CA_ROTOR1_PX 0.0 +param set-default CA_ROTOR1_PX 0 param set-default CA_ROTOR1_PY -0.5 param set-default CA_ROTOR2_PX 0.43 param set-default CA_ROTOR2_PY -0.25 diff --git a/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r b/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r index ec3b5c6089..e0eefa351b 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r +++ b/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r @@ -97,10 +97,10 @@ param set-default SER_TEL2_BAUD 921600 param set-default CA_ROTOR_COUNT 6 -param set-default CA_ROTOR0_PX 0.0 +param set-default CA_ROTOR0_PX 0 param set-default CA_ROTOR0_PY 0.5 param set-default CA_ROTOR0_KM -0.05 -param set-default CA_ROTOR1_PX 0.0 +param set-default CA_ROTOR1_PX 0 param set-default CA_ROTOR1_PY -0.5 param set-default CA_ROTOR2_PX 0.43 param set-default CA_ROTOR2_PY -0.25 diff --git a/ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+ b/ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+ index 308bdfb1b8..b22afec00e 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+ +++ b/ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+ @@ -17,10 +17,10 @@ param set-default MAV_TYPE 13 param set-default CA_ROTOR_COUNT 6 param set-default CA_ROTOR0_PX 0.5 -param set-default CA_ROTOR0_PY 0.0 +param set-default CA_ROTOR0_PY 0 param set-default CA_ROTOR0_KM -0.05 param set-default CA_ROTOR1_PX -0.5 -param set-default CA_ROTOR1_PY 0.0 +param set-default CA_ROTOR1_PY 0 param set-default CA_ROTOR2_PX -0.25 param set-default CA_ROTOR2_PY -0.43 param set-default CA_ROTOR2_KM -0.05 diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_defaults b/ROMFS/px4fmu_common/init.d/rc.fw_defaults index f63c1901b1..a8de66cd87 100644 --- a/ROMFS/px4fmu_common/init.d/rc.fw_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults @@ -33,8 +33,8 @@ param set-default EKF2_REQ_EPH 10 param set-default EKF2_REQ_EPV 10 param set-default EKF2_REQ_HDRIFT 0.5 param set-default EKF2_REQ_SACC 1 -param set-default EKF2_REQ_VDRIFT 1.0 -param set-default EKF2_RNG_QLTY_T 3.0 +param set-default EKF2_REQ_VDRIFT 1 +param set-default EKF2_RNG_QLTY_T 3 param set-default RTL_TYPE 1 param set-default RTL_RETURN_ALT 100 diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults index 5e6d041221..b666d59bb8 100644 --- a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults @@ -21,7 +21,7 @@ param set-default MIS_YAW_TMT 10 param set-default EKF2_ARSP_THR 10 param set-default EKF2_FUSE_BETA 1 -param set-default HTE_VXY_THR 2.0 +param set-default HTE_VXY_THR 2 param set-default MIS_TKO_LAND_REQ 2