From e6bc6438e8500c502c2d07276b8084951a1317f7 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Tue, 9 Feb 2021 00:34:43 -0500 Subject: [PATCH] ROMFS: airframes use new param default mechanism --- .../init.d/airframes/1000_rc_fw_easystar.hil | 51 ++-- .../init.d/airframes/10015_tbs_discovery | 27 +- .../init.d/airframes/10016_3dr_iris | 33 +-- .../init.d/airframes/10017_steadidrone_qu4d | 29 +- .../init.d/airframes/10018_tbs_endurance | 35 ++- .../init.d/airframes/1002_standard_vtol.hil | 83 +++--- .../init.d/airframes/12002_steadidrone_mavrik | 39 ++- .../airframes/13000_generic_vtol_standard | 13 +- .../init.d/airframes/13001_caipirinha_vtol | 43 ++- .../init.d/airframes/13002_firefly6 | 53 ++-- .../init.d/airframes/13003_quad_tailsitter | 15 +- .../init.d/airframes/13004_quad+_tailsitter | 13 +- .../init.d/airframes/13005_vtol_AAERT_quad | 73 +++-- .../airframes/13006_vtol_standard_delta | 57 ++-- .../init.d/airframes/13007_vtol_AAVVT_quad | 51 ++-- .../init.d/airframes/13008_QuadRanger | 81 +++--- .../init.d/airframes/13009_vtol_spt_ranger | 117 ++++---- .../init.d/airframes/13010_claire | 31 +- .../init.d/airframes/13012_convergence | 101 ++++--- .../init.d/airframes/13013_deltaquad | 227 ++++++++------- .../init.d/airframes/13014_vtol_babyshark | 147 +++++----- .../airframes/13015_generic_vtol_standard | 45 ++- .../init.d/airframes/13050_generic_vtol_octo | 13 +- .../airframes/13200_generic_vtol_tailsitter | 11 +- .../init.d/airframes/15001_coax_heli | 49 ++-- .../init.d/airframes/16001_helicopter | 52 ++-- .../init.d/airframes/17002_TF-AutoG2 | 35 ++- .../init.d/airframes/17003_TF-G2 | 35 ++- .../init.d/airframes/18001_TF-B1 | 23 +- .../init.d/airframes/2100_standard_plane | 7 +- .../px4fmu_common/init.d/airframes/2105_maja | 30 +- .../init.d/airframes/2106_albatross | 30 +- .../init.d/airframes/2200_mini_talon | 29 +- .../init.d/airframes/24001_dodeca_cox | 23 +- .../init.d/airframes/2507_cloudship | 8 +- .../init.d/airframes/3030_io_camflyer | 44 ++- .../init.d/airframes/3031_phantom | 48 ++-- .../init.d/airframes/3032_skywalker_x5 | 36 ++- .../init.d/airframes/3033_wingwing | 40 ++- .../px4fmu_common/init.d/airframes/3034_fx79 | 12 +- .../init.d/airframes/3036_pigeon | 50 ++-- .../init.d/airframes/3037_parrot_disco_mod | 89 +++--- .../init.d/airframes/3100_tbs_caipirinha | 77 +++-- .../px4fmu_common/init.d/airframes/4003_qavr5 | 34 ++- .../init.d/airframes/4009_qav250 | 38 ++- .../init.d/airframes/4010_dji_f330 | 31 +- .../init.d/airframes/4011_dji_f450 | 31 +- .../px4fmu_common/init.d/airframes/4014_s500 | 16 +- .../init.d/airframes/4015_holybro_s500 | 21 +- .../init.d/airframes/4016_holybro_px4vision | 206 +++++++------- .../init.d/airframes/4017_nxp_hovergames | 21 +- .../init.d/airframes/4018_s500_ctrlalloc | 65 ++--- .../init.d/airframes/4020_hk_micro_pcb | 30 +- .../init.d/airframes/4030_3dr_solo | 124 ++++---- .../init.d/airframes/4031_3dr_quad | 22 +- .../init.d/airframes/4040_reaper | 38 ++- .../init.d/airframes/4041_beta75x | 53 ++-- .../init.d/airframes/4050_generic_250 | 58 ++-- .../init.d/airframes/4051_s250aq | 48 ++-- .../init.d/airframes/4052_holybro_qav250 | 61 ++-- .../init.d/airframes/4053_holybro_kopis2 | 63 ++--- .../init.d/airframes/4060_dji_matrice_100 | 30 +- .../init.d/airframes/4070_aerofc | 90 +++--- ROMFS/px4fmu_common/init.d/airframes/4071_ifo | 154 +++++----- .../px4fmu_common/init.d/airframes/4072_draco | 112 ++++---- .../px4fmu_common/init.d/airframes/4073_ifo-s | 184 ++++++------ .../init.d/airframes/4080_zmr250 | 44 ++- .../init.d/airframes/4090_nanomind | 36 ++- .../px4fmu_common/init.d/airframes/4250_teal | 265 +++++++++--------- .../init.d/airframes/4500_clover4 | 30 +- .../init.d/airframes/4900_crazyflie | 81 +++--- .../init.d/airframes/4901_crazyflie21 | 79 +++--- .../airframes/50000_generic_ground_vehicle | 61 ++-- .../airframes/50003_aion_robotics_r1_rover | 95 +++---- .../airframes/50004_nxpcup_car_dfrobot_gpx | 75 +++-- .../init.d/airframes/60000_uuv_generic | 13 +- .../init.d/airframes/60001_uuv_hippocampus | 13 +- .../init.d/airframes/60002_uuv_bluerov2_heavy | 31 +- .../init.d/airframes/6002_draco_r | 181 ++++++------ .../init.d/airframes/6003_hexa_x_ctrlalloc | 89 +++--- 80 files changed, 2260 insertions(+), 2468 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil b/ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil index e12d04091b..94f8389c63 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil +++ b/ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil @@ -17,34 +17,33 @@ . ${R}etc/init.d/rc.fw_defaults -if [ $AUTOCNF = yes ] -then - param set BAT_N_CELLS 3 - param set FW_AIRSPD_MAX 20 - param set FW_AIRSPD_MIN 12 - param set FW_AIRSPD_TRIM 14 - param set FW_R_TC 0.3 - param set FW_P_TC 0.3 - param set FW_L1_DAMPING 0.74 - param set FW_L1_PERIOD 16 - param set FW_LND_ANG 15 - param set FW_LND_FLALT 5 - param set FW_LND_HHDIST 15 - param set FW_LND_HVIRT 13 - param set FW_LND_TLALT 5 - param set FW_THR_LND_MAX 0 - param set FW_PR_FF 0.35 - param set FW_PR_I 0.1 - param set FW_PR_IMAX 0.4 - param set FW_PR_P 0.2 - param set FW_RR_FF 0.6 - param set FW_RR_I 0.1 - param set FW_RR_IMAX 0.2 - param set FW_RR_P 0.3 +param set-default BAT_N_CELLS 3 + +param set-default FW_AIRSPD_MAX 20 +param set-default FW_AIRSPD_MIN 12 +param set-default FW_AIRSPD_TRIM 14 +param set-default FW_R_TC 0.3 +param set-default FW_P_TC 0.3 +param set-default FW_L1_DAMPING 0.74 +param set-default FW_L1_PERIOD 16 +param set-default FW_LND_ANG 15 +param set-default FW_LND_FLALT 5 +param set-default FW_LND_HHDIST 15 +param set-default FW_LND_HVIRT 13 +param set-default FW_LND_TLALT 5 +param set-default FW_THR_LND_MAX 0 +param set-default FW_PR_FF 0.35 +param set-default FW_PR_I 0.1 +param set-default FW_PR_IMAX 0.4 +param set-default FW_PR_P 0.2 +param set-default FW_RR_FF 0.6 +param set-default FW_RR_I 0.1 +param set-default FW_RR_IMAX 0.2 +param set-default FW_RR_P 0.3 + +param set-default RWTO_TKOFF 1 - param set RWTO_TKOFF 1 -fi param set SYS_HITL 1 diff --git a/ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery b/ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery index 39e5eef8c1..73ba807362 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery +++ b/ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery @@ -26,22 +26,19 @@ . ${R}etc/init.d/rc.mc_defaults -if [ $AUTOCNF = yes ] -then - param set MC_ROLL_P 6.5 - param set MC_ROLLRATE_P 0.1 - param set MC_ROLLRATE_I 