fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-12 01:27:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Mantis: add RC hacks

Browse Source 
This changes the way RC is handled for the Mantis:
- The RC values are re-written when arriving over MAVLink. They are
  rescaled from 0..4095 to 1000..2000 and the channel bits added to
  separate channels. This makes the downstream handling easier.
- Gimbal pitch is moved from Aux1 to Aux2 as that should be the default.
- Aux3 and Aux4 are used for the photo and video trigger.
- The speed button is used as the FLTMODE channel and set to switch
  between POSCTL and ALTCTL.
This commit is contained in:
Julian Oes
2021-10-05 14:32:46 +02:00
committed by Daniel Agar
parent 9fe7a40673
commit e4763f15f6
4 changed files with 39 additions and 37 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu
+9 -37
View File
@@ -33,12 +33,13 @@ param set-default CBRK_SUPPLY_CHK 894281
param set-default COM_DISARM_LAND 0.1
param set-default COM_DISARM_PRFLT 3
param set-default COM_FLTMODE1 -1
param set-default COM_DL_LOSS_T 10
param set-default COM_FLTMODE1 2
param set-default COM_FLTMODE2 -1
param set-default COM_FLTMODE3 -1
param set-default COM_FLTMODE4 2
param set-default COM_FLTMODE4 -1
param set-default COM_FLTMODE5 -1
param set-default COM_FLTMODE6 6
param set-default COM_FLTMODE6 1
param set-default COM_RC_LOSS_T 3
@@ -146,7 +147,7 @@ param set-default MPC_Z_VEL_P 0.27
# gimbal configuration
param set-default MNT_MODE_IN 1
param set-default MNT_MODE_OUT 1
param set-default MNT_MAN_PITCH 1
param set-default MNT_MAN_PITCH 2
param set-default MNT_RC_IN_MODE 1
param set-default MNT_RATE_PITCH 30
@@ -157,39 +158,10 @@ param set-default RC_MAP_THROTTLE 1
param set-default RC_MAP_YAW 2
param set-default RC_MAP_PITCH 3
param set-default RC_MAP_ROLL 4
param set-default RC_MAP_AUX1 5
param set-default RC_MAP_FLTMODE 9
param set-default RC1_DZ 10
param set-default RC1_MAX 4095
param set-default RC1_MIN 0
param set-default RC1_REV 1
param set-default RC1_TRIM 0
param set-default RC2_DZ 10
param set-default RC2_MAX 4095
param set-default RC2_MIN 0
param set-default RC2_REV 1
param set-default RC2_TRIM 2047
param set-default RC3_DZ 10
param set-default RC3_MAX 4095
param set-default RC3_MIN 0
param set-default RC3_REV 1
param set-default RC3_TRIM 2047
param set-default RC4_DZ 10
param set-default RC4_MAX 4095
param set-default RC4_MIN 0
param set-default RC4_REV 1
param set-default RC4_TRIM 2047
param set-default RC5_DZ 10
param set-default RC5_MAX 4095
param set-default RC5_MIN 0
param set-default RC5_REV 1
param set-default RC5_TRIM 2047
param set-default RC7_DZ 10
param set-default RC7_MAX 4095
param set-default RC7_MIN 0
param set-default RC7_REV 1
param set-default RC7_TRIM 2048
param set-default RC_MAP_AUX2 5
param set-default RC_MAP_AUX3 10
param set-default RC_MAP_AUX4 8
param set-default RC_MAP_FLTMODE 6
# optical flow