From db379c9049cb3496cca092a5530d20fa6fa12d2b Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Tue, 18 Apr 2023 11:57:59 +0200 Subject: [PATCH] airframe configs: remove params set to default in custom config from configs Removes duplication. Signed-off-by: Silvan Fuhrer --- .../init.d-posix/airframes/10040_sihsim_quadx | 3 --- .../init.d-posix/airframes/10041_sihsim_airplane | 1 - .../init.d-posix/airframes/10042_sihsim_xvert | 3 --- .../airframes/1015_gazebo-classic_iris_obs_avoid | 2 -- .../airframes/1037_gazebo-classic_believer | 1 - .../airframes/1060_gazebo-classic_rover | 1 - .../airframes/1061_gazebo-classic_r1_rover | 1 - .../init.d-posix/airframes/1062_flightgear_tf-r1 | 1 - .../airframes/1070_gazebo-classic_boat | 1 - .../init.d-posix/airframes/4006_gz_px4vision | 3 --- .../init.d/airframes/1001_rc_quad_x.hil | 3 --- .../init.d/airframes/1002_standard_vtol.hil | 5 ----- .../init.d/airframes/1100_rc_quad_x_sih.hil | 3 --- .../init.d/airframes/1101_rc_plane_sih.hil | 3 --- .../init.d/airframes/1102_tailsitter_duo_sih.hil | 3 --- ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2 | 1 - .../init.d/airframes/4016_holybro_px4vision | 3 --- .../init.d/airframes/4020_holybro_px4vision_v1_5 | 3 --- .../px4fmu_common/init.d/airframes/4041_beta75x | 1 - .../init.d/airframes/4061_atl_mantis_edu | 16 ---------------- ROMFS/px4fmu_common/init.d/airframes/4071_ifo | 8 -------- ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s | 6 ------ .../init.d/airframes/4900_crazyflie | 1 - .../init.d/airframes/4901_crazyflie21 | 1 - .../airframes/50000_generic_ground_vehicle | 2 -- .../airframes/50003_aion_robotics_r1_rover | 2 -- .../airframes/50004_nxpcup_car_dfrobot_gpx | 2 -- .../init.d/airframes/60001_uuv_hippocampus | 3 --- .../init.d/airframes/60002_uuv_bluerov2_heavy | 3 --- .../px4fmu_common/init.d/airframes/6002_draco_r | 8 -------- 30 files changed, 94 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10040_sihsim_quadx b/ROMFS/px4fmu_common/init.d-posix/airframes/10040_sihsim_quadx index 881cebe609..3124ff4f69 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/10040_sihsim_quadx +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10040_sihsim_quadx @@ -17,12 +17,9 @@ param set-default SENS_EN_BAROSIM 1 param set-default SENS_EN_MAGSIM 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 # - without safety switch -param set-default COM_PREARM_MODE 0 param set-default CBRK_IO_SAFETY 22027 param set-default CA_ROTOR_COUNT 4 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane b/ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane index 833492e607..47f8c70b00 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane @@ -22,7 +22,6 @@ param set-default CBRK_USB_CHK 197848 # - without real battery param set-default CBRK_SUPPLY_CHK 894281 # - without safety switch -param set-default COM_PREARM_MODE 0 param set-default CBRK_IO_SAFETY 22027 param set-default BAT_N_CELLS 3 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert b/ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert index c09d24a8bf..c98cc5c8ed 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert @@ -27,12 +27,9 @@ param set-default MC_PITCH_P 5 param set-default MAV_TYPE 19 # 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 # - without safety switch -param set-default COM_PREARM_MODE 0 param set-default CBRK_IO_SAFETY 22027 param set-default BAT_N_CELLS 3 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo-classic_iris_obs_avoid b/ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo-classic_iris_obs_avoid index 398e87b602..8221969873 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo-classic_iris_obs_avoid +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo-classic_iris_obs_avoid @@ -30,5 +30,3 @@ param set-default PWM_MAIN_FUNC3 