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ROMFS: tailsitter SITL: disable all control surfaces and only use motors for control

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2022-07-19 18:14:42 +02:00
parent 25c049f3c9
commit aabbdf380b
1 changed files with 20 additions and 18 deletions
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38
ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter
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@ -9,12 +9,12 @@
param set-default MAV_TYPE 20
# param set-default SYS_CTRL_ALLOC 1
param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 4
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 1
param set-default CA_ROTOR0_PY 2
param set-default CA_ROTOR0_PY 1
param set-default CA_ROTOR0_KM 0.05
param set-default CA_ROTOR1_PX -1
param set-default CA_ROTOR1_PY -1
@ -26,22 +26,10 @@ 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_SV_CS_COUNT 2
param set-default CA_SV_CS0_TYPE 5
param set-default CA_SV_CS0_TRQ_P 0.5
param set-default CA_SV_CS0_TRQ_Y -0.5
param set-default CA_SV_CS1_TYPE 6
param set-default CA_SV_CS1_TRQ_P 0.5
param set-default CA_SV_CS1_TRQ_Y 0.5
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104
param set-default PWM_MAIN_FUNC5 0
param set-default PWM_MAIN_FUNC6 201
param set-default PWM_MAIN_FUNC7 202
param set-default PWM_MAIN_REV 96 # invert both elevons
param set-default FW_L1_PERIOD 12
param set-default FW_MAN_P_MAX 30
@ -69,15 +57,29 @@ param set-default MPC_XY_VEL_P_ACC 3
param set-default MPC_XY_VEL_I_ACC 4
param set-default MPC_XY_VEL_D_ACC 0.1
param set-default NAV_ACC_RAD 5
param set-default VT_FW_DIFTHR_EN 1
param set-default VT_FW_DIFTHR_S_Y 0.5
param set-default VT_FW_DIFTHR_EN 7
param set-default VT_FW_DIFTHR_S_P 1
param set-default VT_FW_DIFTHR_S_R 1
param set-default VT_FW_DIFTHR_S_Y 1
param set-default VT_F_TRANS_DUR 1.5
param set-default VT_F_TRANS_THR 0.7
param set-default VT_TYPE 0
param set-default WV_EN 0
#uncomment the following block to enable elevons (otherwise only motors are used for attitdue control)
# param set-default CA_SV_CS_COUNT 2
# param set-default CA_SV_CS0_TYPE 5
# param set-default CA_SV_CS0_TRQ_P 0.5
# param set-default CA_SV_CS0_TRQ_Y -0.5
# param set-default CA_SV_CS1_TYPE 6
# param set-default CA_SV_CS1_TRQ_P 0.5
# param set-default CA_SV_CS1_TRQ_Y 0.5
# param set-default PWM_MAIN_FUNC6 201
# param set-default PWM_MAIN_FUNC7 202
# param set-default PWM_MAIN_REV 96 # invert both elevons
# param set-default VT_FW_DIFTHR_EN 1
set MIXER_FILE etc/mixers-sitl/quad_x_vtol.main.mix
set MIXER custom