fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-17 11:03:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'main' into pr-boards_serial_rc

Browse Source
This commit is contained in:
Alex Klimaj
2025-02-18 12:27:40 -07:00
committed by GitHub
parent b054f99e26 04a3c4af20
commit d9039b0cf6
1283 changed files with 85038 additions and 14343 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/px4fmu_common/init.d-posix/airframes/10040_sihsim_quadx
+2 -4
View File
@@ -16,10 +16,6 @@ param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 1
param set-default SENS_EN_MAGSIM 1
# disable some checks to allow to fly:
# - without real battery
param set-default CBRK_SUPPLY_CHK 894281
# Square quadrotor X PX4 numbering
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 1
@@ -38,4 +34,6 @@ param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104
param set-default EKF2_GPS_DELAY 0
param set SIH_VEHICLE_TYPE 0
ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane
+13 -16
View File
@@ -16,12 +16,6 @@ param set-default SENS_EN_BAROSIM 1
param set-default SENS_EN_MAGSIM 1
param set-default SENS_EN_ARSPDSIM 1
# disable some checks to allow to fly:
# - with usb
param set-default CBRK_USB_CHK 197848
# - without real battery
param set-default CBRK_SUPPLY_CHK 894281
param set-default SIH_T_MAX 6
param set-default SIH_MASS 0.3
param set-default SIH_IXX 0.00402
@@ -33,19 +27,22 @@ param set-default SIH_KDV 0.2
param set-default SIH_VEHICLE_TYPE 1 # sih as fixed wing
param set-default RWTO_TKOFF 1 # enable takeoff from runway (as opposed to launched)
param set-default CA_AIRFRAME 1
param set-default CA_ROTOR_COUNT 1
param set-default CA_ROTOR0_PX 0.3
# SIH for now hardcodes this configuration which we need to match in the airframe files.
param set-default CA_SV_CS_COUNT 3
param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS0_TRQ_R 1
param set-default CA_SV_CS0_TYPE 15 # single channel aileron
param set-default CA_SV_CS1_TRQ_P 1
param set-default CA_SV_CS1_TYPE 3
param set-default CA_SV_CS1_TYPE 3 # elevator
param set-default CA_SV_CS2_TRQ_Y 1
param set-default CA_SV_CS2_TYPE 4
param set-default PWM_MAIN_FUNC3 201
param set-default PWM_MAIN_FUNC4 202
param set-default PWM_MAIN_FUNC5 203
param set-default PWM_MAIN_FUNC6 101
param set-default CA_SV_CS2_TYPE 4 # rudder
param set-default PWM_MAIN_FUNC1 201
param set-default PWM_MAIN_FUNC2 202
param set-default PWM_MAIN_FUNC3 203
param set-default PWM_MAIN_FUNC4 101
param set-default EKF2_GPS_DELAY 0
ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert
+1 -4
View File
@@ -11,6 +11,7 @@
PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=xvert}
param set-default EKF2_GPS_DELAY 0
param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
param set-default SENS_EN_GPSSIM 1
@@ -27,10 +28,6 @@ param set-default MC_PITCH_P 5
param set-default MAV_TYPE 19
# disable some checks to allow to fly:
# - without real battery
param set-default CBRK_SUPPLY_CHK 894281
param set-default SIH_T_MAX 2
param set-default SIH_Q_MAX 0.0165
param set-default SIH_MASS 0.2
ROMFS/px4fmu_common/init.d-posix/airframes/10043_sihsim_standard_vtol
+96
View File
@@ -0,0 +1,96 @@
#!/bin/sh
#
# @name SIH Standard VTOL
#
# @type Simulation
# @class VTOL
#
# @output Motor1 MC motor front right
# @output Motor2 MC motor back left
# @output Motor3 MC motor front left
# @output Motor4 MC motor back right
# @output Motor5 Forward thrust motor
# @output Servo1 Ailerons (single channel)
# @output Servo2 Elevator
# @output Servo3 Rudder
#
# @board px4_fmu-v2 exclude
#
. ${R}etc/init.d/rc.vtol_defaults
PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=standard_vtol}
param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 1
param set-default SENS_EN_MAGSIM 1
param set-default SENS_EN_ARSPDSIM 1
param set-default EKF2_GPS_DELAY 0
param set-default VT_TYPE 2
param set-default MPC_MAN_Y_MAX 60
param set-default MC_PITCH_P 5
param set-default CA_AIRFRAME 2
param set-default CA_ROTOR_COUNT 5
param set-default CA_ROTOR0_KM 0.05
param set-default CA_ROTOR0_PX 0.2
param set-default CA_ROTOR0_PY 0.2
param set-default CA_ROTOR1_KM 0.05
param set-default CA_ROTOR1_PX -0.2
param set-default CA_ROTOR1_PY -0.2
param set-default CA_ROTOR2_PX 0.2
param set-default CA_ROTOR2_PY -0.2
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.2
param set-default CA_ROTOR3_PY 0.2
param set-default CA_ROTOR3_KM -0.05
param set-default CA_ROTOR4_PX -0.3
param set-default CA_ROTOR4_KM 0.05
param set-default CA_ROTOR4_AX 1
param set-default CA_ROTOR4_AZ 0
# SIH for now hardcodes this configuration which we need to match in the airframe files.
param set-default CA_SV_CS_COUNT 3
param set-default CA_SV_CS0_TRQ_R 1
param set-default CA_SV_CS0_TYPE 15 # single channel aileron
param set-default CA_SV_CS1_TRQ_P 1
param set-default CA_SV_CS1_TYPE 3 # elevator
param set-default CA_SV_CS2_TRQ_Y 1
param set-default CA_SV_CS2_TYPE 4 # rudder
param set-default FW_AIRSPD_MIN 7
param set-default FW_AIRSPD_TRIM 10
param set-default FW_AIRSPD_MAX 12
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104
param set-default PWM_MAIN_FUNC5 201
param set-default PWM_MAIN_FUNC6 202
param set-default PWM_MAIN_FUNC7 203
param set-default PWM_MAIN_FUNC8 105
param set-default MAV_TYPE 22
# set SYS_HITL to 2 to start the SIH and avoid sensors startup
# param set-default SYS_HITL 2
param set-default SENS_DPRES_OFF 0.001
param set SIH_T_MAX 2.0
param set SIH_Q_MAX 0.0165
param set SIH_MASS 0.2
# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
param set SIH_IXX 0.00354
param set SIH_IYY 0.000625
param set SIH_IZZ 0.00300
param set SIH_IXZ 0
param set SIH_KDV 0.2
param set SIH_L_ROLL 0.2
# sih as standard vtol
param set SIH_VEHICLE_TYPE 3
ROMFS/px4fmu_common/init.d-posix/airframes/1014_gazebo-classic_iris_obs_avoid
-32
View File
@@ -1,32 +0,0 @@
#!/bin/sh
#
# @name 3DR Iris Quadrotor SITL (Obstacle Avoidance)
#
# @type Quadrotor Wide
#
. ${R}etc/init.d/rc.mc_defaults
param set-default CA_AIRFRAME 0
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.1515
param set-default CA_ROTOR0_PY 0.245
param set-default CA_ROTOR0_KM 0.05
param set-default CA_ROTOR1_PX -0.1515
param set-default CA_ROTOR1_PY -0.1875
param set-default CA_ROTOR1_KM 0.05
param set-default CA_ROTOR2_PX 0.1515
param set-default CA_ROTOR2_PY -0.245
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.1515
param set-default CA_ROTOR3_PY 0.1875
param set-default CA_ROTOR3_KM -0.05
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104
param set-default COM_OBS_AVOID 1
ROMFS/px4fmu_common/init.d-posix/airframes/1014_gazebo-classic_iris_obs_avoid.post
-2
View File
@@ -1,2 +0,0 @@
# shellcheck disable=SC2154
mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 -p # add mavlink stream for SDK
ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo-classic_plane_cam.post
+1
View File
@@ -0,0 +1 @@
mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p
ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna
+16 -16
View File
@@ -24,33 +24,33 @@ param set-default FW_LND_ANG 8
param set-default NPFG_PERIOD 12
param set-default FW_PR_P 0.9
param set-default FW_PR_FF 0.5
param set-default FW_PR_FF 0.2
param set-default FW_PR_I 0.5
param set-default TRIM_PITCH -0.15
param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MIN -15
param set-default FW_RR_FF 0.5
param set-default FW_RR_P 0.3
param set-default FW_RR_I 0.5
param set-default FW_RR_P 0.4
param set-default FW_RR_I 0.7
param set-default FW_YR_FF 0.5
param set-default FW_YR_P 0.6
param set-default FW_YR_I 0.5
param set-default FW_R_RMAX 56.15
param set-default FW_YR_FF 0.3
param set-default FW_YR_P 1.3
param set-default FW_YR_I 0.7
param set-default FW_PSP_OFF 0
param set-default FW_P_LIM_MIN -15
param set-default FW_SPOILERS_LND 0.4
param set-default FW_THR_MAX 0.6
param set-default FW_THR_MIN 0.05
param set-default FW_THR_TRIM 0.25
param set-default FW_T_CLMB_MAX 8
param set-default FW_T_SINK_MAX 2.7
param set-default FW_T_SINK_MIN 2.2
param set-default FW_T_CLMB_MAX 5
param set-default FW_T_SINK_MAX 3.5
param set-default FW_T_SINK_MIN 3
param set-default FW_W_EN 1
param set-default FD_ESCS_EN 0
param set-default MIS_TAKEOFF_ALT 30
param set-default NAV_ACC_RAD 15
ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_px4vision
-2
View File
@@ -19,7 +19,6 @@ param set-default SENS_EN_BAROSIM 0
param set-default SENS_EN_MAGSIM 1
# Commander Parameters
param set-default COM_OBS_AVOID 0
param set-default COM_DISARM_LAND 0.5
# EKF2 parameters
@@ -75,7 +74,6 @@ param set-default MPC_Z_VEL_P_ACC 5
param set-default MPC_Z_VEL_I_ACC 3
param set-default MPC_LAND_ALT1 3
param set-default MPC_LAND_ALT2 1
param set-default MPC_POS_MODE 3
param set-default CP_GO_NO_DATA 1
# Navigator Parameters
ROMFS/px4fmu_common/init.d-posix/airframes/4009_gz_r1_rover
+32 -22
View File
@@ -11,29 +11,39 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover}
param set-default SIM_GZ_EN 1 # Gazebo bridge
# Rover parameters
param set-default NAV_ACC_RAD 0.5
# Differential Parameters
param set-default RD_WHEEL_TRACK 0.3
param set-default RD_MAN_YAW_SCALE 0.1
param set-default RD_MAX_ACCEL 6
param set-default RD_MAX_JERK 30
param set-default RD_MAX_THR_YAW_R 5
param set-default RD_YAW_RATE_P 0.1
param set-default RD_YAW_RATE_I 0
param set-default RD_YAW_P 5
param set-default RD_YAW_I 0
param set-default RD_MAX_SPEED 5
param set-default RD_MAX_THR_SPD 7
param set-default RD_SPEED_P 1
param set-default RD_SPEED_I 0
param set-default RD_MAX_YAW_RATE 180
param set-default RD_MISS_SPD_DEF 5
param set-default RD_MAX_THR_YAW_R 1.5
param set-default RD_TRANS_DRV_TRN 0.349066
param set-default RD_TRANS_TRN_DRV 0.174533
# Pure pursuit parameters
param set-default PP_LOOKAHD_MAX 30
param set-default PP_LOOKAHD_MIN 2
# Rover Control Parameters
param set-default RO_ACCEL_LIM 5
param set-default RO_DECEL_LIM 10
param set-default RO_JERK_LIM 30
param set-default RO_MAX_THR_SPEED 2.1
# Rover Rate Control Parameters
param set-default RO_YAW_RATE_I 0.01
param set-default RO_YAW_RATE_P 0.25
param set-default RO_YAW_RATE_LIM 180
param set-default RO_YAW_ACCEL_LIM 120
param set-default RO_YAW_DECEL_LIM 1000
# Rover Attitude Control Parameters
param set-default RO_YAW_P 5
# Rover Position Control Parameters
param set-default RO_SPEED_LIM 2
param set-default RO_SPEED_I 0.5
param set-default RO_SPEED_P 1
# Pure Pursuit parameters
param set-default PP_LOOKAHD_GAIN 1
param set-default PP_LOOKAHD_MAX 10
param set-default PP_LOOKAHD_MIN 1
# Simulated sensors
param set-default SENS_EN_GPSSIM 1
@@ -43,13 +53,13 @@ param set-default SENS_EN_ARSPDSIM 0
# Actuator mapping
param set-default SIM_GZ_WH_FUNC1 101 # right wheel
param set-default SIM_GZ_WH_MIN1 0
param set-default SIM_GZ_WH_MAX1 200
param set-default SIM_GZ_WH_MIN1 70
param set-default SIM_GZ_WH_MAX1 130
param set-default SIM_GZ_WH_DIS1 100
param set-default SIM_GZ_WH_FUNC2 102 # left wheel
param set-default SIM_GZ_WH_MIN2 0
param set-default SIM_GZ_WH_MAX2 200
param set-default SIM_GZ_WH_MIN2 70
param set-default SIM_GZ_WH_MAX2 130
param set-default SIM_GZ_WH_DIS2 100
param set-default SIM_GZ_WH_REV 1 # reverse right wheel
ROMFS/px4fmu_common/init.d-posix/airframes/4011_gz_lawnmower
+16 -12
View File
@@ -21,7 +21,6 @@ param set-default COM_ARM_WO_GPS 1
# Rover parameters
param set-default RD_WHEEL_TRACK 0.9
param set-default RD_MAN_YAW_SCALE 0.1
param set-default RD_YAW_RATE_I 0.1
param set-default RD_YAW_RATE_P 5
param set-default RD_MAX_ACCEL 1
@@ -30,7 +29,6 @@ param set-default RD_MAX_SPEED 8
param set-default RD_YAW_P 5
param set-default RD_YAW_I 0.1
param set-default RD_MAX_YAW_RATE 30
param set-default RD_MISS_SPD_DEF 8
param set-default RD_TRANS_DRV_TRN 0.349066
param set-default RD_TRANS_TRN_DRV 0.174533
@@ -62,19 +60,25 @@ param set-default SIM_GZ_WH_REV 0 # no need to reverse any wheels
