From 9975db2d2ffbca2d67957598be43c8fd12cccd51 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Tue, 18 Apr 2023 11:52:55 +0200 Subject: [PATCH] airframe configs: disable airspeed CBRK in rover and UUV defaults Signed-off-by: Silvan Fuhrer --- .../airframes/1021_gazebo-classic_uuv_hippocampus | 3 --- .../airframes/1022_gazebo-classic_uuv_bluerov2_heavy | 3 --- .../init.d-posix/airframes/1060_gazebo-classic_rover | 2 -- .../init.d-posix/airframes/1061_gazebo-classic_r1_rover | 2 -- .../init.d-posix/airframes/1062_flightgear_tf-r1 | 2 -- .../init.d-posix/airframes/1070_gazebo-classic_boat | 2 -- .../init.d/airframes/50003_aion_robotics_r1_rover | 3 --- .../init.d/airframes/50004_nxpcup_car_dfrobot_gpx | 3 --- ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic | 4 ---- .../px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy | 2 -- ROMFS/px4fmu_common/init.d/rc.rover_defaults | 6 +++--- ROMFS/px4fmu_common/init.d/rc.uuv_defaults | 3 +++ 12 files changed, 6 insertions(+), 29 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1021_gazebo-classic_uuv_hippocampus b/ROMFS/px4fmu_common/init.d-posix/airframes/1021_gazebo-classic_uuv_hippocampus index 7a016b90ca..ca67af3f01 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1021_gazebo-classic_uuv_hippocampus +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1021_gazebo-classic_uuv_hippocampus @@ -5,9 +5,6 @@ . ${R}etc/init.d/rc.uuv_defaults -# disable circuit breaker for airspeed sensor -param set-default CBRK_AIRSPD_CHK 162128 - param set-default CA_AIRFRAME 7 param set-default CA_ROTOR_COUNT 4 param set-default CA_R_REV 255 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1022_gazebo-classic_uuv_bluerov2_heavy b/ROMFS/px4fmu_common/init.d-posix/airframes/1022_gazebo-classic_uuv_bluerov2_heavy index d74ef31a69..71d0574e1d 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1022_gazebo-classic_uuv_bluerov2_heavy +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1022_gazebo-classic_uuv_bluerov2_heavy @@ -5,9 +5,6 @@ . ${R}etc/init.d/rc.uuv_defaults -# disable circuit breaker for airspeed sensor -param set-default CBRK_AIRSPD_CHK 162128 - param set-default CA_AIRFRAME 7 param set-default CA_ROTOR_COUNT 8 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 135dbbfbcf..ca41c319e8 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 @@ -22,8 +22,6 @@ param set-default MIS_TAKEOFF_ALT 0.01 param set-default NAV_ACC_RAD 0.5 param set-default NAV_LOITER_RAD 2 -param set-default CBRK_AIRSPD_CHK 162128 - param set-default GND_MAX_ANG 0.6 param set-default GND_WHEEL_BASE 2.0 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1061_gazebo-classic_r1_rover b/ROMFS/px4fmu_common/init.d-posix/airframes/1061_gazebo-classic_r1_rover index 2ef7a8a34d..08a14eb3bf 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1061_gazebo-classic_r1_rover +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1061_gazebo-classic_r1_rover @@ -22,8 +22,6 @@ param set-default MIS_TAKEOFF_ALT 0.01 param set-default NAV_ACC_RAD 0.5 param set-default NAV_LOITER_RAD 2 -param set-default CBRK_AIRSPD_CHK 162128 - param set-default GND_MAX_ANG 0.6 param set-default GND_WHEEL_BASE 2.0 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 d3cc92e2ee..59289bbd14 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 @@ -29,8 +29,6 @@ param set-default MIS_TAKEOFF_ALT 0.01 param set-default NAV_ACC_RAD 0.5 param set-default NAV_LOITER_RAD 2 -param set-default CBRK_AIRSPD_CHK 162128 - param set-default GND_MAX_ANG 0.6 param set-default GND_WHEEL_BASE 3.0 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 b6556b710c..6e0505339a 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 @@ -22,8 +22,6 @@ param set-default MIS_TAKEOFF_ALT 0.01 param set-default NAV_ACC_RAD 0.5 param set-default NAV_LOITER_RAD 2 -param set-default CBRK_AIRSPD_CHK 162128 - param set-default GND_MAX_ANG 0.6 param set-default GND_WHEEL_BASE 2.0 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 1fe870493f..539032b8fa 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 @@ -48,9 +48,6 @@ param set-default MIS_TAKEOFF_ALT 0.01 param set-default NAV_ACC_RAD 0.5 -# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor -param set-default CBRK_AIRSPD_CHK 162128 - # Differential drive acts like ackermann steering with a maximum turn angle of 180 degrees, or pi radians param set-default GND_MAX_ANG 3.1415 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 d3660aa22a..169a5a6e72 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 @@ -49,9 +49,6 @@ param set-default MIS_TAKEOFF_ALT 0.01 param set-default NAV_ACC_RAD 0.5 -# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor -param set-default CBRK_AIRSPD_CHK 162128 - param set-default CA_AIRFRAME 5 param set-default CA_R_REV 1 diff --git a/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic b/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic index 23a55ac1c2..d6f84f0d44 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic +++ b/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic @@ -13,10 +13,6 @@ . ${R}etc/init.d/rc.uuv_defaults -# disable circuit breaker for airspeed sensor -param set-default CBRK_AIRSPD_CHK 162128 - - param set-default CA_AIRFRAME 7 param set-default CA_ROTOR_COUNT 4 param set-default CA_R_REV 255 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 6124d105d5..62720e966d 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy +++ b/ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy @@ -23,8 +23,6 @@ . ${R}etc/init.d/rc.uuv_defaults -# disable circuit breaker for airspeed sensor -param set-default CBRK_AIRSPD_CHK 162128 # companion computer is connected via USB permanently param set-default CBRK_USB_CHK 197848 param set-default CBRK_IO_SAFETY 22027 diff --git a/ROMFS/px4fmu_common/init.d/rc.rover_defaults b/ROMFS/px4fmu_common/init.d/rc.rover_defaults index 322af3d0b0..c4cd9d35a3 100644 --- a/ROMFS/px4fmu_common/init.d/rc.rover_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.rover_defaults @@ -10,9 +10,9 @@ set VEHICLE_TYPE rover # MAV_TYPE_GROUND_ROVER 10 param set-default MAV_TYPE 10 -# -# Default parameters for UGVs. -# +# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor +param set-default CBRK_AIRSPD_CHK 162128 + param set-default MIS_TAKEOFF_ALT 0.01 param set-default NAV_ACC_RAD 2 diff --git a/ROMFS/px4fmu_common/init.d/rc.uuv_defaults b/ROMFS/px4fmu_common/init.d/rc.uuv_defaults index 3398fac3f5..344cfff7cd 100644 --- a/ROMFS/px4fmu_common/init.d/rc.uuv_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.uuv_defaults @@ -9,3 +9,6 @@ set VEHICLE_TYPE uuv # MAV_TYPE_SUBMARINE 12 param set-default MAV_TYPE 12 + +# UUV don't have an airspeed sensor, so disable checks around it +param set-default CBRK_AIRSPD_CHK 162128