103 param set-default PWM_MAIN_FUNC4 104 param set-default COM_OBS_AVOID 1 -param set-default MPC_XY_CRUISE 5.0 - diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1037_gazebo-classic_believer b/ROMFS/px4fmu_common/init.d-posix/airframes/1037_gazebo-classic_believer index 2394ca0b2b..2053876354 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1037_gazebo-classic_believer +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1037_gazebo-classic_believer @@ -26,7 +26,6 @@ param set-default FW_THR_TRIM 0.25 param set-default FW_T_ALT_TC 2 param set-default FW_T_CLMB_MAX 8 -param set-default FW_T_HRATE_FF 0.5 param set-default FW_T_SINK_MAX 2.7 param set-default FW_T_SINK_MIN 2.2 param set-default FW_T_TAS_TC 2 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1060_gazebo-classic_rover b/ROMFS/px4fmu_common/init.d-posix/airframes/1060_gazebo-classic_rover index ca41c319e8..d58f5aebae 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1060_gazebo-classic_rover +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1060_gazebo-classic_rover @@ -18,7 +18,6 @@ param set-default GND_THR_CRUISE 0.3 param set-default GND_THR_MAX 0.5 param set-default GND_THR_MIN 0 -param set-default MIS_TAKEOFF_ALT 0.01 param set-default NAV_ACC_RAD 0.5 param set-default NAV_LOITER_RAD 2 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1061_gazebo-classic_r1_rover b/ROMFS/px4fmu_common/init.d-posix/airframes/1061_gazebo-classic_r1_rover index 08a14eb3bf..ced7bb26cf 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1061_gazebo-classic_r1_rover +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1061_gazebo-classic_r1_rover @@ -18,7 +18,6 @@ param set-default GND_THR_CRUISE 0.3 param set-default GND_THR_MAX 0.5 param set-default GND_THR_MIN 0 -param set-default MIS_TAKEOFF_ALT 0.01 param set-default NAV_ACC_RAD 0.5 param set-default NAV_LOITER_RAD 2 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1062_flightgear_tf-r1 b/ROMFS/px4fmu_common/init.d-posix/airframes/1062_flightgear_tf-r1 index 59289bbd14..40c5cb8d04 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1062_flightgear_tf-r1 +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1062_flightgear_tf-r1 @@ -25,7 +25,6 @@ param set-default GND_THR_CRUISE 0.3 param set-default GND_THR_MAX 0.5 param set-default GND_THR_MIN 0 -param set-default MIS_TAKEOFF_ALT 0.01 param set-default NAV_ACC_RAD 0.5 param set-default NAV_LOITER_RAD 2 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1070_gazebo-classic_boat b/ROMFS/px4fmu_common/init.d-posix/airframes/1070_gazebo-classic_boat index 6e0505339a..c173598078 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1070_gazebo-classic_boat +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1070_gazebo-classic_boat @@ -18,7 +18,6 @@ param set-default GND_THR_CRUISE 0.85 param set-default GND_THR_MAX 1 param set-default GND_THR_MIN 0 -param set-default MIS_TAKEOFF_ALT 0.01 param set-default NAV_ACC_RAD 0.5 param set-default NAV_LOITER_RAD 2 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_px4vision b/ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_px4vision index 0b836484db..e1c95d88f8 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_px4vision +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_px4vision @@ -66,13 +66,10 @@ param set-default MC_YAWRATE_P 0.3 param set-default CP_DIST 6 param set-default MPC_ACC_DOWN_MAX 5 param set-default MPC_ACC_HOR_MAX 10 -param set-default MPC_ACC_UP_MAX 4 param set-default MPC_MANTHR_MIN 0 param set-default MPC_MAN_Y_MAX 120 -param set-default MPC_TILTMAX_AIR 45 param set-default MPC_THR_HOVER 0.3 param set-default MPC_VEL_MANUAL 5 -param set-default MPC_XY_CRUISE 5 param set-default MPC_XY_VEL_MAX 5 param set-default MPC_XY_VEL_P_ACC 1.58 param set-default MPC_XY_TRAJ_P 0.3 diff --git