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SIH airframes: clean up configs

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- set SIH_L_ROLL that agrees with CA_* rotor geometry
 - remove unnecessary params & comments
 - clarify that ailerons are single channel
This commit is contained in:
Balduin
2025-01-29 16:22:43 +01:00
committed by Silvan Fuhrer
parent ddf591c4f5
commit 96105cacc0
5 changed files with 8 additions and 50 deletions
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ROMFS/px4fmu_common/init.d/airframes/1103_standard_vtol_sih.hil
+4 -12
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@@ -10,7 +10,7 @@
# @output Motor3 MC motor front left
# @output Motor4 MC motor back right
# @output Motor5 Forward thrust motor
# @output Servo1 Aileron
# @output Servo1 Ailerons (single channel)
# @output Servo2 Elevator
# @output Servo3 Rudder
#
@@ -20,8 +20,7 @@
. ${R}etc/init.d/rc.vtol_defaults
param set UAVCAN_ENABLE 0
param set-default VT_B_TRANS_DUR 5
param set-default VT_ELEV_MC_LOCK 0
param set-default VT_TYPE 2
param set-default MPC_MAN_Y_MAX 60
param set-default MC_PITCH_P 5
@@ -40,7 +39,6 @@ param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.2
param set-default CA_ROTOR3_PY 0.2
param set-default CA_ROTOR3_KM -0.05
param set-default CA_ROTOR4_PX -0.3
param set-default CA_ROTOR4_KM 0.05
param set-default CA_ROTOR4_AX 1
@@ -55,9 +53,9 @@ param set-default CA_SV_CS1_TYPE 3 # elevator
param set-default CA_SV_CS2_TRQ_Y 1
param set-default CA_SV_CS2_TYPE 4 # rudder
param set-default FW_AIRSPD_MAX 12
param set-default FW_AIRSPD_MIN 7
param set-default FW_AIRSPD_TRIM 10
param set-default FW_AIRSPD_MAX 12
param set-default HIL_ACT_FUNC1 101
param set-default HIL_ACT_FUNC2 102
@@ -70,16 +68,12 @@ param set-default HIL_ACT_FUNC8 105
param set-default MAV_TYPE 22
# set SYS_HITL to 2 to start the SIH and avoid sensors startup
param set-default SYS_HITL 2
# disable some checks to allow to fly:
# - without real battery
param set-default CBRK_SUPPLY_CHK 894281
# - without safety switch
param set-default CBRK_IO_SAFETY 22027
param set-default SENS_DPRES_OFF 0.001
@@ -92,9 +86,7 @@ param set SIH_IYY 0.000625
param set SIH_IZZ 0.00300
param set SIH_IXZ 0
param set SIH_KDV 0.2
param set SIH_L_ROLL 0.145
param set SIH_L_ROLL 0.2
# sih as standard vtol
param set SIH_VEHICLE_TYPE 3
param set-default VT_ARSP_TRANS 6