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ROMFS: add generic tiltrotor VTOL (13200)

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Add geometry for a quad tiltrotor VTOL, with only front motors tiltable,
two ailerons and a V-tail.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2022-07-21 09:46:23 +02:00 committed by Daniel Agar
parent 3ffc37d988
commit c9c62b860c
2 changed files with 45 additions and 0 deletions
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44
ROMFS/px4fmu_common/init.d/airframes/13100_generic_vtol_tiltrotor Normal file
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@ -0,0 +1,44 @@
#!/bin/sh
#
# @name Generic Tiltrotor VTOL
#
# @type VTOL Tiltrotor
# @class VTOL
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.vtol_defaults
param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 3
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 1
param set-default CA_ROTOR0_PY 1
param set-default CA_ROTOR0_TILT 2
param set-default CA_ROTOR1_PX -1
param set-default CA_ROTOR1_PY -1
param set-default CA_ROTOR2_PX 1
param set-default CA_ROTOR2_PY -1
param set-default CA_ROTOR2_TILT 1
param set-default CA_ROTOR2_KM -0.05
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 4
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS1_TRQ_R 0.5
param set-default CA_SV_CS2_TYPE 7
param set-default CA_SV_CS2_TRQ_P 0.5
param set-default CA_SV_CS2_TRQ_Y 0.5
param set-default CA_SV_CS3_TYPE 8
param set-default CA_SV_CS3_TRQ_P 0.5
param set-default CA_SV_CS3_TRQ_Y -0.5
param set-default CA_SV_TL_COUNT 2
param set-default MAV_TYPE 21
param set-default VT_TYPE 1

1
ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
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@ -124,6 +124,7 @@ px4_add_romfs_files(
13007_vtol_AAVVT_quad
13008_QuadRanger
13009_vtol_spt_ranger
13100_generic_vtol_tiltrotor
13012_convergence
13013_deltaquad
13014_vtol_babyshark