# controls in practical scenarios.
# Cutter deck blades clutch, PCA9685 servo channel 3, "RC FLAPS" (406) - leftmost switch, or "Servo 3" (203):
param set-default SIM_GZ_SV_FUNC3 203
param set-default SIM_GZ_SV_MIN3 0
param set-default SIM_GZ_SV_MAX3 1000
param set-default SIM_GZ_SV_DIS3 500
param set-default SIM_GZ_SV_FAIL3 500
param set-default SIM_GZ_SV_FUNC1 201
param set-default SIM_GZ_SV_MIN1 0
param set-default SIM_GZ_SV_MAX1 1000
param set-default SIM_GZ_SV_DIS1 500
param set-default SIM_GZ_SV_FAIL1 500
param set-default SIM_GZ_SV_MAXA1 90
param set-default SIM_GZ_SV_MINA1 -90
# Gas engine throttle, PCA9685 servo channel 4, "RC AUX1" (407) - left knob, or "Servo 4" (204):
# - on minimum when disarmed or failed:
param set-default SIM_GZ_SV_FUNC4 204
param set-default SIM_GZ_SV_MIN4 0
param set-default SIM_GZ_SV_MAX4 1000
param set-default SIM_GZ_SV_DIS4 500
param set-default SIM_GZ_SV_FAIL4 500
param set-default SIM_GZ_SV_FUNC2 202
param set-default SIM_GZ_SV_MIN2 0
param set-default SIM_GZ_SV_MAX2 1000
param set-default SIM_GZ_SV_DIS2 500
param set-default SIM_GZ_SV_FAIL2 500
param set-default SIM_GZ_SV_MAXA2 90
param set-default SIM_GZ_SV_MINA2 -90
param set-default CA_SV_CS_COUNT 2
# Controlling PCA9685 servos 5,6,7,8 directly via "Servo 5..8" setting, by publishing actuator_servos.control[]:
ROMFS/px4fmu_common/init.d-posix/airframes/4012_gz_rover_ackermann
+26 -11
View File
@@ -11,21 +11,33 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_ackermann}
param set-default SIM_GZ_EN 1 # Gazebo bridge
# Rover parameters
param set-default NAV_ACC_RAD 0.5
# Ackermann Parameters
param set-default RA_WHEEL_BASE 0.321
param set-default RA_ACC_RAD_GAIN 2
param set-default RA_ACC_RAD_MAX 3
param set-default RA_MAX_ACCEL 1.5
param set-default RA_MAX_JERK 15
param set-default RA_MAX_SPEED 3
param set-default RA_MAX_STR_ANG 0.5236
param set-default RA_MAX_STR_RATE 360
param set-default RA_MISS_VEL_DEF 3
param set-default RA_MISS_VEL_GAIN 5
param set-default RA_MISS_VEL_MIN 1
param set-default RA_SPEED_I 0.01
param set-default RA_SPEED_P 2
param set-default RA_WHEEL_BASE 0.321
param set-default RA_STR_RATE_LIM 360
# Rover Control Parameters
param set-default RO_ACCEL_LIM 3
param set-default RO_DECEL_LIM 6
param set-default RO_JERK_LIM 15
param set-default RO_MAX_THR_SPEED 3.1
# Rover Rate Control Parameters
param set-default RO_YAW_RATE_I 0.1
param set-default RO_YAW_RATE_P 1
param set-default RO_YAW_RATE_LIM 180
# Rover Attitude Control Parameters
param set-default RO_YAW_P 3
# Rover Position Control Parameters
param set-default RO_SPEED_LIM 3
param set-default RO_SPEED_I 0.1
param set-default RO_SPEED_P 1
# Pure Pursuit parameters
param set-default PP_LOOKAHD_GAIN 1
@@ -45,5 +57,8 @@ param set-default SIM_GZ_WH_MAX1 200
param set-default SIM_GZ_WH_DIS1 100
# Steering
param set-default SIM_GZ_SV_MAXA1 30
param set-default SIM_GZ_SV_MINA1 -30
param set-default CA_SV_CS_COUNT 1
param set-default SIM_GZ_SV_FUNC1 201
param set-default SIM_GZ_SV_REV 1
ROMFS/px4fmu_common/init.d-posix/airframes/4013_gz_x500_lidar → ROMFS/px4fmu_common/init.d-posix/airframes/4013_gz_x500_lidar_2d
+2 -2
View File
@@ -1,10 +1,10 @@
#!/bin/sh
#
# @name Gazebo x500 lidar
# @name Gazebo x500 lidar 2d
#
# @type Quadrotor
#
PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_lidar}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_lidar_2d}
. ${R}etc/init.d-posix/airframes/4001_gz_x500
ROMFS/px4fmu_common/init.d-posix/airframes/4015_gz_r1_rover_mecanum
+16 -16
View File
@@ -13,18 +13,18 @@ param set-default SIM_GZ_EN 1 # Gazebo bridge
# Rover parameters
param set-default RM_WHEEL_TRACK 0.3
param set-default RM_MAN_YAW_SCALE 0.1
param set-default RM_YAW_RATE_I 0
param set-default RM_YAW_RATE_P 0.01
param set-default RM_YAW_RATE_I 0.1
param set-default RM_YAW_RATE_P 0.1
param set-default RM_MAX_ACCEL 3
param set-default RM_MAX_DECEL 5
param set-default RM_MAX_JERK 5
param set-default RM_MAX_SPEED 4
param set-default RM_MAX_THR_SPD 7
param set-default RM_MAX_THR_YAW_R 7.5
param set-default RM_MAX_SPEED 2
param set-default RM_MAX_THR_SPD 2.2
param set-default RM_MAX_THR_YAW_R 1.2
param set-default RM_YAW_P 5
param set-default RM_YAW_I 0.1
param set-default RM_MAX_YAW_RATE 180
param set-default RM_MISS_SPD_DEF 3
param set-default RM_MAX_YAW_RATE 120
param set-default RM_MAX_YAW_ACCEL 240
param set-default RM_MISS_VEL_GAIN 1
param set-default RM_SPEED_I 0.01
param set-default RM_SPEED_P 0.1
@@ -42,23 +42,23 @@ param set-default SENS_EN_ARSPDSIM 0
# Actuator mapping
param set-default SIM_GZ_WH_FUNC1 102 # right wheel front
param set-default SIM_GZ_WH_MIN1 0
param set-default SIM_GZ_WH_MAX1 200
param set-default SIM_GZ_WH_MIN1 70
param set-default SIM_GZ_WH_MAX1 130
param set-default SIM_GZ_WH_DIS1 100
param set-default SIM_GZ_WH_FUNC2 101 # left wheel front
param set-default SIM_GZ_WH_MIN2 0
param set-default SIM_GZ_WH_MAX2 200
param set-default SIM_GZ_WH_MIN2 70
param set-default SIM_GZ_WH_MAX2 130
param set-default SIM_GZ_WH_DIS2 100
param set-default SIM_GZ_WH_FUNC3 104 # right wheel back
param set-default SIM_GZ_WH_MIN3 0
param set-default SIM_GZ_WH_MAX3 200
param set-default SIM_GZ_WH_MIN3 70
param set-default SIM_GZ_WH_MAX3 130
param set-default SIM_GZ_WH_DIS3 100
param set-default SIM_GZ_WH_FUNC4 103 # left wheel back
param set-default SIM_GZ_WH_MIN4 0
param set-default SIM_GZ_WH_MAX4 200
param set-default SIM_GZ_WH_MIN4 70
param set-default SIM_GZ_WH_MAX4 130
param set-default SIM_GZ_WH_DIS4 100
param set-default SIM_GZ_WH_REV 10
ROMFS/px4fmu_common/init.d-posix/airframes/4016_gz_x500_lidar_down
+10
View File
@@ -0,0 +1,10 @@
#!/bin/sh
#
# @name Gazebo x500 lidar down
#
# @type Quadrotor
#
PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_lidar_down}
. ${R}etc/init.d-posix/airframes/4001_gz_x500
ROMFS/px4fmu_common/init.d-posix/airframes/4017_gz_x500_lidar_front
+10
View File
@@ -0,0 +1,10 @@
#!/bin/sh
#
# @name Gazebo x500 lidar front
#
# @type Quadrotor
#
PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_lidar_front}
. ${R}etc/init.d-posix/airframes/4001_gz_x500
ROMFS/px4fmu_common/init.d-posix/airframes/4018_gz_quadtailsitter
+97
View File
@@ -0,0 +1,97 @@
#!/bin/sh
#
# @name Quadrotor + Tailsitter
#
# @type VTOL Quad Tailsitter
#
. ${R}etc/init.d/rc.vtol_defaults
PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=quadtailsitter}
param set-default SIM_GZ_EN 1 # Gazebo bridge
param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 0
param set-default SENS_EN_MAGSIM 1
param set-default SENS_EN_ARSPDSIM 0
param set-default MAV_TYPE 20
param set-default CA_AIRFRAME 4
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.15
param set-default CA_ROTOR0_PY 0.23
param set-default CA_ROTOR0_KM 0.05
param set-default CA_ROTOR1_PX -0.15
param set-default CA_ROTOR1_PY -0.23
param set-default CA_ROTOR1_KM 0.05
param set-default CA_ROTOR2_PX 0.15
param set-default CA_ROTOR2_PY -0.23
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.15
param set-default CA_ROTOR3_PY 0.23
param set-default CA_ROTOR3_KM -0.05
param set-default CA_SV_CS_COUNT 0
param set-default SIM_GZ_EC_FUNC1 101
param set-default SIM_GZ_EC_FUNC2 102
param set-default SIM_GZ_EC_FUNC3 103
param set-default SIM_GZ_EC_FUNC4 104
param set-default SIM_GZ_EC_MIN1 10
param set-default SIM_GZ_EC_MIN2 10
param set-default SIM_GZ_EC_MIN3 10
param set-default SIM_GZ_EC_MIN4 10
param set-default SIM_GZ_EC_MAX1 1500
param set-default SIM_GZ_EC_MAX2 1500
param set-default SIM_GZ_EC_MAX3 1500
param set-default SIM_GZ_EC_MAX4 1500
param set-default FD_FAIL_R 70
param set-default FW_P_TC 0.6
param set-default FW_PR_I 0.3
param set-default FW_PR_P 0.5
param set-default FW_PSP_OFF 2
param set-default FW_RR_FF 0.1
param set-default FW_RR_I 0.1
param set-default FW_RR_P 0.2
param set-default FW_YR_FF 0 # make yaw rate controller very weak, only keep default P
param set-default FW_YR_I 0
param set-default FW_THR_TRIM 0.35
param set-default FW_THR_MAX 0.8
param set-default FW_THR_MIN 0.05
param set-default FW_T_CLMB_MAX 6
param set-default FW_T_HRATE_FF 0.5
param set-default FW_T_SINK_MAX 3
param set-default FW_T_SINK_MIN 1.6
param set-default FW_AIRSPD_STALL 10
