From aabbdf380b8a9e514d4d6f8a8110e0892d4fc48b Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Tue, 19 Jul 2022 18:14:42 +0200 Subject: [PATCH] ROMFS: tailsitter SITL: disable all control surfaces and only use motors for control Signed-off-by: Silvan Fuhrer --- .../init.d-posix/airframes/1041_tailsitter | 38 ++++++++++--------- 1 file changed, 20 insertions(+), 18 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter b/ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter index 5310bd2d2a..b95fb33c36 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter @@ -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