a/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil b/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil index a78217413e..9cbf028660 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil +++ b/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil @@ -34,10 +34,7 @@ param set-default HIL_ACT_FUNC3 103 param set-default HIL_ACT_FUNC4 104 # 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 # - without safety switch -param set-default COM_PREARM_MODE 0 param set-default CBRK_IO_SAFETY 22027 diff --git a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil b/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil index 48841868a7..60a01fb403 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil +++ b/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil @@ -34,8 +34,6 @@ param set-default MC_ROLLRATE_P 0.3 param set-default MIS_TAKEOFF_ALT 10 param set-default MIS_YAW_TMT 10 -param set-default MPC_ACC_HOR_MAX 2 -param set-default MPC_ACC_HOR_MAX 2 param set-default MPC_THR_MIN 0.1 param set-default MPC_XY_P 0.8 param set-default MPC_XY_VEL_D_ACC 0.1 @@ -94,12 +92,9 @@ param set SYS_HITL 1 param set UAVCAN_ENABLE 0 # 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 # - without safety switch -param set-default COM_PREARM_MODE 0 param set-default CBRK_IO_SAFETY 22027 param set-default MAV_TYPE 22 diff --git a/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil b/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil index b78bfba3f1..b1b42bd3e3 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil +++ b/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil @@ -36,12 +36,9 @@ param set-default HIL_ACT_FUNC4 104 param set SYS_HITL 2 # 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 # - without safety switch -param set-default COM_PREARM_MODE 0 param set-default CBRK_IO_SAFETY 22027 param set SIH_VEHICLE_TYPE 0 diff --git a/ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil b/ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil index 79edc94386..0ec506b68f 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil +++ b/ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil @@ -39,12 +39,9 @@ param set-default HIL_ACT_FUNC6 400 param set-default SYS_HITL 2 # 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 # - without safety switch -param set-default COM_PREARM_MODE 0 param set-default CBRK_IO_SAFETY 22027 param set-default BAT_N_CELLS 3 diff --git a/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil b/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil index 9003e546cb..cbb41cccd5 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil +++ b/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil @@ -56,12 +56,9 @@ param set-default MAV_TYPE 19 param set-default SYS_HITL 2 # 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 # - without safety switch -param set-default COM_PREARM_MODE 0 param set-default CBRK_IO_SAFETY 22027 param set-default BAT_N_CELLS 3 diff --git a/ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2 b/ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2 index 4596edf8d7..0fced30c8e 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2 +++ b/ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2 @@ -26,7 +26,6 @@ param set-default BAT1_N_CELLS 3 param set-default SENS_BOARD_ROT 4 -param set-default FW_AIRSPD_MAX 20 param set-default FW_AIRSPD_MIN 7 param set-default FW_AIRSPD_TRIM 13 param set-default FW_THR_TRIM 0.8 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision b/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision index b3b2907d5b..f279fa5a9d 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision +++ b/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision @@ -59,12 +59,9 @@ param set-default MC_YAWRATE_P 0.3 param set-default