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ROMFS: use new param default mechanism

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This commit is contained in:
Daniel Agar 2021-02-08 23:56:23 -05:00
parent a257120e8d
commit b67aa77d29
7 changed files with 83 additions and 114 deletions
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15
ROMFS/px4fmu_common/init.d/rc.balloon_defaults
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@ -7,14 +7,7 @@
set VEHICLE_TYPE fw
if [ $AUTOCNF = yes ]
then
#
# Default parameters for balloon UAVs.
#
#
# FW takeoff acceleration can easily exceed ublox GPS 2G default.
#
param set GPS_UBX_DYNMODEL 8
param set SYS_MC_EST_GROUP 1
fi
#
# Default parameters for balloon UAVs.
#
param set-default SYS_MC_EST_GROUP 1

15
ROMFS/px4fmu_common/init.d/rc.boat_defaults
View File

@ -7,20 +7,17 @@
set VEHICLE_TYPE rover
if [ $AUTOCNF = yes ]
then
#
# Default parameters for UGVs.
#
param set MIS_LTRMIN_ALT 0.01
param set MIS_TAKEOFF_ALT 0.01
param set-default MIS_LTRMIN_ALT 0.01
param set-default MIS_TAKEOFF_ALT 0.01
param set NAV_DLL_ACT 0
param set NAV_ACC_RAD 2
param set-default NAV_DLL_ACT 0
param set-default NAV_ACC_RAD 2
# Temporary.
param set NAV_FW_ALT_RAD 1000
fi
# Temporary.
param set-default NAV_FW_ALT_RAD 1000
#
# Enable servo output on pins 3 and 4 (steering and thrust)

75
ROMFS/px4fmu_common/init.d/rc.fw_defaults
View File

@ -7,51 +7,48 @@
set VEHICLE_TYPE fw
if [ $AUTOCNF = yes ]
then
#
# Default parameters for fixed wing UAVs.
#
param set COM_POS_FS_DELAY 5
param set COM_POS_FS_EPH 15
param set COM_POS_FS_EPV 30
param set COM_POS_FS_GAIN 0
param set COM_POS_FS_PROB 1
param set COM_VEL_FS_EVH 5
#
# Default parameters for fixed wing UAVs.
#
param set-default COM_POS_FS_DELAY 5
param set-default COM_POS_FS_EPH 15
param set-default COM_POS_FS_EPV 30
param set-default COM_POS_FS_GAIN 0
param set-default COM_POS_FS_PROB 1
param set-default COM_VEL_FS_EVH 5
param set EKF2_ARSP_THR 8
param set EKF2_FUSE_BETA 1
param set EKF2_GPS_CHECK 21
param set EKF2_MAG_ACCLIM 0
param set EKF2_MAG_YAWLIM 0
param set EKF2_REQ_EPH 10
param set EKF2_REQ_EPV 10
param set EKF2_REQ_HDRIFT 0.5
param set EKF2_REQ_SACC 1
param set EKF2_REQ_VDRIFT 1.0
param set-default EKF2_ARSP_THR 8
param set-default EKF2_FUSE_BETA 1
param set-default EKF2_GPS_CHECK 21
param set-default EKF2_MAG_ACCLIM 0
param set-default EKF2_MAG_YAWLIM 0
param set-default EKF2_REQ_EPH 10
param set-default EKF2_REQ_EPV 10
param set-default EKF2_REQ_HDRIFT 0.5
param set-default EKF2_REQ_SACC 1
param set-default EKF2_REQ_VDRIFT 1.0
param set RTL_TYPE 1
param set RTL_RETURN_ALT 100
param set RTL_DESCEND_ALT 100
param set RTL_LAND_DELAY -1
param set-default RTL_TYPE 1
param set-default RTL_RETURN_ALT 100
param set-default RTL_DESCEND_ALT 100
param set-default RTL_LAND_DELAY -1
#
# FW uses L1 distance for acceptance radius.
# Set a smaller NAV_ACC_RAD for vertical acceptance distance.
#
param set NAV_ACC_RAD 10
#
# FW uses L1 distance for acceptance radius.
# Set a smaller NAV_ACC_RAD for vertical acceptance distance.
#
param set-default NAV_ACC_RAD 10
param set MIS_DIST_WPS 5000
param set MIS_LTRMIN_ALT 25
param set MIS_TAKEOFF_ALT 25
param set-default MIS_DIST_WPS 5000
param set-default MIS_LTRMIN_ALT 25
param set-default MIS_TAKEOFF_ALT 25
param set PWM_MAIN_RATE 50
param set-default PWM_MAIN_RATE 50
#
# FW takeoff acceleration can easily exceed ublox GPS 2G default.
#
param set GPS_UBX_DYNMODEL 8
fi
#
# FW takeoff acceleration can easily exceed ublox GPS 2G default.
#
param set-default GPS_UBX_DYNMODEL 8
#
# This is the gimbal pass mixer.

