From 95789252d062546aec21127127708f632fa84670 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Mon, 2 Aug 2021 08:33:02 +0200 Subject: [PATCH] airframes: minor param cleanups (remove commented 'param set') --- .../init.d-posix/airframes/1020_uuv_generic | 2 -- .../airframes/1021_uuv_hippocampus | 2 -- .../init.d-posix/airframes/1033_rascal | 6 ----- .../airframes/1034_rascal-electric | 6 ----- .../px4fmu_common/init.d-posix/px4-rc.params | 4 +-- .../init.d/airframes/18001_TF-B1 | 3 ++- ROMFS/px4fmu_common/init.d/airframes/4071_ifo | 23 ---------------- .../px4fmu_common/init.d/airframes/4072_draco | 12 --------- .../px4fmu_common/init.d/airframes/4073_ifo-s | 27 ------------------- .../init.d/airframes/4080_zmr250 | 2 -- .../init.d/airframes/4100_tiltquadrotor | 3 +-- .../px4fmu_common/init.d/airframes/4250_teal | 2 +- .../init.d/airframes/4901_crazyflie21 | 2 -- .../airframes/50003_aion_robotics_r1_rover | 1 - .../init.d/airframes/60000_uuv_generic | 1 - .../init.d/airframes/60001_uuv_hippocampus | 1 - 16 files changed, 6 insertions(+), 91 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1020_uuv_generic b/ROMFS/px4fmu_common/init.d-posix/airframes/1020_uuv_generic index 1b2416186a..7122c20d1e 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1020_uuv_generic +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1020_uuv_generic @@ -11,8 +11,6 @@ param set-default NAV_DLL_ACT 0 # disable circuit breaker for airspeed sensor param set-default CBRK_AIRSPD_CHK 162128 -#param set CBRK_GPSFAIL 240024 - set MAV_TYPE 12 param set MAV_TYPE ${MAV_TYPE} diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1021_uuv_hippocampus b/ROMFS/px4fmu_common/init.d-posix/airframes/1021_uuv_hippocampus index bb8856741f..e4752fba88 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1021_uuv_hippocampus +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1021_uuv_hippocampus @@ -11,8 +11,6 @@ param set-default NAV_DLL_ACT 0 # disable circuit breaker for airspeed sensor param set-default CBRK_AIRSPD_CHK 162128 -#param set CBRK_GPSFAIL 240024 - set MAV_TYPE 12 param set MAV_TYPE ${MAV_TYPE} diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1033_rascal b/ROMFS/px4fmu_common/init.d-posix/airframes/1033_rascal index 8c1291ecb8..6c080c553e 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1033_rascal +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1033_rascal @@ -42,15 +42,9 @@ param set-default NAV_LOITER_RAD 50 param set-default RWTO_TKOFF 1 -# fix takeoff failure for JSBsim in autonomous mission mode. -#param set FW_THR_SLEW_MAX 0.3 - param set-default RWTO_MAX_PITCH 20 param set-default RWTO_MAX_ROLL 10 -# fix takeoff failure for JSBsim in autonomous mission mode. -#param set-default RWTO_MAX_THR 0.6 - param set-default RWTO_PSP 8 param set-default RWTO_AIRSPD_SCL 1.8 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1034_rascal-electric b/ROMFS/px4fmu_common/init.d-posix/airframes/1034_rascal-electric index e764a24992..5028ab1597 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1034_rascal-electric +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1034_rascal-electric @@ -42,15 +42,9 @@ param set-default NAV_LOITER_RAD 50 param set-default RWTO_TKOFF 1 -# fix takeoff failure for JSBsim in autonomous mission mode. -#param set