CP_DIST 6 param set-default MPC_ACC_DOWN_MAX 5 param set-default MPC_ACC_HOR_MAX 10 -param set-default MPC_ACC_UP_MAX 4 param set-default MPC_MAN_Y_MAX 120 -param set-default MPC_TILTMAX_AIR 45 param set-default MPC_THR_HOVER 0.3 param set-default MPC_VEL_MANUAL 5 -param set-default MPC_XY_CRUISE 5 param set-default MPC_XY_VEL_MAX 5 param set-default MPC_XY_VEL_P_ACC 1.58 param set-default MPC_XY_TRAJ_P 0.3 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4020_holybro_px4vision_v1_5 b/ROMFS/px4fmu_common/init.d/airframes/4020_holybro_px4vision_v1_5 index fcfdad1cea..14fae2e366 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4020_holybro_px4vision_v1_5 +++ b/ROMFS/px4fmu_common/init.d/airframes/4020_holybro_px4vision_v1_5 @@ -59,13 +59,10 @@ param set-default MC_YAWRATE_P 0.3 param set-default CP_DIST 6 param set-default MPC_ACC_DOWN_MAX 5 param set-default MPC_ACC_HOR_MAX 10 -param set-default MPC_ACC_UP_MAX 4 param set-default MPC_MANTHR_MIN 0 param set-default MPC_MAN_Y_MAX 120 -param set-default MPC_TILTMAX_AIR 45 param set-default MPC_THR_HOVER 0.3 param set-default MPC_VEL_MANUAL 5 -param set-default MPC_XY_CRUISE 5 param set-default MPC_XY_VEL_MAX 5 param set-default MPC_XY_VEL_P_ACC 1.58 param set-default MPC_XY_TRAJ_P 0.3 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x b/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x index 84f0755985..9c723c74fd 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x +++ b/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x @@ -19,7 +19,6 @@ . ${R}etc/init.d/rc.mc_defaults param set-default CBRK_SUPPLY_CHK 894281 -param set-default CBRK_USB_CHK 197848 param set-default IMU_GYRO_CUTOFF 100 param set-default IMU_DGYRO_CUTOFF 60 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu b/ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu index 91e2427187..d339cc2064 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu +++ b/ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu @@ -39,7 +39,6 @@ param set-default COM_RC_LOSS_T 3 # ekf2 param set-default EKF2_AID_MASK 33 param set-default EKF2_TERR_MASK 1 -param set-default EKF2_BARO_DELAY 0 param set-default EKF2_BARO_NOISE 2.0 param set-default EKF2_BCOEF_X 31.5 @@ -47,13 +46,10 @@ param set-default EKF2_BCOEF_Y 25.5 param set-default EKF2_GPS_DELAY 100 param set-default EKF2_GPS_POS_X 0.06 -param set-default EKF2_GPS_POS_Y 0.0 -param set-default EKF2_GPS_POS_Z 0.0 param set-default EKF2_GPS_V_NOISE 0.5 param set-default EKF2_IMU_POS_X 0.06 -param set-default EKF2_MAG_DELAY 0 param set-default EKF2_MAG_NOISE 0.1 param set-default EKF2_MIN_RNG 0.15 @@ -61,7 +57,6 @@ param set-default EKF2_MIN_RNG 0.15 param set-default EKF2_OF_DELAY 38 param set-default EKF2_OF_GATE 2.0 param set-default EKF2_OF_POS_X -0.035 -param set-default EKF2_OF_POS_Y 0.0 param set-default EKF2_OF_POS_Z 0.033 param set-default EKF2_OF_MIN_RNG 0.01 param set-default EKF2_OF_A_HMAX 7.0 @@ -119,30 +114,20 @@ param set-default MPC_ACC_HOR_MAX 10.0 param set-default MPC_ACC_UP_MAX 3.0 param set-default MPC_ALT_MODE 0 param set-default MPC_LAND_SPEED 0.5 -param set-default MPC_LAND_VEL_XY 10 param set-default MPC_MAN_TILT_MAX 20 param set-default MPC_YAWRAUTO_MAX 80.0 -param set-default MPC_POS_MODE 4 param set-default MPC_THR_HOVER 0.54 param set-default MPC_THR_MAX 0.9 param set-default MPC_THR_MIN 0.06 param set-default MPC_TILTMAX_AIR 30 param set-default MPC_XY_P 1.0 -param set-default MPC_XY_VEL_D 0.005 -param set-default MPC_XY_VEL_I 0.02 -param set-default MPC_XY_VEL_P 0.15 param set-default MPC_Z_P 2.0 -param set-default MPC_Z_VEL_D 0.0 -param set-default MPC_Z_VEL_I 0.02 param set-default MPC_Z_VEL_MAX_DN 2.0 -param set-default MPC_Z_VEL_P 0.27 - # gimbal configuration param set-default MNT_MODE_IN 0 param set-default MNT_MODE_OUT 1 param