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Merged release into master

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This commit is contained in:
Lorenz Meier
2015-06-13 11:06:01 +02:00
parent 2fc069bd63 a0176474c7
commit c9fefe236b
47 changed files with 1036 additions and 344 deletions
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ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil
+25
View File
@@ -6,5 +6,30 @@
sh /etc/init.d/rc.fw_defaults
if [ $AUTOCNF == yes ]
then
param set BAT_N_CELLS 3
param set FW_AIRSPD_MAX 20
param set FW_AIRSPD_MIN 12
param set FW_AIRSPD_TRIM 14
param set FW_ATT_TC 0.3
param set FW_L1_DAMPING 0.74
param set FW_L1_PERIOD 16
param set FW_LND_ANG 15
param set FW_LND_FLALT 5
param set FW_LND_HHDIST 15
param set FW_LND_HVIRT 13
param set FW_LND_TLALT 5
param set FW_THR_LND_MAX 0
param set FW_PR_FF 0.35
param set FW_PR_I 0.1
param set FW_PR_IMAX 0.4
param set FW_PR_P 0.2
param set FW_RR_FF 0.6
param set FW_RR_I 0.1
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.3
fi
set HIL yes
set MIXER AERT
ROMFS/px4fmu_common/init.d/3034_fx79
+8
View File
@@ -7,4 +7,12 @@
sh /etc/init.d/rc.fw_defaults
if [ $AUTOCNF == yes ]
then
param set NAV_LOITER_RAD 150
param set FW_AIRSPD_MAX 30
param set FW_AIRSPD_MIN 13
param set FW_AIRSPD_TRIM 15
fi
set MIXER FX79
ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
+25 -19
View File
@@ -2,33 +2,39 @@
#
# TBS Caipirinha
#
# Thomas Gubler <thomas@px4.io>
# Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/rc.fw_defaults
if [ $AUTOCNF == yes ]
then
# TODO: these are the X5 default parameters, update them to the caipi
param set FW_AIRSPD_MIN 15
param set FW_AIRSPD_TRIM 20
param set FW_AIRSPD_MAX 40
param set FW_AIRSPD_MAX 20
param set FW_AIRSPD_MIN 12
param set FW_AIRSPD_TRIM 16
param set FW_ATT_TC 0.3
param set FW_L1_DAMPING 0.74
param set FW_L1_PERIOD 15
param set FW_PR_FF 0.3
param set FW_PR_I 0
param set FW_PR_IMAX 0.2
param set FW_PR_P 0.03
param set FW_P_ROLLFF 0
param set FW_RR_FF 0.3
param set FW_RR_I 0
param set FW_L1_PERIOD 16
param set FW_LND_ANG 15
param set FW_LND_FLALT 5
param set FW_LND_HHDIST 15
param set FW_LND_HVIRT 13
param set FW_LND_TLALT 5
param set FW_THR_LND_MAX 0
param set FW_PR_FF 0.35
param set FW_PR_I 0.01
param set FW_PR_IMAX 0.4
param set FW_PR_P 0.08
param set FW_RR_FF 0.6
param set FW_RR_I 0.01
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.03
param set FW_R_LIM 60
param set FW_R_RMAX 0
param set FW_RR_P 0.04
param set SYS_COMPANION 157600
param set PWM_MAIN_REV0 1
param set PWM_MAIN_REV1 1
fi
set MIXER Q
set MIXER caipi
# Provide ESC a constant 1000 us pulse
set PWM_OUT 4
set PWM_DISARMED 1000
ROMFS/px4fmu_common/init.d/rc.logging
+1 -1
View File
@@ -11,7 +11,7 @@ then
then
fi
else
if sdlog2 start -r 100 -a -b 22 -t
if sdlog2 start -r 100 -a -b 12 -t
then
fi
fi
ROMFS/px4fmu_common/init.d/rcS
+4
View File
@@ -485,6 +485,10 @@ then
then
mavlink start -d /dev/ttyS2 -b 57600 -m onboard -r 1000
fi
if param compare SYS_COMPANION 157600
then
mavlink start -d /dev/ttyS2 -b 57600 -m osd -r 1000
fi
fi
# UAVCAN
ROMFS/px4fmu_common/mixers/FX79.main.mix
+4 -20
View File
@@ -27,13 +27,13 @@ for the elevons.
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 7500 7500 0 -10000 10000
S: 0 1 8000 8000 0 -10000 10000
S: 0 0 8500 8500 0 -10000 10000
S: 0 1 9500 9500 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 7500 7500 0 -10000 10000
S: 0 1 -8000 -8000 0 -10000 10000
S: 0 0 8500 8500 0 -10000 10000
S: 0 1 -9500 -9500 0 -10000 10000
Output 2
--------
@@ -51,19 +51,3 @@ range. Inputs below zero are treated as zero.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
Inputs to the mixer come from channel group 2 (payload), channels 0
(bay servo 1), 1 (bay servo 2) and 3 (drop release).
-----------------------------------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 2 0 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 2 1 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 2 2 -10000 -10000 0 -10000 10000
ROMFS/px4fmu_common/mixers/caipi.main.mix
+51
View File
@@ -0,0 +1,51 @@
Delta-wing mixer
===========================
Designed for TBS Caipirinha
This file defines mixers suitable for controlling a delta wing aircraft using
PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
assumed to be unused.
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
(roll), 1 (pitch) and 3 (thrust).
See the README for more information on the scaler format.
Elevon mixers
-------------
Three scalers total (output, roll, pitch).
On the assumption that the two elevon servos are physically reversed, the pitch
input is inverted between the two servos.
The scaling factor for roll inputs is adjusted to implement differential travel
for the elevons.
M: 2
O: 10000 10000 3000 -10000 10000
S: 0 0 8000 8000 0 -10000 10000
S: 0 1 9000 9000 0 -10000 10000
M: 2
O: 10000 10000 -3000 -10000 10000
S: 0 0 8000 8000 0 -10000 10000
S: 0 1 -9000 -9000 0 -10000 10000
Output 2
--------
This mixer is empty.
Z:
Motor speed mixer
-----------------
Two scalers total (output, thrust).
This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
range. Inputs below zero are treated as zero.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000