From b87dd317d4ef375e8e77baff7389ea33bdbcbe2e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jakub=20K=C3=A1kona?= Date: Fri, 15 Jan 2021 13:54:17 +0100 Subject: [PATCH] airframes: add new airframe for ThunderFly TF-G2 autogyro (#16551) Co-authored-by: Roman Dvorak --- .../init.d/airframes/17003_TF-G2 | 49 +++++++++++++++++++ .../init.d/airframes/CMakeLists.txt | 2 + ROMFS/px4fmu_common/mixers/TF-G2.main.mix | 39 +++++++++++++++ 3 files changed, 90 insertions(+) create mode 100644 ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2 create mode 100644 ROMFS/px4fmu_common/mixers/TF-G2.main.mix diff --git a/ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2 b/ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2 new file mode 100644 index 0000000000..328b180b30 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2 @@ -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 +# +# @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 diff --git a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt index 0efe0357a4..402fa5664c 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt +++ b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt @@ -146,7 +146,9 @@ px4_add_romfs_files( 16001_helicopter + # [17000, 17999] Autogyro 17002_TF-AutoG2 + 17003_TF-G2 24001_dodeca_cox diff --git a/ROMFS/px4fmu_common/mixers/TF-G2.main.mix b/ROMFS/px4fmu_common/mixers/TF-G2.main.mix new file mode 100644 index 0000000000..9aea7cef50 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/TF-G2.main.mix @@ -0,0 +1,39 @@ +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