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ROMFS: added autostart and mixer file for standard vtol in hitl

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Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2018-04-06 16:15:31 +02:00
committed by Beat Küng
parent fb3e3b1cad
commit 9546daadea
2 changed files with 105 additions and 0 deletions
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ROMFS/px4fmu_common/init.d/2200_standard_vtol_hitl
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#!nsh
#
# @name Standard vtol HITL
#
# @type Standard VTOL
# @class VTOL
#
# @maintainer Roman Bapst <roman@auterion.com>
#
sh /etc/init.d/rc.vtol_defaults
if [ $AUTOCNF == yes ]
then
param set BAT_N_CELLS 3
param set CAL_ACC0_ID 1376264
param set CAL_ACC0_XOFF 0.01
param set CAL_ACC0_XSCALE 1.01
param set CAL_ACC0_YOFF -0.01
param set CAL_ACC0_YSCALE 1.01
param set CAL_ACC0_ZOFF 0.01
param set CAL_ACC0_ZSCALE 1.01
param set CAL_ACC1_ID 1310728
param set CAL_ACC1_XOFF 0.01
param set CAL_GYRO0_ID 2293768
param set CAL_GYRO0_XOFF 0.01
param set CAL_MAG0_ID 196616
param set CAL_MAG0_XOFF 0.01
param set COM_DISARM_LAND 5
param set COM_RC_IN_MODE 1
param set EKF2_AID_MASK 1
param set EKF2_ANGERR_INIT 0.01
param set EKF2_GBIAS_INIT 0.01
param set EKF2_HGT_MODE 0
param set EKF2_MAG_TYPE 1
param set FW_AIRSPD_MAX 25
param set FW_AIRSPD_MIN 14
param set FW_AIRSPD_TRIM 16
param set MAV_TYPE 20
param set MC_PITCH_P 6
param set MC_PITCHRATE_P 0.2
param set MC_ROLL_P 6
param set MC_ROLLRATE_P 0.3
param set MIS_LTRMIN_ALT 10
param set MIS_TAKEOFF_ALT 10
param set MIS_YAW_TMT 10
param set MPC_ACC_HOR_MAX 2
param set MPC_ACC_HOR_MAX 2.0
param set MPC_THR_MIN 0.1
param set MPC_TKO_SPEED 1.0
param set MPC_XY_P 0.8
param set MPC_XY_VEL_D 0.005
param set MPC_XY_VEL_I 0.2
param set MPC_XY_VEL_P 0.15
param set MPC_Z_VEL_I 0.15
param set MPC_Z_VEL_MAX_DN 1.5
param set MPC_Z_VEL_P 0.6
param set NAV_ACC_RAD 5.0
param set NAV_DLL_ACT 2
param set NAV_LOITER_RAD 80
param set RTL_DESCEND_ALT 10.0
param set RTL_LAND_DELAY 0
param set RTL_RETURN_ALT 30.0
param set SDLOG_DIRS_MAX 7
param set SENS_BOARD_ROT 0
param set SENS_BOARD_X_OFF 0.000001
param set SENS_DPRES_OFF 0.001
param set SYS_MC_EST_GROUP 2
param set SYS_RESTART_TYPE 2
param set VT_F_TRANS_THR 0.75
param set VT_MOT_COUNT 4
param set VT_TYPE 2
fi
set MIXER standard_vtol_hitl
set PWM_OUT 1234
param set SYS_HITL 1
ROMFS/px4fmu_common/mixers/standard_vtol_hitl.main.mix
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Mixer for standard vtol plane (SITL) with motor x configuration
=========================================================
This file defines a single mixer for a standard vtol plane (SITL gazebo) with motors in X configuration. The plane has two ailerons and one elevator.
R: 4x 10000 10000 10000 0
# mixer for the pusher/puller throttle
M: 1
O: 10000 10000 0 -10000 10000
S: 1 3 0 20000 -10000 -10000 10000
# mixer for the left aileron
M: 1
O: 10000 10000 0 -10000 10000
S: 1 0 10000 10000 0 -10000 10000
# mixer for the right aileron
M: 1
O: 10000 10000 0 -10000 10000
S: 1 0 -10000 -10000 0 -10000 10000
# mixer for the elevator
M: 1
O: 10000 10000 0 -10000 10000
S: 1 1 10000 10000 0 -10000 10000