param set-default FW_AIRSPD_MIN 14
param set-default FW_AIRSPD_TRIM 18
param set-default FW_AIRSPD_MAX 22
param set-default MC_AIRMODE 2
param set-default MAN_ARM_GESTURE 0 # required for yaw airmode
param set-default MC_ROLL_P 3
param set-default MC_PITCH_P 3
param set-default MC_ROLLRATE_P 0.3
param set-default MC_PITCHRATE_P 0.3
param set-default VT_ARSP_TRANS 15
param set-default VT_B_TRANS_DUR 5
param set-default VT_FW_DIFTHR_EN 7
param set-default VT_FW_DIFTHR_S_Y 1
param set-default VT_F_TRANS_DUR 1.5
param set-default VT_TYPE 0
param set-default WV_EN 0
param set-default EKF2_FUSE_BETA 0
ROMFS/px4fmu_common/init.d-posix/airframes/4019_gz_x500_gimbal
+23
View File
@@ -0,0 +1,23 @@
#!/bin/sh
#
# @name Gazebo x500 gimbal
#
# @type Quadrotor
#
PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_gimbal}
. ${R}etc/init.d-posix/airframes/4001_gz_x500
# Gimbal settings
param set-default MNT_MODE_IN 4
param set-default MNT_MODE_OUT 2
param set-default MNT_RC_IN_MODE 1
param set-default MNT_MAN_ROLL 1
param set-default MNT_MAN_PITCH 2
param set-default MNT_MAN_YAW 3
param set-default MNT_RANGE_ROLL 180
param set-default MNT_RANGE_PITCH 180
param set-default MNT_RANGE_YAW 720
ROMFS/px4fmu_common/init.d-posix/airframes/4020_gz_tiltrotor
+112
View File
@@ -0,0 +1,112 @@
#!/bin/sh
#
# @name VTOL Tiltrotor
#
# @type VTOL Tiltrotor
#
. ${R}etc/init.d/rc.vtol_defaults
PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=tiltrotor}
param set-default SIM_GZ_EN 1 # Gazebo bridge
param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 0
param set-default SENS_EN_MAGSIM 1
param set-default SENS_EN_ARSPDSIM 0
param set-default MAV_TYPE 21
param set-default CA_AIRFRAME 3
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.1515
param set-default CA_ROTOR0_PY 0.245
param set-default CA_ROTOR0_KM 0.05
param set-default CA_ROTOR1_PX -0.1515
param set-default CA_ROTOR1_PY -0.1875
param set-default CA_ROTOR1_KM 0.05
param set-default CA_ROTOR2_PX 0.1515
param set-default CA_ROTOR2_PY -0.245
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.1515
param set-default CA_ROTOR3_PY 0.1875
param set-default CA_ROTOR3_KM -0.05
param set-default CA_ROTOR0_TILT 1
param set-default CA_ROTOR2_TILT 2
param set-default CA_SV_TL0_MAXA 90
param set-default CA_SV_TL0_MINA 0
param set-default CA_SV_TL0_TD 0
param set-default CA_SV_TL0_CT 1
param set-default CA_SV_TL1_MAXA 90
param set-default CA_SV_TL1_MINA 0
param set-default CA_SV_TL1_TD 0
param set-default CA_SV_TL1_CT 1
param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS1_TRQ_R 0.5
param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS2_TRQ_P 1
param set-default CA_SV_CS2_TYPE 3
param set-default CA_SV_CS_COUNT 3
param set-default CA_SV_TL_COUNT 2
param set-default SIM_GZ_EC_FUNC1 101
param set-default SIM_GZ_EC_FUNC2 102
param set-default SIM_GZ_EC_FUNC3 103
param set-default SIM_GZ_EC_FUNC4 104
param set-default SIM_GZ_EC_MIN1 10
param set-default SIM_GZ_EC_MIN2 10
param set-default SIM_GZ_EC_MIN3 10
param set-default SIM_GZ_EC_MIN4 10
param set-default SIM_GZ_EC_MAX1 1500
param set-default SIM_GZ_EC_MAX2 1500
param set-default SIM_GZ_EC_MAX3 1500
param set-default SIM_GZ_EC_MAX4 1500
param set-default SIM_GZ_SV_FUNC1 201
param set-default SIM_GZ_SV_FUNC2 202
param set-default SIM_GZ_SV_FUNC3 203
param set-default SIM_GZ_SV_FUNC4 204
param set-default SIM_GZ_SV_FUNC5 205
param set-default SIM_GZ_SV_MAXA4 90
param set-default SIM_GZ_SV_MINA4 0
param set-default SIM_GZ_SV_MAXA5 90
param set-default SIM_GZ_SV_MINA5 0
param set-default NPFG_PERIOD 12
param set-default FW_PR_FF 0.2
param set-default FW_PR_P 0.9
param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MIN -15
param set-default FW_RR_FF 0.1
param set-default FW_RR_P 0.3
param set-default FW_THR_TRIM 0.38
param set-default FW_THR_MAX 0.6
param set-default FW_THR_MIN 0.05
param set-default FW_T_CLMB_MAX 8
param set-default FW_T_SINK_MAX 2.7
param set-default FW_T_SINK_MIN 2.2
param set-default MC_AIRMODE 1
param set-default MC_YAWRATE_P 0.4
param set-default MC_YAWRATE_I 0.1
param set-default MPC_XY_VEL_P_ACC 3
param set-default MPC_XY_VEL_I_ACC 4
param set-default MPC_XY_VEL_D_ACC 0.1
param set-default MIS_TAKEOFF_ALT 10
param set-default VT_FWD_THRUST_EN 4
param set-default VT_FWD_THRUST_SC 0.6
param set-default VT_TILT_TRANS 0.6
param set-default VT_TYPE 1
ROMFS/px4fmu_common/init.d-posix/airframes/71001_gazebo-classic_spacecraft_dart
+155
View File
@@ -0,0 +1,155 @@
#!/bin/sh
#
# @name 6DoF Spacecraft Model
#
# @type Freeflyer with 8 thrusters
#
# @maintainer Pedro Roque <padr@kth.se>
#
. ${R}etc/init.d/rc.sc_defaults
param set-default CA_AIRFRAME 15
param set-default MAV_TYPE 99
param set-default CA_THRUSTER_CNT 12
param set-default CA_R_REV 0
# param set-default FW_ARSP_MODE 1
# Auto to be provided by Custom Airframe
param set-default CA_METHOD 0
# disable attitude failure detection
param set-default FD_FAIL_P 0
param set-default FD_FAIL_R 0
# Set proper failsafes
param set-default COM_ACT_FAIL_ACT 0
param set-default COM_LOW_BAT_ACT 0
param set-default NAV_DLL_ACT 0
param set-default GF_ACTION 1
param set-default NAV_RCL_ACT 1
param set-default COM_POSCTL_NAVL 2
# Set thrusters
param set-default CA_THRUSTER0_PX -0.50
param set-default CA_THRUSTER0_PY 0.50
param set-default CA_THRUSTER0_PZ 0.0
param set-default CA_THRUSTER0_CT 0.237
param set-default CA_THRUSTER0_AX 0.0
param set-default CA_THRUSTER0_AY -1.0
param set-default CA_THRUSTER0_AZ 0.0
param set-default CA_THRUSTER1_PX 0.50
param set-default CA_THRUSTER1_PY 0.50
param set-default CA_THRUSTER1_PZ 0.0
param set-default CA_THRUSTER1_CT 0.237
param set-default CA_THRUSTER1_AX 0.0
param set-default CA_THRUSTER1_AY -1.0
param set-default CA_THRUSTER1_AZ 0.0
param set-default CA_THRUSTER2_PX 0.50
param set-default CA_THRUSTER2_PY -0.50
param set-default CA_THRUSTER2_PZ 0.0
param set-default CA_THRUSTER2_CT 0.237
param set-default CA_THRUSTER2_AX 0.0
param set-default CA_THRUSTER2_AY 1.0
param set-default CA_THRUSTER2_AZ 0.0
param set-default CA_THRUSTER3_PX -0.50
param set-default CA_THRUSTER3_PY -0.50
param set-default CA_THRUSTER3_PZ 0.0
param set-default CA_THRUSTER3_CT 0.237
param set-default CA_THRUSTER3_AX 0.0
param set-default CA_THRUSTER3_AY 1.0
param set-default CA_THRUSTER3_AZ 0.0
param set-default CA_THRUSTER4_PX -0.50
param set-default CA_THRUSTER4_PY 0.0
param set-default CA_THRUSTER4_PZ -0.50
param set-default CA_THRUSTER4_CT 0.237
param set-default CA_THRUSTER4_AX 1.0
param set-default CA_THRUSTER4_AY 0.0
param set-default CA_THRUSTER4_AZ 0.0
param set-default CA_THRUSTER5_PX 0.50
param set-default CA_THRUSTER5_PY 0.0
param set-default CA_THRUSTER5_PZ -0.50
param set-default CA_THRUSTER5_CT 0.237
param set-default CA_THRUSTER5_AX -1.0
param set-default CA_THRUSTER5_AY 0.0
param set-default CA_THRUSTER5_AZ 0.0
param set-default CA_THRUSTER6_PX 0.50
param set-default CA_THRUSTER6_PY 0.0
param set-default CA_THRUSTER6_PZ 0.50
param set-default CA_THRUSTER6_CT 0.237
param set-default CA_THRUSTER6_AX -1.0
param set-default CA_THRUSTER6_AY 0.0
param set-default CA_THRUSTER6_AZ 0.0
param set-default CA_THRUSTER7_PX -0.50
param set-default CA_THRUSTER7_PY 0.0
param set-default CA_THRUSTER7_PZ 0.50
param set-default CA_THRUSTER7_CT 0.237
param set-default CA_THRUSTER7_AX 1.0
param set-default CA_THRUSTER7_AY 0.0
param set-default CA_THRUSTER7_AZ 0.0
param set-default CA_THRUSTER8_PX 0.0
param set-default CA_THRUSTER8_PY -0.50
param set-default CA_THRUSTER8_PZ -0.50
param set-default CA_THRUSTER8_CT 0.237
param set-default CA_THRUSTER8_AX 0.0
param set-default CA_THRUSTER8_AY 0.0
param set-default CA_THRUSTER8_AZ 1.0
param set-default CA_THRUSTER9_PX 0.0
param set-default CA_THRUSTER9_PY 0.50
param set-default CA_THRUSTER9_PZ -0.50
param set-default CA_THRUSTER9_CT 0.237
param set-default CA_THRUSTER9_AX 0.0
param set-default CA_THRUSTER9_AY 0.0
param set-default CA_THRUSTER9_AZ 1.0
param set-default CA_THRUSTER10_PX 0.0
param set-default CA_THRUSTER10_PY 0.50
param set-default CA_THRUSTER10_PZ 0.50
param set-default CA_THRUSTER10_CT 0.237
param set-default CA_THRUSTER10_AX 0.0
param set-default CA_THRUSTER10_AY 0.0
