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Merge branch 'main' into pr-boards_serial_rc

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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
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ROMFS/px4fmu_common/init.d/CMakeLists.txt
+7
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@@ -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
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@@ -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
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@@ -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
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@@ -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
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@@ -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
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@@ -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
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@@ -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
#