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Port custom airframe configs / mixers to public fork (#7)
* Port custom airframe configs / mixers to new custom repo This PR ports ethz asl fixedwing team's custom airframe configs and mixers to the PX4 fork * Exclude fmu-v2 for ASL vehicles This commit removes the fmu v2 for ASL vehicles in order to fix the flash overflowing problem
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JaeyoungLim
GitHub
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51
ROMFS/px4fmu_common/init.d/airframes/22000_asl_easyglider
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51
ROMFS/px4fmu_common/init.d/airframes/22000_asl_easyglider
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@ -0,0 +1,51 @@
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#!/bin/sh
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#
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# @name ASL_EasyGlider
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#
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# @type Standard Plane
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# @class Plane
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#
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# @output MAIN1 aileron
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# @output MAIN2 aileron
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# @output MAIN3 elevator
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# @output MAIN4 rudder
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# @output MAIN5 throttle
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# @output MAIN6 wheel
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# @output MAIN7 flaps
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#
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# @output AUX1 feed-through of RC AUX1 channel
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# @output AUX2 feed-through of RC AUX2 channel
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# @output AUX3 feed-through of RC AUX3 channel
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#
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# @maintainer Philipp Oettershagen <philipp.oettershagen@mavt.ethz.ch>
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#
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# @board px4_fmu-v2 exclude
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# @board bitcraze_crazyflie exclude
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#
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. ${R}etc/init.d/rc.fw_defaults
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if [ $AUTOCNF == yes ]
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then
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param set FW_AIRSPD_MIN 10
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param set FW_AIRSPD_TRIM 15
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param set FW_AIRSPD_MAX 20
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param set FW_MAN_P_MAX 45
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param set FW_MAN_R_MAX 45
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param set FW_R_LIM 45
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param set FW_WR_FF 0.2
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param set FW_WR_I 0.2
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param set FW_WR_IMAX 0.8
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param set FW_WR_P 1
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param set FW_W_RMAX 0
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# set disarmed value for the ESC
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param set PWM_DISARMED 1000
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fi
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set MIXER asl_easyglider
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# use PWM parameters for throttle channel
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set PWM_OUT 5
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52
ROMFS/px4fmu_common/init.d/airframes/22001_asl_techpod
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52
ROMFS/px4fmu_common/init.d/airframes/22001_asl_techpod
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@ -0,0 +1,52 @@
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#!/bin/sh
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#
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# @name ASL_Techpod
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#
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# @type Plane A-Tail
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# @class Plane
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#
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# @output MAIN1 aileron right
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# @output MAIN2 aileron left
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# @output MAIN3 v-tail right
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# @output MAIN4 v-tail left
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# @output MAIN5 throttle
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# @output MAIN6 wheel
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# @output MAIN7 flaps right
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# @output MAIN8 flaps left
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#
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# @output AUX1 feed-through of RC AUX1 channel
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# @output AUX2 feed-through of RC AUX2 channel
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# @output AUX3 feed-through of RC AUX3 channel
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#
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# @maintainer Philipp Oettershagen <philipp.oettershagen@mavt.ethz.ch>
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#
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# @board px4_fmu-v2 exclude
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# @board bitcraze_crazyflie exclude
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#
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. ${R}etc/init.d/rc.fw_defaults
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if [ $AUTOCNF == yes ]
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then
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param set FW_AIRSPD_MIN 10
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param set FW_AIRSPD_TRIM 15
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param set FW_AIRSPD_MAX 20
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param set FW_MAN_P_MAX 55
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param set FW_MAN_R_MAX 55
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param set FW_R_LIM 55
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param set FW_WR_FF 0.2
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param set FW_WR_I 0.2
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param set FW_WR_IMAX 0.8
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param set FW_WR_P 1
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param set FW_W_RMAX 0
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# set disarmed value for the ESC
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param set PWM_DISARMED 1000
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fi
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set MIXER asl_techpod
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# use PWM parameters for throttle channel
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set PWM_OUT 5
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52
ROMFS/px4fmu_common/init.d/airframes/22002_asl_sensesoar2
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52
ROMFS/px4fmu_common/init.d/airframes/22002_asl_sensesoar2
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#!/bin/sh
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#
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# @name ASL_SenseSoar2
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#
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# @type Plane A-Tail
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# @class Plane
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#
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# @output MAIN1 aileron right
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# @output MAIN2 aileron left
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# @output MAIN3 v-tail right
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# @output MAIN4 v-tail left
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# @output MAIN5 throttle
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# @output MAIN6 wheel
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# @output MAIN7 flaps right
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# @output MAIN8 flaps left
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#
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# @output AUX1 feed-through of RC AUX1 channel
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# @output AUX2 feed-through of RC AUX2 channel
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# @output AUX3 feed-through of RC AUX3 channel
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#
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# @maintainer Philipp Oettershagen <philipp.oettershagen@mavt.ethz.ch>
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#
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# @board px4_fmu-v2 exclude
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# @board bitcraze_crazyflie exclude
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#
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. ${R}etc/init.d/rc.fw_defaults
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if [ $AUTOCNF == yes ]
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then
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param set FW_AIRSPD_MIN 12
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param set FW_AIRSPD_TRIM 15
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param set FW_AIRSPD_MAX 20
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param set FW_MAN_P_MAX 45
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param set FW_MAN_R_MAX 45
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param set FW_R_LIM 55
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param set FW_WR_FF 0.2
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param set FW_WR_I 0.2
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param set FW_WR_IMAX 0.8
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param set FW_WR_P 1
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param set FW_W_RMAX 0
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# set disarmed value for the ESC
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param set PWM_DISARMED 1000
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fi
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set MIXER asl_sensoar2
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# use PWM parameters for throttle channel
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set PWM_OUT 5
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@ -157,6 +157,11 @@ px4_add_romfs_files(
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# [18000, 18999] High-altitude balloons
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18001_TF-B1
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# [22000, 22999] ETHZ ASL Vehicles
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22000_asl_easyglider
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22001_asl_techpod
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22002_asl_sensesoar2
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24001_dodeca_cox
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50000_generic_ground_vehicle
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@ -94,4 +94,8 @@ px4_add_romfs_files(
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vtol_delta.aux.mix
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vtol_tailsitter_duo.main.mix
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wingwing.main.mix
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#ETHZ ASL Custom Mixers
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asl_easyglider.main.mix
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asl_sensesoar2.main.mix
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asl_techpod.main.mix
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)
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70
ROMFS/px4fmu_common/mixers/asl_easyglider.main.mix
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70
ROMFS/px4fmu_common/mixers/asl_easyglider.main.mix
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ASL EasyGlider mixer
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=============================
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Documentation: https://dev.px4.io/en/concept/mixing.html
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Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
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(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps).