param set-default CA_THRUSTER10_AZ -1.0
param set-default CA_THRUSTER11_PX 0.0
param set-default CA_THRUSTER11_PY -0.50
param set-default CA_THRUSTER11_PZ 0.50
param set-default CA_THRUSTER11_CT 0.237
param set-default CA_THRUSTER11_AX 0.0
param set-default CA_THRUSTER11_AY 0.0
param set-default CA_THRUSTER11_AZ -1.0
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104
param set-default PWM_MAIN_FUNC5 105
param set-default PWM_MAIN_FUNC6 106
param set-default PWM_MAIN_FUNC7 107
param set-default PWM_MAIN_FUNC8 108
param set-default PWM_MAIN_FUNC9 109
param set-default PWM_MAIN_FUNC10 110
param set-default PWM_MAIN_FUNC11 111
param set-default PWM_MAIN_FUNC12 112
# PWM Simulation
param set PWM_SIM_PWM_MAX 10000
param set PWM_SIM_PWM_MIN 0
# Controller Tunings
param set-default SC_ROLLRATE_P 0.14
param set-default SC_PITCHRATE_P 0.14
param set-default SC_ROLLRATE_I 0.3
param set-default SC_PITCHRATE_I 0.3
param set-default SC_ROLLRATE_D 0.004
param set-default SC_PITCHRATE_D 0.004
ROMFS/px4fmu_common/init.d-posix/airframes/71002_gz_spacecraft_2d
+149
View File
@@ -0,0 +1,149 @@
#!/bin/sh
#
# @name 3DoF Spacecraft Model
#
# @type 2D Freeflyer with 8 thrusters - Planar motion
#
# @maintainer Pedro Roque <padr@kth.se>
#
. ${R}etc/init.d/rc.sc_defaults
PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=spacecraft_2d}
param set-default SIM_GZ_EN 1
param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 1
param set-default SENS_EN_MAGSIM 1
param set-default COM_ARM_CHK_ESCS 0 # We don't have ESCs
param set-default FD_ESCS_EN 0 # We don't have ESCs - but maybe we need this later?
param set-default CA_AIRFRAME 14
param set-default MAV_TYPE 99
param set-default CA_THRUSTER_CNT 8
param set-default CA_R_REV 0
# param set-default FW_ARSP_MODE 1
# Auto to be provided by Custom Airframe
param set-default CA_METHOD 0 # 0 is PseudoInverse, 3 is Metric
# Set proper failsafes
param set-default COM_ACT_FAIL_ACT 0
param set-default COM_LOW_BAT_ACT 0
param set-default NAV_DLL_ACT 0
param set-default GF_ACTION 1
param set-default NAV_RCL_ACT 1
param set-default COM_POSCTL_NAVL 2
# disable attitude failure detection
param set-default FD_FAIL_P 0
param set-default FD_FAIL_R 0
param set-default CA_THRUSTER0_PX -0.12
param set-default CA_THRUSTER0_PY -0.12
param set-default CA_THRUSTER0_PZ 0.0
param set-default CA_THRUSTER0_CT 1.4
param set-default CA_THRUSTER0_AX 1.0
param set-default CA_THRUSTER0_AY 0.0
param set-default CA_THRUSTER0_AZ 0.0
param set-default CA_THRUSTER1_PX 0.12
param set-default CA_THRUSTER1_PY -0.12
param set-default CA_THRUSTER1_PZ 0.0
param set-default CA_THRUSTER1_CT 1.4
param set-default CA_THRUSTER1_AX -1.0
param set-default CA_THRUSTER1_AY 0.0
param set-default CA_THRUSTER1_AZ 0.0
param set-default CA_THRUSTER2_PX -0.12
param set-default CA_THRUSTER2_PY 0.12
param set-default CA_THRUSTER2_PZ 0.0
param set-default CA_THRUSTER2_CT 1.4
param set-default CA_THRUSTER2_AX 1.0
param set-default CA_THRUSTER2_AY 0.0
param set-default CA_THRUSTER2_AZ 0.0
param set-default CA_THRUSTER3_PX 0.12
param set-default CA_THRUSTER3_PY 0.12
param set-default CA_THRUSTER3_PZ 0.0
param set-default CA_THRUSTER3_CT 1.4
param set-default CA_THRUSTER3_AX -1.0
param set-default CA_THRUSTER3_AY 0.0
param set-default CA_THRUSTER3_AZ 0.0
param set-default CA_THRUSTER4_PX 0.12
param set-default CA_THRUSTER4_PY -0.12
param set-default CA_THRUSTER4_PZ 0.0
param set-default CA_THRUSTER4_CT 1.4
param set-default CA_THRUSTER4_AX 0.0
param set-default CA_THRUSTER4_AY 1.0
param set-default CA_THRUSTER4_AZ 0.0
param set-default CA_THRUSTER5_PX 0.12
param set-default CA_THRUSTER5_PY 0.12
param set-default CA_THRUSTER5_PZ 0.0
param set-default CA_THRUSTER5_CT 1.4
param set-default CA_THRUSTER5_AX 0.0
param set-default CA_THRUSTER5_AY -1.0
param set-default CA_THRUSTER5_AZ 0.0
param set-default CA_THRUSTER6_PX -0.12
param set-default CA_THRUSTER6_PY -0.12
param set-default CA_THRUSTER6_PZ 0.0
param set-default CA_THRUSTER6_CT 1.4
param set-default CA_THRUSTER6_AX 0.0
param set-default CA_THRUSTER6_AY 1.0
param set-default CA_THRUSTER6_AZ 0.0
param set-default CA_THRUSTER7_PX -0.12
param set-default CA_THRUSTER7_PY 0.12
param set-default CA_THRUSTER7_PZ 0.0
param set-default CA_THRUSTER7_CT 1.4
param set-default CA_THRUSTER7_AX 0.0
param set-default CA_THRUSTER7_AY -1.0
param set-default CA_THRUSTER7_AZ 0.0
param set-default SIM_GZ_TH_FUNC1 101
param set-default SIM_GZ_TH_FUNC2 102
param set-default SIM_GZ_TH_FUNC3 103
param set-default SIM_GZ_TH_FUNC4 104
param set-default SIM_GZ_TH_FUNC5 105
param set-default SIM_GZ_TH_FUNC6 106
param set-default SIM_GZ_TH_FUNC7 107
param set-default SIM_GZ_TH_FUNC8 108
param set-default SIM_GZ_TH_MIN1 0
param set-default SIM_GZ_TH_MIN2 0
param set-default SIM_GZ_TH_MIN3 0
param set-default SIM_GZ_TH_MIN4 0
param set-default SIM_GZ_TH_MIN5 0
param set-default SIM_GZ_TH_MIN6 0
param set-default SIM_GZ_TH_MIN7 0
param set-default SIM_GZ_TH_MIN8 0
param set-default SIM_GZ_TH_MAX1 10000
param set-default SIM_GZ_TH_MAX2 10000
param set-default SIM_GZ_TH_MAX3 10000
param set-default SIM_GZ_TH_MAX4 10000
param set-default SIM_GZ_TH_MAX5 10000
param set-default SIM_GZ_TH_MAX6 10000
param set-default SIM_GZ_TH_MAX7 10000
param set-default SIM_GZ_TH_MAX8 10000
# Controller Tunings
param set SC_YAWRATE_P 3.335
param set SC_YAWRATE_I 0.87
param set SC_YAWRATE_D 0.15
param set SC_YR_INT_LIM 0.2
param set SC_YAW_P 3.0
param set SPC_POS_P 0.20
param set SPC_VEL_P 6.55
param set SPC_VEL_I 0.0
param set SPC_VEL_D 0.0
param set SPC_VEL_MAX 12.0
ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
+11 -3
View File
@@ -39,8 +39,6 @@ px4_add_romfs_files(
1012_gazebo-classic_iris_rplidar
1013_gazebo-classic_iris_vision
1013_gazebo-classic_iris_vision.post
1014_gazebo-classic_iris_obs_avoid
1014_gazebo-classic_iris_obs_avoid.post
1015_gazebo-classic_iris_depth_camera
1016_gazebo-classic_iris_downward_depth_camera
1017_gazebo-classic_iris_opt_flow_mockup
@@ -49,6 +47,7 @@ px4_add_romfs_files(
1022_gazebo-classic_uuv_bluerov2_heavy
1030_gazebo-classic_plane
1031_gazebo-classic_plane_cam
1031_gazebo-classic_plane_cam.post
1032_gazebo-classic_plane_catapult
1033_jsbsim_rascal
1034_flightgear_rascal-electric
@@ -84,9 +83,14 @@ px4_add_romfs_files(
4010_gz_x500_mono_cam
4011_gz_lawnmower
4012_gz_rover_ackermann
4013_gz_x500_lidar
4013_gz_x500_lidar_2d
4014_gz_x500_mono_cam_down
4015_gz_r1_rover_mecanum
4016_gz_x500_lidar_down
4017_gz_x500_lidar_front
4018_gz_quadtailsitter
4019_gz_x500_gimbal
4020_gz_tiltrotor
6011_gazebo-classic_typhoon_h480
6011_gazebo-classic_typhoon_h480.post
@@ -103,9 +107,13 @@ px4_add_romfs_files(
10040_sihsim_quadx
10041_sihsim_airplane
10042_sihsim_xvert
10043_sihsim_standard_vtol
17001_flightgear_tf-g1
17002_flightgear_tf-g2
71001_gazebo-classic_spacecraft_dart
71002_gz_spacecraft_2d
# [22000, 22999] Reserve for custom models
)
ROMFS/px4fmu_common/init.d-posix/px4-rc.mavlink
+1 -1
View File
@@ -29,7 +29,7 @@ mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_of
mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
# Onboard link to gimbal
mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -f -m gimbal -o $udp_onboard_gimbal_port_remote
# To display for SIH sitl
if [ "$PX4_SIMULATOR" = "sihsim" ]; then
ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
+11
View File
@@ -4,6 +4,9 @@
# Simulator IMU data provided at 250 Hz
param set-default IMU_INTEG_RATE 250
# For simulation, allow registering modes while armed for developer convenience
param set-default COM_MODE_ARM_CHK 1
if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0" ]; then
echo "INFO [init] SIH simulator"
@@ -33,6 +36,10 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
then
sensor_mag_sim start
fi
if param compare -s SENS_EN_AGPSIM 1
then
sensor_agp_sim start
fi
else
echo "ERROR [init] simulator_sih failed to start"
@@ -153,6 +160,10 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
then
sensor_airspeed_sim start
fi
if param compare -s SENS_EN_AGPSIM 1
then
sensor_agp_sim start
fi
elif [ "$PX4_SIM_MODEL" = "jmavsim_iris" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "10017" ]; then