17
ROMFS/px4fmu_common/init.d/rc.mc_defaults
View File

@ -7,19 +7,16 @@
set VEHICLE_TYPE mc
if [ $AUTOCNF = yes ]
then
param set NAV_ACC_RAD 2
param set-default NAV_ACC_RAD 2
param set RTL_RETURN_ALT 30
param set RTL_DESCEND_ALT 10
param set-default RTL_RETURN_ALT 30
param set-default RTL_DESCEND_ALT 10
param set PWM_MAIN_MAX 1950
param set PWM_MAIN_MIN 1075
param set PWM_MAIN_RATE 400
param set-default PWM_MAIN_MAX 1950
param set-default PWM_MAIN_MIN 1075
param set-default PWM_MAIN_RATE 400
param set GPS_UBX_DYNMODEL 6
fi
param set-default GPS_UBX_DYNMODEL 6
#
# This is the gimbal pass mixer.

22
ROMFS/px4fmu_common/init.d/rc.rover_defaults
View File

@ -7,26 +7,18 @@
set VEHICLE_TYPE rover
if [ $AUTOCNF = yes ]
then
#
# Default parameters for UGVs.
#
param set MIS_LTRMIN_ALT 0.01
param set MIS_TAKEOFF_ALT 0.01
param set-default MIS_LTRMIN_ALT 0.01
param set-default MIS_TAKEOFF_ALT 0.01
param set NAV_DLL_ACT 0
param set NAV_ACC_RAD 2
param set NAV_LOITER_RAD 2
param set-default NAV_DLL_ACT 0
param set-default NAV_ACC_RAD 2
param set-default NAV_LOITER_RAD 2
# Temporary.
param set NAV_FW_ALT_RAD 1000
fi
if param greater -s NAV_LOITER_RAD 2.5
then
param set NAV_LOITER_RAD 2
fi
# Temporary.
param set-default NAV_FW_ALT_RAD 1000
#
# Enable servo output on pins 3 and 4 (steering and thrust)

10
ROMFS/px4fmu_common/init.d/rc.uuv_defaults
View File

@ -7,13 +7,9 @@
set VEHICLE_TYPE uuv
if [ $AUTOCNF = yes ]
then
param set PWM_MAIN_MAX 1950
param set PWM_MAIN_MIN 1050
param set PWM_MAIN_DISARM 1500
fi
param set-default PWM_MAIN_MAX 1950
param set-default PWM_MAIN_MIN 1050
param set-default PWM_MAIN_DISARM 1500
#
# PWM Hz - 50 Hz is the normal rate in RC cars, boats etc,

43
ROMFS/px4fmu_common/init.d/rc.vtol_defaults
View File

@ -7,34 +7,31 @@
set VEHICLE_TYPE vtol
if [ $AUTOCNF = yes ]
then
# to minimize cpu usage on older boards limit inner loop to 400 Hz
param set IMU_GYRO_RATEMAX 400
# to minimize cpu usage on older boards limit inner loop to 400 Hz
param set-default IMU_GYRO_RATEMAX 400
param set MIS_TAKEOFF_ALT 20
param set MIS_YAW_TMT 10
param set-default MIS_TAKEOFF_ALT 20
param set-default MIS_YAW_TMT 10
param set EKF2_ARSP_THR 10
param set EKF2_FUSE_BETA 1
param set-default EKF2_ARSP_THR 10
param set-default EKF2_FUSE_BETA 1
param set MIS_DIST_WPS 5000
param set-default MIS_DIST_WPS 5000
param set MPC_ACC_HOR_MAX 2
param set MPC_TKO_SPEED 1
param set MPC_VEL_MANUAL 3
param set MPC_XY_CRUISE 3
param set MPC_XY_ERR_MAX 5
param set MPC_XY_VEL_MAX 4
param set MPC_Z_VEL_MAX_DN 1.5
param set MPC_JERK_MAX 4.5
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_TKO_SPEED 1
param set-default MPC_VEL_MANUAL 3
param set-default MPC_XY_CRUISE 3
param set-default MPC_XY_ERR_MAX 5
param set-default MPC_XY_VEL_MAX 4
param set-default MPC_Z_VEL_MAX_DN 1.5
param set-default MPC_JERK_MAX 4.5
param set NAV_ACC_RAD 3
param set-default NAV_ACC_RAD 3
param set PWM_AUX_RATE 50
param set PWM_MAIN_RATE 400
param set-default PWM_AUX_RATE 50
param set-default PWM_MAIN_RATE 400
param set RTL_TYPE 1
param set-default RTL_TYPE 1
param set WV_EN 1
fi
param set-default WV_EN 1