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Motor speed mixer
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-----------------
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Two scalers total (output, thrust).
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This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
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range. Inputs below zero are treated as zero.
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 3 0 20000 -10000 -10000 10000
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Right Aileron mixer
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---------------------------------
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This mixer assumes that the aileron servos are set up correctly mechanically;
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depending on the actual configuration it may be necessary to reverse the scaling
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factors (to reverse the servo movement) and adjust the offset, scaling and
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endpoints to suit.
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M: 2
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O: 10000 10000 0 -10000 10000
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S: 0 0 6000 10000 0 -10000 10000
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S: 0 4 0 -10000 0 -10000 10000
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Elevator mixer
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------------
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Two scalers total (output, roll).
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This mixer assumes that the elevator servo is set up correctly mechanically;
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depending on the actual configuration it may be necessary to reverse the scaling
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factors (to reverse the servo movement) and adjust the offset, scaling and
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endpoints to suit.
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 1 -10000 -10000 0 -10000 10000
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Rudder mixer
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------------
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Two scalers total (output, yaw).
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This mixer assumes that the rudder servo is set up correctly mechanically;
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depending on the actual configuration it may be necessary to reverse the scaling
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factors (to reverse the servo movement) and adjust the offset, scaling and
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endpoints to suit.
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M: 1
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O: -10000 -10000 0 -10000 10000
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S: 0 2 10000 10000 0 -10000 10000
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Left Aileron mixer
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---------------------------------
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This mixer assumes that the aileron servos are set up correctly mechanically;
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depending on the actual configuration it may be necessary to reverse the scaling
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factors (to reverse the servo movement) and adjust the offset, scaling and
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endpoints to suit.
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M: 2
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O: 10000 10000 0 -10000 10000
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S: 0 0 -10000 -6000 0 -10000 10000
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S: 0 4 0 -10000 0 -10000 10000
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61
ROMFS/px4fmu_common/mixers/asl_sensesoar2.main.mix
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61
ROMFS/px4fmu_common/mixers/asl_sensesoar2.main.mix
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ASL SenseSoar2 mixer for PX4IO
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=============================
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Documentation: https://dev.px4.io/en/concept/mixing.html
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Note1: CH2 AilR is down for pos PWM signal change, CH5 Ail L the other way around.
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Note2: The mixer defines a certain aileron differential, but the phyiscal differential
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is stronger because of the servo mechanics (70% mixer diff -> ca. 60% physical).
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Note3: In the extras.txt on the sd-card, set pwm min/max such that the ailerons have
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2.5cm upwards and 2.0cm downwards travel at FULL (u=+/- 1.0) mixer output. The
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downwards travel with the mixer differential is then obviously less.
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=============================
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### Motor
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 3 0 20000 -10000 -10000 10000
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### Right aileron (with differential)
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 0 -7000 -10000 0 -10000 10000
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### Right ruddervator
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M: 2
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O: 6000 6000 0 -10000 10000
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S: 0 1 -6500 -6500 0 -10000 10000
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S: 0 2 7500 7500 0 -10000 10000
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### Left ruddervator
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M: 2
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O: 6000 6000 0 -10000 10000
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S: 0 1 6500 6500 0 -10000 10000
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S: 0 2 7500 7500 0 -10000 10000
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### Left aileron (with differential)
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 0 -10000 -7000 0 -10000 10000
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### Right flap
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#M: 1
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#O: 10000 10000 0 -10000 4000
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#S: 3 4 10000 10000 0 -10000 10000
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### Right flap
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M: 1
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O: 10000 10000 0 -10000 4000
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S: 0 4 0 20000 -10000 -10000 10000
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### Left flap
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M: 1
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O: 10000 10000 0 -4000 10000
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S: 0 4 0 -20000 10000 -10000 10000
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47
ROMFS/px4fmu_common/mixers/asl_techpod.main.mix
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47
ROMFS/px4fmu_common/mixers/asl_techpod.main.mix
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ASL Techpod mixer for PX4IO
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=============================
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Documentation: https://dev.px4.io/en/concept/mixing.html
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=============================
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### Motor
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 3 0 20000 -10000 -10000 10000
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### Right aileron (with differential)
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 0 -7500 -10000 0 -10000 10000
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### Elevator
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M: 1
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O: 6000 6000 0 -10000 10000
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S: 0 1 6000 6000 0 -6000 6000
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### Rudder
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 2 -6000 -6000 0 -6000 6000
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### Left aileron (with differential)
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 0 -10000 -7500 0 -10000 10000
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### Right flap
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 4 10000 10000 0 -4000 4000
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### Left flap
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 4 10000 10000 0 -4000 4000
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