ROMFS/px4fmu_common/init.d-posix/rcS
+10 -5
View File
@@ -153,8 +153,6 @@ fi
param set-default BAT1_N_CELLS 4
param set-default CBRK_SUPPLY_CHK 894281
# disable check, no CPU load reported on posix yet
param set-default COM_CPU_MAX -1
param set-default COM_RAM_MAX -1
@@ -181,7 +179,7 @@ param set-default TRIG_INTERFACE 3
param set-default SYS_FAILURE_EN 1
# Enable low-battery actions by default for (automated) testing. Battery sim
# does not go below 50% by default, but failure injection can trigger failsafes.
param set-default COM_LOW_BAT_ACT 2
param set-default COM_LOW_BAT_ACT 3
# Adapt timeout parameters if simulation runs faster or slower than realtime.
@@ -190,11 +188,11 @@ if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
echo "COM_DL_LOSS_T set to $COM_DL_LOSS_T_LONGER"
param set COM_DL_LOSS_T $COM_DL_LOSS_T_LONGER
COM_RC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 0.5" | bc)
COM_RC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 1.0" | bc)
echo "COM_RC_LOSS_T set to $COM_RC_LOSS_T_LONGER"
param set COM_RC_LOSS_T $COM_RC_LOSS_T_LONGER
COM_OF_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 0.5" | bc)
COM_OF_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 1.0" | bc)
echo "COM_OF_LOSS_T set to $COM_OF_LOSS_T_LONGER"
param set COM_OF_LOSS_T $COM_OF_LOSS_T_LONGER
@@ -247,6 +245,8 @@ then
battery_simulator start
fi
system_power_simulator start
tone_alarm start
rc_update start
manual_control start
@@ -337,6 +337,11 @@ then
payload_deliverer start
fi
if param compare -s ICE_EN 1
then
internal_combustion_engine_control start
fi
#user defined mavlink streams for instances can be in PATH
. px4-rc.mavlink
ROMFS/px4fmu_common/init.d/CMakeLists.txt
+7
View File
@@ -92,6 +92,13 @@ if(CONFIG_MODULES_ROVER_ACKERMANN)
)
endif()
if(CONFIG_MODULES_SPACECRAFT)
px4_add_romfs_files(
rc.sc_apps
rc.sc_defaults
)
endif()
if(CONFIG_MODULES_ROVER_MECANUM)