FW_THR_SLEW_MAX 0.3 - param set-default RWTO_MAX_PITCH 20 param set-default RWTO_MAX_ROLL 10 -# fix takeoff failure for JSBsim in autonomous mission mode. -#param set RWTO_MAX_THR 0.6 - param set-default RWTO_PSP 8 param set-default RWTO_AIRSPD_SCL 1.8 diff --git a/ROMFS/px4fmu_common/init.d-posix/px4-rc.params b/ROMFS/px4fmu_common/init.d-posix/px4-rc.params index 49725f622b..d05f50146a 100644 --- a/ROMFS/px4fmu_common/init.d-posix/px4-rc.params +++ b/ROMFS/px4fmu_common/init.d-posix/px4-rc.params @@ -1,5 +1,5 @@ #!/bin/sh # shellcheck disable=SC2154 -#param set MAV_SYS_ID $((px4_instance+1)) -#param set IMU_INTEG_RATE 250 +#param set-default MAV_SYS_ID $((px4_instance+1)) +#param set-default IMU_INTEG_RATE 250 diff --git a/ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1 b/ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1 index e2ad00c809..89ea3009ee 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1 +++ b/ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1 @@ -26,7 +26,8 @@ param set-default GPS_UBX_DYNMODEL 8 param set-default SER_TEL2_BAUD 9600 param set-default SENS_BOARD_ROT 0 - param set MAV_TYPE 8 # MAV_TYPE_FREE_BALLOON +set MAV_TYPE 8 +param set MAV_TYPE ${MAV_TYPE} set MIXER IO_pass diff --git a/ROMFS/px4fmu_common/init.d/airframes/4071_ifo b/ROMFS/px4fmu_common/init.d/airframes/4071_ifo index 534cc9ce69..4a044939d0 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4071_ifo +++ b/ROMFS/px4fmu_common/init.d/airframes/4071_ifo @@ -27,48 +27,29 @@ set PWM_OUT 1234 # Attitude & rate gains -#param set MC_ROLL_P 7 param set-default MC_ROLLRATE_P 0.15 -#param set MC_ROLLRATE_I 0.9 param set-default MC_ROLLRATE_D 0.0013 -#param set MC_PITCH_P 7 param set-default MC_PITCHRATE_P 0.15 -#param set MC_PITCHRATE_I 1.1 param set-default MC_PITCHRATE_D 0.0016 param set-default MC_YAW_P 2.8 param set-default MC_YAWRATE_P 0.2 -#param set MC_YAWRATE_I 0.15 param set-default MC_YAWRATE_D 0 param set-default MC_YAW_FF 0.5 -#param set MC_ROLL_TC 0.19 -#param set MC_PITCH_TC 0.16 - -# Manual mode settings: Unleash Draco R's power :) -#param set MPC_MAN_TILT_MAX 70 -#param set MC_PITCHRATE_MAX 1600 -#param set MC_ROLLRATE_MAX 1600 -#param set MC_YAWRATE_MAX 700 param set-default MPC_MANTHR_MAX 0.9 param set-default MPC_MANTHR_MIN 0.08 -#param set MPC_MAN_TILT_MAX 35 -#param set MPC_TILTMAX_AIR 20 # Filter settings param set-default IMU_DGYRO_CUTOFF 90 param set-default IMU_GYRO_CUTOFF 100 -# Thrust curve (avoids the need for TPA) -#param set THR_MDL_FAC 0.25 - # System param set-default PWM_MAIN_MAX 1950 param set-default PWM_MAIN_MIN 1100 param set-default PWM_MAIN_RATE 0 -#param set SYS_FMU_TASK 1 param set-default SENS_BOARD_ROT 10 # EKF2 @@ -96,7 +77,6 @@ param set-default BAT1_SOURCE 0 param set-default BAT1_N_CELLS 4 param set-default BAT1_V_DIV 10.14 param set-default BAT1_A_PER_V 18.18 -#param set CBRK_IO_SAFETY 22027 param set-default COM_DISARM_LAND 2 # Filter settings @@ -106,9 +86,6 @@ param set-default IMU_DGYRO_CUTOFF 70 # Don't try to be intelligent on RC loss: just cut the motors param set-default NAV_RCL_ACT 6 -# enable to use high-rate logging for better rate tracking analysis -# param set SDLOG_PROFILE 19 - # TELEM1 ttyS1 - Wifi module param set-default MAV_0_CONFIG 101 param set-default MAV_0_RATE 0 