set-default MNT_MAN_PITCH 2 -param set-default MNT_RC_IN_MODE 1 param set-default MNT_RATE_PITCH 30 # RC @@ -165,7 +150,6 @@ param set-default RC1_TRIM 1000 param set-default SENS_FLOW_MAXR 7.4 param set-default SENS_FLOW_MINHGT 0.15 param set-default SENS_FLOW_MAXHGT 5.0 -param set-default SENS_FLOW_ROT 0 # ignore the SD card errors and use normal startup sound set STARTUP_TUNE "1" diff --git a/ROMFS/px4fmu_common/init.d/airframes/4071_ifo b/ROMFS/px4fmu_common/init.d/airframes/4071_ifo index 1f83f951fd..fdb02714c2 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4071_ifo +++ b/ROMFS/px4fmu_common/init.d/airframes/4071_ifo @@ -22,10 +22,7 @@ param set-default MC_ROLLRATE_D 0.0013 param set-default MC_PITCHRATE_D 0.0016 -param set-default MC_YAW_FF 0.5 - param set-default MPC_MANTHR_MAX 0.9 -param set-default MPC_MANTHR_MIN 0.08 # Filter settings param set-default IMU_DGYRO_CUTOFF 90 @@ -37,11 +34,8 @@ param set-default SENS_BOARD_ROT 10 # EKF2 param set-default EKF2_GND_EFF_DZ 6 -param set-default EKF2_HGT_REF 1 # Position control -param set-default MPC_Z_P 1 -param set-default MPC_Z_VEL_P_ACC 4 param set-default MPC_Z_VEL_I_ACC 0.4 param set-default MPC_THR_MIN 0.06 @@ -51,7 +45,6 @@ param set-default MIS_TAKEOFF_ALT 1.1 param set-default MPC_XY_P 1.7 param set-default MPC_XY_VEL_P_ACC 2.6 param set-default MPC_XY_VEL_I_ACC 1.2 -param set-default MPC_XY_VEL_D_ACC 0.2 param set-default MPC_TKO_RAMP_T 1 param set-default MPC_VEL_MANUAL 3 @@ -59,7 +52,6 @@ param set-default BAT1_SOURCE 0 param set-default BAT1_N_CELLS 4 param set-default BAT1_V_DIV 10.14 param set-default BAT1_A_PER_V 18.18 -param set-default COM_DISARM_LAND 2 # Filter settings param set-default IMU_GYRO_CUTOFF 90 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s b/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s index 945f5ef715..86bcbee1e5 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s +++ b/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s @@ -23,9 +23,6 @@ param set-default MC_ROLLRATE_D 0.0013 param set-default MC_PITCHRATE_D 0.0016 - -param set-default MPC_MANTHR_MIN 0.08 - # Filter settings param set-default IMU_GYRO_CUTOFF 100 @@ -42,7 +39,6 @@ param set-default SENS_EN_BATT 1 # EKF2 param set-default EKF2_AID_MASK 3 param set-default EKF2_GND_EFF_DZ 6 -param set-default EKF2_HGT_REF 1 param set-default EKF2_MIN_RNG 0.3 # Flow @@ -60,7 +56,6 @@ param set-default MIS_TAKEOFF_ALT 1.1 param set-default MPC_XY_P 1.7 param set-default MPC_XY_VEL_P_ACC 2.6 param set-default MPC_XY_VEL_I_ACC 1.2 -param set-default MPC_XY_VEL_D_ACC 0.2 param set-default MPC_TKO_RAMP_T 1 param set-default MPC_VEL_MANUAL 3 @@ -68,7 +63,6 @@ param set-default BAT1_SOURCE 0 param set-default BAT1_N_CELLS 4 param set-default BAT1_V_DIV 10.14 param set-default BAT1_A_PER_V 18.18 -param set-default COM_DISARM_LAND 2 # Filter settings param set-default IMU_GYRO_CUTOFF 90 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie b/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie index 457dd934ab..d6f4cbd7ca 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie +++ b/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie @@ -21,7 +21,6 @@ param set-default BAT1_CAPACITY 240 param set-default BAT1_SOURCE 1 param set-default CBRK_SUPPLY_CHK 894281 -param set-default CBRK_USB_CHK 197848 param set-default COM_RC_IN_MODE 1 param set-default EKF2_ABL_LIM 2 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21 b/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21 index 357a0e4eac..e45e9d3796 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21 +++ b/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21 @@ -27,7 +27,6 @@ param set-default BAT1_N_CELLS 1 param set-default BAT1_SOURCE 1 param set-default CBRK_SUPPLY_CHK 894281 -param set-default CBRK_USB_CHK 