px4_add_romfs_files(
rc.rover_mecanum_apps
ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
+9
View File
@@ -5,6 +5,15 @@
# @type Standard VTOL
# @class VTOL
#
# @output Motor1 MC motor front right
# @output Motor2 MC motor back left
# @output Motor3 MC motor front left
# @output Motor4 MC motor back right
# @output Motor5 Forward thrust motor
# @output Servo1 Aileron
# @output Servo2 Elevator
# @output Servo3 Rudder
#
# @maintainer Roman Bapst <roman@auterion.com>
#
# @board px4_fmu-v2 exclude
ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil
+13 -16
View File
@@ -12,28 +12,25 @@
. ${R}etc/init.d/rc.fw_defaults
param set UAVCAN_ENABLE 0
param set-default CA_AIRFRAME 1
param set-default CA_ROTOR_COUNT 1
param set-default CA_ROTOR0_PX 0.3
param set-default CA_SV_CS_COUNT 4
param set-default CA_SV_CS0_TRQ_R 0.5
param set-default CA_SV_CS0_TYPE 2
param set-default CA_SV_CS1_TRQ_P 1
param set-default CA_SV_CS1_TYPE 3
param set-default CA_SV_CS2_TRQ_Y 1
param set-default CA_SV_CS2_TYPE 4
param set-default CA_SV_CS3_TYPE 10
param set-default HIL_ACT_REV 2
param set-default HIL_ACT_FUNC1 201
param set-default HIL_ACT_FUNC2 202
param set-default HIL_ACT_FUNC3 203
param set-default HIL_ACT_FUNC4 101
param set-default HIL_ACT_FUNC5 204
param set-default HIL_ACT_FUNC6 400
# SIH for now hardcodes this configuration which we need to match in the airframe files.
param set-default CA_SV_CS_COUNT 3
param set-default CA_SV_CS0_TRQ_R 1
param set-default CA_SV_CS0_TYPE 15 # single channel aileron
param set-default CA_SV_CS1_TRQ_P 1
param set-default CA_SV_CS1_TYPE 3 # elevator
param set-default CA_SV_CS2_TRQ_Y 1
param set-default CA_SV_CS2_TYPE 4 # rudder
param set HIL_ACT_FUNC1 201
param set HIL_ACT_FUNC2 202
param set HIL_ACT_FUNC3 203
param set HIL_ACT_FUNC4 101
# set SYS_HITL to 2 to start the SIH and avoid sensors startup
param set-default SYS_HITL 2
ROMFS/px4fmu_common/init.d/airframes/1103_standard_vtol_sih.hil
+92
View File
@@ -0,0 +1,92 @@
#!/bin/sh
#
# @name SIH Standard VTOL QuadPlane
#
# @type Simulation
# @class VTOL
#
# @output Motor1 MC motor front right
# @output Motor2 MC motor back left
# @output Motor3 MC motor front left
# @output Motor4 MC motor back right
# @output Motor5 Forward thrust motor
# @output Servo1 Ailerons (single channel)
# @output Servo2 Elevator
# @output Servo3 Rudder
#
# @board px4_fmu-v2 exclude
#
. ${R}etc/init.d/rc.vtol_defaults
param set UAVCAN_ENABLE 0
param set-default VT_TYPE 2
param set-default MPC_MAN_Y_MAX 60
param set-default MC_PITCH_P 5
param set-default CA_AIRFRAME 2
param set-default CA_ROTOR_COUNT 5
param set-default CA_ROTOR0_KM 0.05
param set-default CA_ROTOR0_PX 0.2
param set-default CA_ROTOR0_PY 0.2
param set-default CA_ROTOR1_KM 0.05
param set-default CA_ROTOR1_PX -0.2
param set-default CA_ROTOR1_PY -0.2
param set-default CA_ROTOR2_PX 0.2
param set-default CA_ROTOR2_PY -0.2
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.2
param set-default CA_ROTOR3_PY 0.2
param set-default CA_ROTOR3_KM -0.05
param set-default CA_ROTOR4_PX -0.3
param set-default CA_ROTOR4_KM 0.05
param set-default CA_ROTOR4_AX 1
param set-default CA_ROTOR4_AZ 0
# SIH for now hardcodes this configuration which we need to match in the airframe files.
param set-default CA_SV_CS_COUNT 3
param set-default CA_SV_CS0_TRQ_R 1
param set-default CA_SV_CS0_TYPE 15 # single channel aileron
param set-default CA_SV_CS1_TRQ_P 1
param set-default CA_SV_CS1_TYPE 3 # elevator
param set-default CA_SV_CS2_TRQ_Y 1
param set-default CA_SV_CS2_TYPE 4 # rudder
param set-default FW_AIRSPD_MIN 7
param set-default FW_AIRSPD_TRIM 10
param set-default FW_AIRSPD_MAX 12
param set-default HIL_ACT_FUNC1 101
param set-default HIL_ACT_FUNC2 102
param set-default HIL_ACT_FUNC3 103
param set-default HIL_ACT_FUNC4 104
param set-default HIL_ACT_FUNC5 201
param set-default HIL_ACT_FUNC6 202
param set-default HIL_ACT_FUNC7 203
param set-default HIL_ACT_FUNC8 105
param set-default MAV_TYPE 22
# set SYS_HITL to 2 to start the SIH and avoid sensors startup
param set-default SYS_HITL 2
# disable some checks to allow to fly:
# - without real battery
param set-default CBRK_SUPPLY_CHK 894281
param set-default SENS_DPRES_OFF 0.001
param set SIH_T_MAX 2.0
param set SIH_Q_MAX 0.0165
param set SIH_MASS 0.2
# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
param set SIH_IXX 0.00354
param set SIH_IYY 0.000625
param set SIH_IZZ 0.00300
param set SIH_IXZ 0
param set SIH_KDV 0.2
param set SIH_L_ROLL 0.2
# sih as standard vtol
param set SIH_VEHICLE_TYPE 3
ROMFS/px4fmu_common/init.d/airframes/12001_octo_cox
-1
View File
@@ -21,7 +21,6 @@
. ${R}etc/init.d/rc.mc_defaults
param set-default MAV_TYPE 14
param set-default CA_ROTOR_COUNT 8
ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
-131
View File
@@ -1,131 +0,0 @@
#!/bin/sh
#
# @name Vertical Technologies DeltaQuad
#
# @type Standard VTOL
# @class VTOL
#
# @maintainer Sander Smeets <sander@droneslab.com>
#
# @output Motor1 motor 1
# @output Motor2 motor 2
# @output Motor3 motor 3
# @output Motor4 motor 4
# @output Servo1 Right elevon
# @output Servo2 Left elevon
# @output Servo3 Pusher motor
# @output Servo4 Pusher reverse channel
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.vtol_defaults
param set-default MAV_TYPE 22
param set-default BAT1_CAPACITY 23000
param set-default BAT1_N_CELLS 4
param set-default BAT1_R_INTERNAL 0.0025
param set-default SYS_HAS_NUM_ASPD 0
param set-default EKF2_GPS_POS_X -0.12
param set-default EKF2_IMU_POS_X -0.12
param set-default FW_USE_AIRSPD 0
param set-default NPFG_PERIOD 25
param set-default FW_PR_FF 0.7
param set-default FW_PR_I 0.18
param set-default FW_PR_P 0.15
param set-default FW_P_TC 0.5
param set-default FW_PSP_OFF 5
param set-default FW_R_LIM 35
param set-default FW_RR_FF 0.9
param set-default FW_RR_I 0.08
param set-default FW_RR_P 0.18
param set-default FW_T_CLMB_MAX 3
param set-default FW_T_SINK_MAX 3
param set-default FW_T_SINK_MIN 1
param set-default FW_THR_TRIM 0.70
param set-default FW_THR_SLEW_MAX 1
param set-default FW_P_LIM_MAX 15
param set-default FW_P_LIM_MIN -25
param set-default FW_P_RMAX_NEG 45
param set-default FW_P_RMAX_POS 45
param set-default FW_R_RMAX 50
param set-default FW_THR_MIN 0.55
param set-default FW_BAT_SCALE_EN 1
param set-default FW_T_RLL2THR 20
param set-default MC_ROLLRATE_P 0.16
param set-default MC_ROLLRATE_I 0.01
param set-default MC_PITCHRATE_I 0.05
param set-default MC_YAWRATE_MAX 20
param set-default MC_AIRMODE 1
param set-default MIS_TAKEOFF_ALT 15
param set-default MPC_XY_P 0.8
param set-default MPC_XY_VEL_MAX 5
param set-default MPC_LAND_SPEED 1.2
param set-default MPC_TILTMAX_LND 35
param set-default MPC_Z_VEL_MAX_UP 1.5
param set-default MPC_TKO_RAMP_T 0.8
param set-default MPC_TILTMAX_AIR 25
param set-default MPC_TILTMAX_LND 25
param set-default MPC_YAWRAUTO_MAX 20
param set-default NAV_LOITER_RAD 100
param set-default PWM_MAIN_DIS5 1500
param set-default PWM_MAIN_DIS6 1500
param set-default PWM_MAIN_DIS7 900
param set-default PWM_MAIN_DIS8 900
param set-default SENS_BOARD_ROT 18
# TELEM2 config
param set-default MAV_1_CONFIG 102
param set-default MAV_1_RATE 5000
param set-default MAV_1_FORWARD 1
param set-default SER_TEL2_BAUD 57600
param set-default VT_TYPE 2
param set-default VT_PITCH_MIN 8
param set-default VT_FW_QC_P 55
param set-default VT_FW_QC_R 55
param set-default VT_TRANS_MIN_TM 15
param set-default VT_FWD_THRUST_SC 4
param set-default VT_TRANS_TIMEOUT 22
param set-default COM_RC_OVERRIDE 0
param set-default CA_AIRFRAME 2
param set-default CA_ROTOR_COUNT 5
param set-default CA_ROTOR0_PX 0.1515
param set-default CA_ROTOR0_PY 0.245
param set-default CA_ROTOR0_KM 0.05
param set-default CA_ROTOR1_PX -0.1515
param set-default CA_ROTOR1_PY -0.1875
param set-default CA_ROTOR1_KM 0.05
param set-default CA_ROTOR2_PX 0.1515
param set-default CA_ROTOR2_PY -0.245
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.1515
param set-default CA_ROTOR3_PY 0.1875
param set-default CA_ROTOR3_KM -0.05
param set-default CA_ROTOR4_AX 1
param set-default CA_ROTOR4_AZ 0
param set-default CA_ROTOR4_PX 0.2
param set-default CA_SV_CS_COUNT 3
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 3
param set-default CA_SV_CS2_TRQ_P 1
ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
-121
View File
@@ -1,121 +0,0 @@
#!/bin/sh
#
# @name BabyShark VTOL
#
# @type Standard VTOL
# @class VTOL
#
# @maintainer Silvan Fuhrer <silvan@auterion.com>
#
# @output Motor1 motor 1
# @output Motor2 motor 2
# @output Motor3 motor 3
# @output Motor4 motor 4
# @output Motor5 Pusher motor
# @output Servo1 Ailerons
# @output Servo2 A-tail left
# @output Servo3 A-tail right
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
# @board holybro_kakutef7 exclude
#
. ${R}etc/init.d/rc.vtol_defaults
param set-default MAV_TYPE 22
param set-default BAT1_N_CELLS 6
param set-default FW_AIRSPD_MAX 30
param set-default FW_AIRSPD_MIN 19
param set-default FW_AIRSPD_TRIM 23
param set-default FW_PN_R_SLEW_MAX 40
param set-default FW_PSP_OFF 3
param set-default FW_P_LIM_MAX 18
param set-default FW_P_LIM_MIN -25
param set-default FW_RLL_TO_YAW_FF 0.1
param set-default FW_RR_P 0.08
param set-default FW_R_LIM 45
param set-default FW_R_RMAX 50
param set-default FW_THR_TRIM 0.65
param set-default FW_THR_MIN 0.3
param set-default FW_THR_SLEW_MAX 0.6
param set-default FW_T_SINK_MAX 15
param set-default FW_T_SINK_MIN 3
param set-default FW_YR_P 0.15
param set-default IMU_DGYRO_CUTOFF 15
param set-default MC_PITCHRATE_MAX 60
param set-default MC_ROLLRATE_MAX 60
param set-default MC_YAWRATE_I 0.15
param set-default MC_YAWRATE_MAX 40
param set-default MC_YAWRATE_P 0.3
param set-default MC_AIRMODE 1
param set-default MPC_LAND_SPEED 1
param set-default MPC_MAN_TILT_MAX 25
param set-default MPC_MAN_Y_MAX 40
param set-default MPC_THR_HOVER 0.45
param set-default MPC_TILTMAX_AIR 25
param set-default MPC_YAWRAUTO_MAX 40
param set-default MPC_Z_VEL_MAX_UP 2
param set-default NAV_ACC_RAD 3
param set-default PWM_MAIN_DIS3 1000
param set-default PWM_MAIN_MIN3 1120
param set-default SENS_BOARD_ROT 4
param set-default VT_ARSP_BLEND 10
param set-default VT_ARSP_TRANS 21
param set-default VT_B_DEC_MSS 1.5
param set-default VT_ELEV_MC_LOCK 0
param set-default VT_FWD_THRUST_SC 1.2
param set-default VT_F_TR_OL_TM 8
param set-default VT_TRANS_MIN_TM 4
param set-default VT_TYPE 2
param set-default CA_AIRFRAME 2
param set-default CA_ROTOR_COUNT 5
param set-default CA_ROTOR4_AX 1
param set-default CA_ROTOR4_AZ 0
# Square quadrotor X PX4 numbering
param set-default CA_ROTOR0_PX 1
param set-default CA_ROTOR0_PY 1
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_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 3