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4072_draco b/ROMFS/px4fmu_common/init.d/airframes/4072_draco index 0a98a9e251..2c85cd642b 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4072_draco +++ b/ROMFS/px4fmu_common/init.d/airframes/4072_draco @@ -75,23 +75,11 @@ param set-default SENS_BOARD_ROT 2 param set-default BAT1_SOURCE 0 param set-default CBRK_IO_SAFETY 22027 -#param set COM_DISARM_LAND 3 # Filter settings param set-default IMU_GYRO_CUTOFF 90 param set-default IMU_DGYRO_CUTOFF 100 -# Don't try to be intelligent on RC loss: just cut the motors -#param set NAV_RCL_ACT 6 - # enable to use high-rate logging for better rate tracking analysis param set-default SDLOG_PROFILE 27 -# TELEM1 ttyS1 -#param set MAV_0_CONFIG 101 -#param set MAV_0_MODE 2 # onboard -#param set MAV_0_RATE 20000 -#param set SER_TEL1_BAUD 921600 - -# TELEM2 ttyS2 -#param set MAV_1_CONFIG 0 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s b/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s index ed3d69b9e1..2d054b4b4c 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s +++ b/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s @@ -27,44 +27,21 @@ set PWM_OUT 1234 # Attitude & rate gains -#param set MC_ROLL_P 7 param set-default MC_ROLLRATE_P 0.15 -#param set MC_ROLLRATE_I 0.9 param set-default MC_ROLLRATE_D 0.0013 -#param set MC_PITCH_P 7 param set-default MC_PITCHRATE_P 0.15 -#param set MC_PITCHRATE_I 1.1 param set-default MC_PITCHRATE_D 0.0016 param set-default MC_YAW_P 2.8 param set-default MC_YAWRATE_P 0.2 -#param set MC_YAWRATE_I 0.15 param set-default MC_YAWRATE_D 0 -#param set MC_ROLL_TC 0.19 -#param set MC_PITCH_TC 0.16 - -# Manual mode settings: Unleash Draco R's power :) -#param set MPC_MAN_TILT_MAX 70 -#param set MC_PITCHRATE_MAX 1600 -#param set MC_ROLLRATE_MAX 1600 -#param set MC_YAWRATE_MAX 700 param set-default MPC_MANTHR_MIN 0.08 -#param set MPC_MAN_TILT_MAX 35 -#param set MPC_TILTMAX_AIR 20 # Filter settings param set-default IMU_GYRO_CUTOFF 100 -# Thrust curve (avoids the need for TPA) -#param set THR_MDL_FAC 0.25 - -# Obsolete -#param set PWM_MAIN_MAX 1950 -#param set PWM_MAIN_MIN 1100 -#param set PWM_MAIN_RATE 0 - # Sensors param set-default SENS_BOARD_ROT 10 # Yaw 180 @@ -106,7 +83,6 @@ param set-default BAT1_SOURCE 0 param set-default BAT1_N_CELLS 4 param set-default BAT1_V_DIV 10.14 param set-default BAT1_A_PER_V 18.18 -#param set CBRK_IO_SAFETY 22027 param set-default COM_DISARM_LAND 2 # Filter settings @@ -115,9 +91,6 @@ param set-default IMU_GYRO_CUTOFF 90 # Don't try to be intelligent on RC loss: just cut the motors param set-default NAV_RCL_ACT 6 -# enable to use high-rate logging for better rate tracking analysis -# param set SDLOG_PROFILE 19 - # TELEM1 ttyS1 - Wifi module param set-default MAV_0_CONFIG 101 param set-default MAV_0_RATE 0 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4080_zmr250 b/ROMFS/px4fmu_common/init.d/airframes/4080_zmr250 index 9576fd24be..ceaa283622 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4080_zmr250 +++ b/ROMFS/px4fmu_common/init.d/airframes/4080_zmr250 @@ -38,8 +38,6 @@ param set-default MC_ACRO_R_MAX 1000 param set-default MC_ACRO_P_MAX 1000 param set-default MC_ACRO_Y_MAX 1000 -# param set NAV_RCL_ACT 6 # Lockdown - param set-default PWM_MAIN_MIN 1075 param set-default