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airframes: add new airframe for ThunderFly TF-G2 autogyro (#16551)

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Co-authored-by: Roman Dvorak <romandvorak@mlab.cz>
This commit is contained in:
Jakub Kákona 2021-01-15 13:54:17 +01:00 committed by GitHub
parent df41c99b61
commit b87dd317d4
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49
ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2 Normal file
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@ -0,0 +1,49 @@
#!/bin/sh
#
# @name ThunderFly TF-G2
#
# @type Autogyro
# @class Autogyro
#
# @output MAIN2 rotor_head_L
# @output MAIN3 rotor_head_R
# @output MAIN4 rudder
# @output MAIN5 throttle
#
#
# @url https://github.com/ThunderFly-aerospace/TF-G2/
# @maintainer ThunderFly s.r.o., Roman Dvorak <dvorakroman@thunderfly.cz>
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.fw_defaults
if [ $AUTOCNF = yes ]
then
param set BAT_CAPACITY 3300
param set BAT_N_CELLS 3
param set PWM_AUX_RATE 50
param set PWM_RATE 50
param set SENS_BOARD_ROT 4
param set FW_AIRSPD_MAX 20
param set FW_AIRSPD_MIN 7
param set FW_AIRSPD_TRIM 13
param set FW_THR_CRUISE 0.8
param set FW_MAN_P_MAX 25
param set FW_MAN_R_MAX 25
param set FW_PR_I 0.02
param set FW_R_LIM 40
param set FW_P_LIM_MAX 25
param set FW_P_LIM_MIN -5
param set FW_P_RMAX_NEG 20
fi
set MIXER TF-G2
set MIXER_AUX pass

2
ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
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@ -146,7 +146,9 @@ px4_add_romfs_files(
16001_helicopter
# [17000, 17999] Autogyro
17002_TF-AutoG2
17003_TF-G2
24001_dodeca_cox

39
ROMFS/px4fmu_common/mixers/TF-G2.main.mix Normal file
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TF-G2 autogyro mixer
==================================================
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
(roll), 1 (pitch) and 3 (thrust).
CH1: empty - fixing cuav nano jittering of 1st output.
Z:
CH2, 3: rotor-head mixer
-------------
Two scalers total (output, roll).
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 -10000 -10000 0 -10000 10000
S: 0 1 10000 10000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 -10000 -10000 0 -10000 10000
S: 0 1 -10000 -10000 0 -10000 10000
CH4: Rudder mixer
------------
Two scalers total (output, yaw).
M: 1
S: 0 2 10000 10000 0 -10000 10000
CH5: Motor speed mixer
-----------------
Two scalers total (output, thrust).
M: 1
S: 0 3 0 20000 -10000 -10000 10000