param set-default CA_SV_CS0_TYPE 15
param set-default CA_SV_CS0_TRQ_R 1
param set-default CA_SV_CS1_TRQ_P 0.5
param set-default CA_SV_CS1_TRQ_R 0
param set-default CA_SV_CS1_TRQ_Y -0.5
param set-default CA_SV_CS1_TYPE 13
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_CS2_TYPE 14
param set-default PWM_MAIN_FUNC1 201
param set-default PWM_MAIN_FUNC2 202
param set-default PWM_MAIN_FUNC3 105
param set-default PWM_MAIN_FUNC4 203
param set-default PWM_MAIN_FUNC5 101
param set-default PWM_MAIN_FUNC6 102
param set-default PWM_MAIN_FUNC7 103
param set-default PWM_MAIN_FUNC8 104
param set-default PWM_MAIN_TIM0 50
param set-default PWM_MAIN_DIS1 1500
param set-default PWM_MAIN_DIS2 1500
param set-default PWM_MAIN_DIS4 1500
ROMFS/px4fmu_common/init.d/airframes/16001_helicopter
-1
View File
@@ -11,7 +11,6 @@
. ${R}etc/init.d/rc.heli_defaults
# Disable PID gains for initial setup. These should be enabled after setting the FF gain.
# P is expected to be lower than FF.
param set-default MC_ROLLRATE_P 0
ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2
-2
View File
@@ -22,7 +22,6 @@
. ${R}etc/init.d/rc.fw_defaults
param set-default BAT1_CAPACITY 2500
param set-default BAT1_N_CELLS 3
@@ -41,7 +40,6 @@ param set-default FW_P_LIM_MAX 25
param set-default FW_P_LIM_MIN -5
param set-default FW_P_RMAX_NEG 20
param set-default CA_AIRFRAME 1
param set-default CA_ROTOR_COUNT 1
ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2
-1
View File
@@ -20,7 +20,6 @@
. ${R}etc/init.d/rc.fw_defaults
param set-default BAT1_CAPACITY 3300
param set-default BAT1_N_CELLS 3
ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox
-1
View File
@@ -19,7 +19,6 @@ param set-default NAV_ACC_RAD 2
param set-default RTL_DESCEND_ALT 10
param set-default RTL_RETURN_ALT 30
param set-default CA_ROTOR_COUNT 12
# Bottom motors
param set-default CA_ROTOR0_PX 0
ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
-2
View File
@@ -12,7 +12,6 @@
. ${R}etc/init.d/rc.mc_defaults
# Commander Parameters
param set-default COM_OBS_AVOID 1
param set-default COM_DISARM_LAND 0.5
# EKF2 parameters
@@ -67,7 +66,6 @@ param set-default MPC_Z_VEL_P_ACC 5
param set-default MPC_Z_VEL_I_ACC 3
param set-default MPC_LAND_ALT1 3
param set-default MPC_LAND_ALT2 1
param set-default MPC_POS_MODE 3
param set-default CP_GO_NO_DATA 1
# Navigator Parameters
ROMFS/px4fmu_common/init.d/airframes/4020_holybro_px4vision_v1_5
-2
View File
@@ -12,7 +12,6 @@
. ${R}etc/init.d/rc.mc_defaults
# Commander Parameters
param set-default COM_OBS_AVOID 1
param set-default COM_DISARM_LAND 0.5
# EKF2 parameters
@@ -68,7 +67,6 @@ param set-default MPC_Z_VEL_P_ACC 5
param set-default MPC_Z_VEL_I_ACC 3
param set-default MPC_LAND_ALT1 3
param set-default MPC_LAND_ALT2 1
param set-default MPC_POS_MODE 3
param set-default CP_GO_NO_DATA 1
# Navigator Parameters
ROMFS/px4fmu_common/init.d/airframes/4050_generic_250
-1
View File
@@ -21,7 +21,6 @@ param set-default MC_PITCHRATE_P 0.08
param set-default MC_PITCHRATE_D 0.001
param set-default MC_YAW_P 4
param set-default MC_ROLLRATE_MAX 1600
param set-default MC_PITCHRATE_MAX 1600
param set-default MC_YAWRATE_MAX 1000
ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu
-5
View File
@@ -38,7 +38,6 @@ param set-default COM_FLTMODE5 -1
param set-default COM_FLTMODE6 1
param set-default COM_RC_LOSS_T 3
# ekf2
param set-default EKF2_BARO_NOISE 2
@@ -79,19 +78,16 @@ param set-default EKF2_RNG_POS_Z 0.033
param set-default EKF2_TERR_NOISE 1
# Maximum allowed angle velocity in the landed state
param set-default LNDMC_ROT_MAX 40
# Maximum vertical velocity allowed in the landed state
param set-default LNDMC_Z_VEL_MAX 0.7
# filtering
param set-default IMU_DGYRO_CUTOFF 50
param set-default IMU_GYRO_CUTOFF 65
# Pitch angle & rate setting
param set-default MC_PITCHRATE_P 0.075
param set-default MC_PITCHRATE_I 0.1
@@ -148,7 +144,6 @@ param set-default RC_MAP_RETURN_SW 7
param set-default RC1_TRIM 1000
# optical flow
param set-default SENS_FLOW_MAXR 7.4
param set-default SENS_FLOW_MINHGT 0.15
ROMFS/px4fmu_common/init.d/airframes/4071_ifo
-1
View File
@@ -30,7 +30,6 @@ param set-default IMU_DGYRO_CUTOFF 90
param set-default IMU_GYRO_CUTOFF 100
# System
param set-default SENS_BOARD_ROT 10
# EKF2
ROMFS/px4fmu_common/init.d/airframes/4601_droneblocks_dexi_5
+10
View File
@@ -42,12 +42,16 @@ param set-default CA_ROTOR3_PX -0.0762
param set-default CA_ROTOR3_PY 0.09525
param set-default CA_ROTOR3_KM -0.05
param set-default PWM_MAIN_TIM0 -3
param set-default DSHOT_TEL_CFG 104
param set-default EKF2_MIN_RNG 0.01
param set-default EKF2_OF_POS_X 0.043
param set-default EKF2_OF_POS_Y 0.011
param set-default EKF2_OF_QMIN_GND 1
param set-default EKF2_RNG_POS_X 0.043
param set-default EKF2_RNG_POS_Y 0.0
param set-default EKF2_RNG_A_HMAX 25.0
param set-default IMU_GYRO_DNF_EN 2
@@ -78,3 +82,9 @@ param set-default SENS_FLOW_MINHGT 0.0
param set-default SER_TEL2_BAUD 3000000
param set-default UXRCE_DDS_CFG 102
param set-default EKF2_HGT_REF 2
# I saw a very sketchy extreme yaw setpoint that I cant explain
# https://review.px4.io/plot_app?log=4b69399f-b001-4dc2-acd5-e779fe266799
param set-default MC_YAWRATE_MAX 100
ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21
-2
View File
@@ -18,7 +18,6 @@
#
. ${R}etc/init.d/rc.mc_defaults
param set-default SYS_HAS_MAG 0
param set-default EKF2_OF_CTRL 1
param set-default EKF2_GPS_CTRL 0
@@ -85,6 +84,5 @@ param set-default PWM_MAIN_MAX3 255
param set-default SENS_FLOW_MINRNG 0.05
syslink start
mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000
ROMFS/px4fmu_common/init.d/airframes/50001_aion_robotics_r1_rover
+31 -20
View File
@@ -21,26 +21,37 @@ param set-default RBCLW_FUNC1 101
param set-default RBCLW_FUNC2 102
param set-default RBCLW_REV 1 # reverse right wheels
# Rover parameters
param set-default RD_WHEEL_TRACK 0.3
param set-default RD_MAN_YAW_SCALE 1
param set-default RD_MAX_ACCEL 5
param set-default RD_MAX_JERK 10
param set-default RD_MAX_THR_YAW_R 4
param set-default RD_YAW_RATE_P 0.1
param set-default RD_YAW_RATE_I 0
param set-default RD_YAW_P 5
param set-default RD_YAW_I 0
param set-default RD_MAX_SPEED 1.8
param set-default RD_MAX_THR_SPD 2
param set-default RD_SPEED_P 0.5
param set-default RD_SPEED_I 0.1
param set-default RD_MAX_YAW_RATE 300
param set-default RD_MISS_SPD_DEF 1.8
param set-default RD_TRANS_DRV_TRN 0.349066
param set-default RD_TRANS_TRN_DRV 0.174533
# Pure pursuit parameters
param set-default NAV_ACC_RAD 0.5
# Differential Parameters
param set-default RD_WHEEL_TRACK 0.3
param set-default RD_MAX_THR_YAW_R 0.7
param set-default RD_TRANS_DRV_TRN 0.785398
param set-default RD_TRANS_TRN_DRV 0.139626
# Rover Control Parameters
param set-default RO_ACCEL_LIM 3
param set-default RO_DECEL_LIM 4
param set-default RO_JERK_LIM 5
param set-default RO_MAX_THR_SPEED 1.9
# Rover Rate Control Parameters
param set-default RO_YAW_RATE_I 0.01
param set-default RO_YAW_RATE_P 0.1
param set-default RO_YAW_RATE_LIM 250
param set-default RO_YAW_ACCEL_LIM 600
param set-default RO_YAW_DECEL_LIM 600
# Rover Attitude Control Parameters
param set-default RO_YAW_P 5
# Rover Position Control Parameters
param set-default RO_SPEED_LIM 1.6
param set-default RO_SPEED_I 0.01
param set-default RO_SPEED_P 0.1
# Pure Pursuit parameters
param set-default PP_LOOKAHD_GAIN 1
param set-default PP_LOOKAHD_MAX 10
param set-default PP_LOOKAHD_MIN 1
param set-default PP_LOOKAHD_GAIN 1
ROMFS/px4fmu_common/init.d/airframes/51001_axial_scx10_2_trail_honcho
+23 -12
View File
@@ -14,22 +14,33 @@
. ${R}etc/init.d/rc.rover_ackermann_defaults
param set-default BAT1_N_CELLS 3
# Rover parameters
param set-default NAV_ACC_RAD 0.5
# Ackermann Parameters
param set-default RA_WHEEL_BASE 0.321
param set-default RA_ACC_RAD_GAIN 2
param set-default RA_ACC_RAD_MAX 3
param set-default RA_MAX_ACCEL 0.5
param set-default RA_MAX_JERK 10
param set-default RA_MAX_SPEED 2.7
param set-default RA_MAX_STR_ANG 0.5236
param set-default RA_MAX_STR_RATE 270
param set-default RA_MISS_VEL_DEF 2.7
param set-default RA_MISS_VEL_GAIN 3.5
param set-default RA_MISS_VEL_MIN 1
param set-default RA_SPEED_I 0.1
param set-default RA_SPEED_P 0.5
param set-default RA_WHEEL_BASE 0.321
param set-default RA_STR_RATE_LIM 270
# Rover Control Parameters
param set-default RO_ACCEL_LIM 1.5
param set-default RO_DECEL_LIM 10
param set-default RO_JERK_LIM 20
param set-default RO_MAX_THR_SPEED 2.8
# Rover Rate Control Parameters
param set-default RO_YAW_RATE_I 0
param set-default RO_YAW_RATE_P 0
param set-default RO_YAW_RATE_LIM 0
# Rover Attitude Control Parameters
param set-default RO_YAW_P 0
# Rover Position Control Parameters
param set-default RO_SPEED_LIM 2.5
param set-default RO_SPEED_I 0.01
param set-default RO_SPEED_P 0.1
# Pure pursuit parameters
param set-default PP_LOOKAHD_GAIN 1
ROMFS/px4fmu_common/init.d/airframes/59000_generic_ground_vehicle
-1
View File
@@ -15,7 +15,6 @@
. ${R}etc/init.d/rc.rover_defaults
param set-default BAT1_N_CELLS 2
param set-default EKF2_ANGERR_INIT 0.01
ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy
-1
View File
@@ -22,7 +22,6 @@
. ${R}etc/init.d/rc.uuv_defaults
param set-default MAV_1_CONFIG 102
param set-default BAT1_A_PER_V 37.8798
ROMFS/px4fmu_common/init.d/airframes/70000_spacecraft_2d
+150
View File
@@ -0,0 +1,150 @@
#!/bin/sh
#
# @name KTH Space Robot
#
# @type Space Robot
# @class 2D Space Robot
#
# @maintainer DISCOWER
#
. ${R}etc/init.d/rc.sc_defaults
param set-default CA_AIRFRAME 14
param set-default MAV_TYPE 99
param set-default CA_THRUSTER_CNT 8
param set-default CA_R_REV 0
# Auto to be provided by Custom Airframe
param set-default CA_METHOD 0
# Set proper failsafes
param set-default COM_ACT_FAIL_ACT 0
param set-default COM_LOW_BAT_ACT 0
param set-default NAV_DLL_ACT 0
param set-default GF_ACTION 1
param set-default NAV_RCL_ACT 1
param set-default COM_POSCTL_NAVL 2
# Set Mocap Vision frame
param set EKF2_EV_CTRL 15
param set EKF2_HGT_REF 3
# disable attitude failure detection
param set-default FD_FAIL_P 0