PWM_MAIN_RATE 400 param set-default PWM_MAIN_DISARM 900 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4100_tiltquadrotor b/ROMFS/px4fmu_common/init.d/airframes/4100_tiltquadrotor index 3fd3f11d74..bb265a53cd 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4100_tiltquadrotor +++ b/ROMFS/px4fmu_common/init.d/airframes/4100_tiltquadrotor @@ -24,8 +24,7 @@ . ${R}etc/init.d/rc.mc_defaults -#Parameters here: -param set LED_RGB_MAXBRT 8 +param set-default LED_RGB_MAXBRT 8 # Configure this as Quadrotor diff --git a/ROMFS/px4fmu_common/init.d/airframes/4250_teal b/ROMFS/px4fmu_common/init.d/airframes/4250_teal index c7ade39b4a..60b2458413 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4250_teal +++ b/ROMFS/px4fmu_common/init.d/airframes/4250_teal @@ -189,7 +189,7 @@ param set-default CAL_ACC1_PRIO 0 param set-default CAL_GYRO0_PRIO 255 param set-default CAL_GYRO1_PRIO 0 # Logger mode. Default(1) + estimator replay(2) + thermal calibration(4) -param set SDLOG_PROFILE 6 +param set-default SDLOG_PROFILE 6 # Do not start frsky_telemetry on port ttyS6 by default, PGA460 lives there. 500 is in arbitrary unused number. param set TEL_FRSKY_CONFIG 500 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21 b/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21 index fd2463ae1d..54165f7577 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21 +++ b/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21 @@ -53,8 +53,6 @@ param set-default MPC_Z_VEL_P_ACC 8 param set-default MPC_Z_VEL_I_ACC 6 param set-default MPC_HOLD_MAX_XY 0.1 param set-default MPC_MAX_FLOW_HGT 3 -#param set IMU_GYRO_NF_FREQ 10 -#param set IMU_GYRO_NF_BW 20 param set-default NAV_RCL_ACT 3 diff --git a/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover b/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover index c6ac9a2f9f..1fa95631f6 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover +++ b/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover @@ -72,7 +72,6 @@ param set-default GND_MAX_ANG 3.1415 param set-default RBCLW_BAUD 8 param set-default RBCLW_COUNTS_REV 1200 param set-default RBCLW_ADDRESS 128 -# param set SER_TEL4_BAUD 115200 # 104 corresponds to Telem 4 param set-default RBCLW_SER_CFG 104 # Start this driver after setting parameters, because the driver uses some of those parameters. diff --git a/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic b/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic index 705d185a6a..25071ba9d7 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic +++ b/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic @@ -20,7 +20,6 @@ param set-default NAV_DLL_ACT 0 # disable circuit breaker for airspeed sensor param set-default CBRK_AIRSPD_CHK 162128 -#param set CBRK_GPSFAIL 240024 set MAV_TYPE 12 param set MAV_TYPE ${MAV_TYPE} diff --git a/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus b/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus index 360d700fd6..9bd46a8908 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus +++ b/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus @@ -20,7 +20,6 @@ param set-default NAV_DLL_ACT 0 # disable circuit breaker for airspeed sensor param set-default CBRK_AIRSPD_CHK 162128 -#param set CBRK_GPSFAIL 240024 set MAV_TYPE 12 param set MAV_TYPE ${MAV_TYPE}