197848 param set-default COM_RC_IN_MODE 1 param set-default IMU_GYRO_CUTOFF 100 diff --git a/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle b/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle index e5c4633b57..ba4598ce83 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle +++ b/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle @@ -39,8 +39,6 @@ param set-default GND_THR_CRUISE 0.3 param set-default GND_THR_MAX 0.5 param set-default GND_THR_MIN 0 -param set-default MIS_TAKEOFF_ALT 0.01 - param set-default NAV_ACC_RAD 0.5 param set-default CA_AIRFRAME 5 diff --git a/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover b/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover index 539032b8fa..53c857a16e 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover +++ b/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover @@ -44,8 +44,6 @@ param set-default GND_SPEED_D 0.001 param set-default GND_SPEED_IMAX 0.125 param set-default GND_SPEED_THR_SC 1 -param set-default MIS_TAKEOFF_ALT 0.01 - param set-default NAV_ACC_RAD 0.5 # Differential drive acts like ackermann steering with a maximum turn angle of 180 degrees, or pi radians diff --git a/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx b/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx index 169a5a6e72..6d4bd2f4f5 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx +++ b/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx @@ -45,8 +45,6 @@ param set-default GND_SPEED_D 0.001 param set-default GND_SPEED_IMAX 0.125 param set-default GND_SPEED_THR_SC 1 -param set-default MIS_TAKEOFF_ALT 0.01 - param set-default NAV_ACC_RAD 0.5 param set-default CA_AIRFRAME 5 diff --git a/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus b/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus index 611701fc67..672d411bc3 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus +++ b/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus @@ -13,9 +13,6 @@ . ${R}etc/init.d/rc.uuv_defaults -# disable circuit breaker for airspeed sensor -param set-default CBRK_AIRSPD_CHK 162128 - param set-default CA_AIRFRAME 7 param set-default CA_ROTOR_COUNT 4 param set-default CA_R_REV 255 diff --git a/ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy b/ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy index 62720e966d..fb63525159 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy +++ b/ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy @@ -24,11 +24,8 @@ # companion computer is connected via USB permanently -param set-default CBRK_USB_CHK 197848 param set-default CBRK_IO_SAFETY 22027 -param set-default COM_PREARM_MODE 0 - param set-default MAV_1_CONFIG 102 param set-default BAT1_A_PER_V 37.8798 diff --git a/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r b/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r index 0827fb42d8..ec3b5c6089 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r +++ b/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r @@ -41,14 +41,8 @@ param set-default MPC_ACC_HOR 8 param set-default MPC_THR_MIN 0.06 param set-default MPC_THR_HOVER 0.3 # altitude control gains -param set-default MPC_Z_P 1 -param set-default MPC_Z_VEL_P_ACC 4 param set-default MPC_Z_VEL_I_ACC 0.4 # position control gains -param set-default MPC_XY_P 0.9500 -param set-default MPC_XY_VEL_P_ACC 1.8 -param set-default MPC_XY_VEL_I_ACC 0.4 -param set-default MPC_XY_VEL_D_ACC 0.2 # etc gains param set-default MPC_TKO_RAMP_T 0.4 param set-default MPC_VEL_MANUAL 5 @@ -69,8 +63,6 @@ param set-default MIS_TAKEOFF_ALT 1.1 ##################################### # EKF ##################################### -# Height mode as GPS -param set-default EKF2_HGT_REF 1 # Enable optical flow and GPS param set-default EKF2_MAG_TYPE 1 param set-default EKF2_OF_QMIN 80