param set-default FD_FAIL_R 0
param set-default CA_THRUSTER0_PX -0.12
param set-default CA_THRUSTER0_PY -0.12
param set-default CA_THRUSTER0_PZ 0.0
param set-default CA_THRUSTER0_CT 1.4
param set-default CA_THRUSTER0_AX 1.0
param set-default CA_THRUSTER0_AY 0.0
param set-default CA_THRUSTER0_AZ 0.0
param set-default CA_THRUSTER1_PX 0.12
param set-default CA_THRUSTER1_PY -0.12
param set-default CA_THRUSTER1_PZ 0.0
param set-default CA_THRUSTER1_CT 1.4
param set-default CA_THRUSTER1_AX -1.0
param set-default CA_THRUSTER1_AY 0.0
param set-default CA_THRUSTER1_AZ 0.0
param set-default CA_THRUSTER2_PX -0.12
param set-default CA_THRUSTER2_PY 0.12
param set-default CA_THRUSTER2_PZ 0.0
param set-default CA_THRUSTER2_CT 1.4
param set-default CA_THRUSTER2_AX 1.0
param set-default CA_THRUSTER2_AY 0.0
param set-default CA_THRUSTER2_AZ 0.0
param set-default CA_THRUSTER3_PX 0.12
param set-default CA_THRUSTER3_PY 0.12
param set-default CA_THRUSTER3_PZ 0.0
param set-default CA_THRUSTER3_CT 1.4
param set-default CA_THRUSTER3_AX -1.0
param set-default CA_THRUSTER3_AY 0.0
param set-default CA_THRUSTER3_AZ 0.0
param set-default CA_THRUSTER4_PX 0.12
param set-default CA_THRUSTER4_PY -0.12
param set-default CA_THRUSTER4_PZ 0.0
param set-default CA_THRUSTER4_CT 1.4
param set-default CA_THRUSTER4_AX 0.0
param set-default CA_THRUSTER4_AY 1.0
param set-default CA_THRUSTER4_AZ 0.0
param set-default CA_THRUSTER5_PX 0.12
param set-default CA_THRUSTER5_PY 0.12
param set-default CA_THRUSTER5_PZ 0.0
param set-default CA_THRUSTER5_CT 1.4
param set-default CA_THRUSTER5_AX 0.0
param set-default CA_THRUSTER5_AY -1.0
param set-default CA_THRUSTER5_AZ 0.0
param set-default CA_THRUSTER6_PX -0.12
param set-default CA_THRUSTER6_PY -0.12
param set-default CA_THRUSTER6_PZ 0.0
param set-default CA_THRUSTER6_CT 1.4
param set-default CA_THRUSTER6_AX 0.0
param set-default CA_THRUSTER6_AY 1.0
param set-default CA_THRUSTER6_AZ 0.0
param set-default CA_THRUSTER7_PX -0.12
param set-default CA_THRUSTER7_PY 0.12
param set-default CA_THRUSTER7_PZ 0.0
param set-default CA_THRUSTER7_CT 1.4
param set-default CA_THRUSTER7_AX 0.0
param set-default CA_THRUSTER7_AY -1.0
param set-default CA_THRUSTER7_AZ 0.0
param set-default PWM_AUX_TIM0 10
param set-default PWM_AUX_TIM1 10
param set-default PWM_AUX_TIM2 10
param set-default PWM_AUX_FUNC1 101
param set-default PWM_AUX_FUNC2 102
param set-default PWM_AUX_FUNC3 103
param set-default PWM_AUX_FUNC4 104
param set-default PWM_AUX_FUNC5 105
param set-default PWM_AUX_FUNC6 106
param set-default PWM_AUX_FUNC7 107
param set-default PWM_AUX_FUNC8 108
param set-default PWM_AUX_DIS1 0
param set-default PWM_AUX_DIS2 0
param set-default PWM_AUX_DIS3 0
param set-default PWM_AUX_DIS4 0
param set-default PWM_AUX_DIS5 0
param set-default PWM_AUX_DIS6 0
param set-default PWM_AUX_DIS7 0
param set-default PWM_AUX_DIS8 0
param set-default PWM_AUX_MIN1 0
param set-default PWM_AUX_MIN2 0
param set-default PWM_AUX_MIN3 0
param set-default PWM_AUX_MIN4 0
param set-default PWM_AUX_MIN5 0
param set-default PWM_AUX_MIN6 0
param set-default PWM_AUX_MIN7 0
param set-default PWM_AUX_MIN8 0
# BOARD_PWM_FREQ is downscaled by 10, thus PWM value is given in 10s of usec
param set-default PWM_AUX_MAX1 10000
param set-default PWM_AUX_MAX2 10000
param set-default PWM_AUX_MAX3 10000
param set-default PWM_AUX_MAX4 10000
param set-default PWM_AUX_MAX5 10000
param set-default PWM_AUX_MAX6 10000
param set-default PWM_AUX_MAX7 10000
param set-default PWM_AUX_MAX8 10000
# Controller Tunings
param set-default SC_ROLLRATE_P 0.14
param set-default SC_PITCHRATE_P 0.14
param set-default SC_ROLLRATE_I 0.3
param set-default SC_PITCHRATE_I 0.3
param set-default SC_ROLLRATE_D 0.004
param set-default SC_PITCHRATE_D 0.004
ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
+1 -2
View File
@@ -48,6 +48,7 @@ if(CONFIG_MODULES_SIMULATION_PWM_OUT_SIM)
1100_rc_quad_x_sih.hil
1101_rc_plane_sih.hil
1102_tailsitter_duo_sih.hil
1103_standard_vtol_sih.hil
)
endif()
@@ -129,8 +130,6 @@ if(CONFIG_MODULES_VTOL_ATT_CONTROL)
# [13000, 13999] VTOL
13000_generic_vtol_standard
13100_generic_vtol_tiltrotor
13013_deltaquad
13014_vtol_babyshark
13030_generic_vtol_quad_tiltrotor
13200_generic_vtol_tailsitter
)
ROMFS/px4fmu_common/init.d/rc.fw_defaults
-3
View File
@@ -13,8 +13,6 @@ param set-default MAV_TYPE 1
#
# Default parameters for fixed wing UAVs.
#
param set-default COM_POS_FS_DELAY 5
# there is a 2.5 factor applied on the _FS thresholds if for invalidation
param set-default COM_POS_FS_EPH 50
param set-default COM_VEL_FS_EVH 3
@@ -26,7 +24,6 @@ param set-default COM_DISARM_PRFLT -1
param set-default EKF2_ARSP_THR 8
param set-default EKF2_FUSE_BETA 1
param set-default EKF2_GPS_CHECK 21
param set-default EKF2_MAG_ACCLIM 0
param set-default EKF2_REQ_EPH 10
param set-default EKF2_REQ_EPV 10
ROMFS/px4fmu_common/init.d/rc.heli_defaults
+1
View File
@@ -12,6 +12,7 @@ param set-default MAV_TYPE 4
param set-default COM_PREARM_MODE 2
param set-default COM_SPOOLUP_TIME 10
param set-default COM_DISARM_PRFLT 60
# No need for minimum collective pitch (or airmode) to keep torque authority
param set-default MPC_MANTHR_MIN 0
ROMFS/px4fmu_common/init.d/rc.mc_defaults
+3
View File
@@ -21,3 +21,6 @@ param set-default RTL_RETURN_ALT 30
param set-default RTL_DESCEND_ALT 10
param set-default GPS_UBX_DYNMODEL 6
# lower RNG_FOG since MC are expected to fly closer over obstacles
param set-default EKF2_RNG_FOG 1.0
ROMFS/px4fmu_common/init.d/rc.sc_apps
+36
View File
@@ -0,0 +1,36 @@
#!/bin/sh
#
# Standard apps for sr. Attitude/Position estimator, Attitude/Position control.
#
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
# Start Spacecraft App
spacecraft start
# Estimator Group Selection
# ekf2 start &
# Start MicroDDS Client
# uxrce_dds_client start -t udp -h 192.168.0.1 -n spacebot2
# uxrce_dds_client start -t udp -p 8888
#
# Start Control Allocator
#
# sc_control_allocator start
#
# Start Spacecraft Rate Controller.
#
# sc_rate_control start
#
# Start Spacecraft Attitude Controller.
#
# sc_att_control start
#
# Start Spacecraft Position Controller.
#
# sc_pos_control start
ROMFS/px4fmu_common/init.d/rc.sc_defaults
+27
View File
@@ -0,0 +1,27 @@
#!/bin/sh
#
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
set VEHICLE_TYPE sc
# MAV_TYPE_QUADROTOR 2
#param set-default MAV_TYPE 12
# Set micro-dds-client to use ethernet and IP-address 192.168.0.1
param set-default UXRCE_DDS_AG_IP -1062731775
# Disable preflight disarm to not interfere with external launching
param set-default COM_DISARM_PRFLT -1
param set-default CBRK_SUPPLY_CHK 894281
param set-default COM_ARM_HFLT_CHK 0
#Missing params
param set-default CP_DIST -1.0
# Default to MoCap fusion
param set-default ATT_EXT_HDG_M 2
param set-default EKF2_EV_CTRL 15
param set-default EKF2_EV_DELAY 5
param set-default EKF2_GPS_CTRL 0
param set-default EKF2_HGT_REF 3
ROMFS/px4fmu_common/init.d/rc.sensors
+7
View File
@@ -211,6 +211,13 @@ then
spl06 -X -a 0x77 start
fi
# SPA06 sensor external I2C
if param compare -s SENS_EN_SPA06 1
then
spa06 -X start
spa06 -X -a 0x77 start
fi
# PCF8583 counter (RPM sensor)
if param compare -s SENS_EN_PCF8583 1
then
ROMFS/px4fmu_common/init.d/rcS
+82 -57
View File
@@ -301,6 +301,75 @@ else
. $FCONFIG
fi
#
# Sensors System (start before Commander so Preflight checks are properly run).
#
if param greater SYS_HITL 0
then
sensors start -h
# disable GPS
param set GPS_1_CONFIG 0
# start the simulator in hardware if needed
if param compare SYS_HITL 2
then
simulator_sih start
sensor_baro_sim start
sensor_mag_sim start
sensor_gps_sim start
sensor_agp_sim start
fi
else
#
# board sensors: rc.sensors
#
set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors
if [ -f $BOARD_RC_SENSORS ]
then
echo "Board sensors: ${BOARD_RC_SENSORS}"
. $BOARD_RC_SENSORS
fi
unset BOARD_RC_SENSORS
. ${R}etc/init.d/rc.sensors
if param compare -s BAT1_SOURCE 2
then
esc_battery start
fi
if ! param compare BAT1_SOURCE 1
then
battery_status start
fi
sensors start
fi
#
# state estimator selection
#
if param compare -s EKF2_EN 1
then
ekf2 start &
fi
if param compare -s LPE_EN 1
then
local_position_estimator start
fi
if param compare -s ATT_EN 1
then
attitude_estimator_q start
fi
#
# px4io
#
if px4io supported
then
# Check if PX4IO present and update firmware if needed.
@@ -353,6 +422,11 @@ else
then
pps_capture start
fi
# RPM capture driver
if param greater -s RPM_CAP_ENABLE 0
then
rpm_capture start
fi
# Camera capture driver
if param greater -s CAM_CAP_FBACK 0
then
@@ -363,78 +437,24 @@ else
fi
#
# Sensors System (start before Commander so Preflight checks are properly run).
# Commander needs to be this early for in-air-restarts.
# Commander
#
if param greater SYS_HITL 0
then
commander start -h
if ! pwm_out_sim start -m hil
then
tune_control play error
fi
sensors start -h
commander start -h
# disable GPS
param set GPS_1_CONFIG 0
# start the simulator in hardware if needed
if param compare SYS_HITL 2
then
simulator_sih start
sensor_baro_sim start
sensor_mag_sim start
sensor_gps_sim start
fi
else
#
# board sensors: rc.sensors
#
set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors
if [ -f $BOARD_RC_SENSORS ]
then
echo "Board sensors: ${BOARD_RC_SENSORS}"
. $BOARD_RC_SENSORS
fi
unset BOARD_RC_SENSORS
. ${R}etc/init.d/rc.sensors
if param compare -s BAT1_SOURCE 2
then
esc_battery start
fi
if ! param compare BAT1_SOURCE 1
then
battery_status start
fi
sensors start
commander start
dshot start
pwm_out start
fi
#
# state estimator selection
if param compare -s EKF2_EN 1
then
ekf2 start &
fi
if param compare -s LPE_EN 1
then
local_position_estimator start
fi
if param compare -s ATT_EN 1
then
attitude_estimator_q start
fi
#
# Configure vehicle type specific parameters.
# Note: rc.vehicle_setup is the entry point for all vehicle type specific setup.
@@ -531,6 +551,11 @@ else
payload_deliverer start
fi
if param compare -s ICE_EN 1
then
internal_combustion_engine_control start
fi
#
# Optional board supplied extras: rc.board_extras
#