0.05 - param set MC_ROLLRATE_D 0.0017 - param set MC_PITCH_P 6.5 - param set MC_PITCHRATE_P 0.14 - param set MC_PITCHRATE_I 0.1 - param set MC_PITCHRATE_D 0.0025 - param set MC_YAW_P 2.8 - param set MC_YAWRATE_P 0.28 - param set MC_YAWRATE_I 0.1 - param set MC_YAWRATE_D 0 -fi +param set-default MC_ROLL_P 6.5 +param set-default MC_ROLLRATE_P 0.1 +param set-default MC_ROLLRATE_I 0.05 +param set-default MC_ROLLRATE_D 0.0017 +param set-default MC_PITCH_P 6.5 +param set-default MC_PITCHRATE_P 0.14 +param set-default MC_PITCHRATE_I 0.1 +param set-default MC_PITCHRATE_D 0.0025 +param set-default MC_YAW_P 2.8 +param set-default MC_YAWRATE_P 0.28 +param set-default MC_YAWRATE_I 0.1 +param set-default MC_YAWRATE_D 0 set MIXER quad_w set PWM_OUT 1234 diff --git a/ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris b/ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris index 8148c01be9..3ea6fa74d9 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris +++ b/ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris @@ -24,26 +24,23 @@ . ${R}etc/init.d/rc.mc_defaults -if [ $AUTOCNF = yes ] -then - # TODO tune roll/pitch separately - param set MC_ROLL_P 7 - param set MC_ROLLRATE_P 0.15 - param set MC_ROLLRATE_I 0.05 - param set MC_ROLLRATE_D 0.004 - param set MC_PITCH_P 7 - param set MC_PITCHRATE_P 0.15 - param set MC_PITCHRATE_I 0.05 - param set MC_PITCHRATE_D 0.004 - param set MC_YAW_P 2.5 - param set MC_YAWRATE_P 0.25 - param set MC_YAWRATE_I 0.25 - param set MC_YAWRATE_D 0 - param set BAT_V_DIV 12.27559 - param set BAT_A_PER_V 15.39103 -fi +# TODO tune roll/pitch separately +param set-default MC_ROLL_P 7 +param set-default MC_ROLLRATE_P 0.15 +param set-default MC_ROLLRATE_I 0.05 +param set-default MC_ROLLRATE_D 0.004 +param set-default MC_PITCH_P 7 +param set-default MC_PITCHRATE_P 0.15 +param set-default MC_PITCHRATE_I 0.05 +param set-default MC_PITCHRATE_D 0.004 +param set-default MC_YAW_P 2.5 +param set-default MC_YAWRATE_P 0.25 +param set-default MC_YAWRATE_I 0.25 +param set-default MC_YAWRATE_D 0 +param set-default BAT_V_DIV 12.27559 +param set-default BAT_A_PER_V 15.39103 set MIXER quad_w set PWM_OUT 1234 diff --git a/ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d b/ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d index b2ba5a1d2c..26378a7321 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d +++ b/ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d @@ -26,24 +26,21 @@ . ${R}etc/init.d/rc.mc_defaults -if [ $AUTOCNF = yes ] -then - param set BAT_N_CELLS 4 - param set MC_ROLL_P 7 - param set MC_ROLLRATE_P 0.13 - param set MC_ROLLRATE_I 0.05 - param set MC_ROLLRATE_D 0.004 - param set MC_PITCH_P 7 - param set MC_PITCHRATE_P 0.19 - param set MC_PITCHRATE_I 0.05 - param set MC_PITCHRATE_D 0.004 - param set MC_YAW_P 4 - param set MC_YAWRATE_P 0.2 - param set MC_YAWRATE_I 0.1 - param set MC_YAWRATE_D 0 -fi +param set-default BAT_N_CELLS 4 +param set-default MC_ROLL_P 7 +param set-default MC_ROLLRATE_P 0.13 +param set-default MC_ROLLRATE_I 0.05 +param set-default MC_ROLLRATE_D 0.004 +param set-default MC_PITCH_P 7 +param set-default MC_PITCHRATE_P 0.19 +param set-default MC_PITCHRATE_I 0.05 +param set-default MC_PITCHRATE_D 0.004 +param set-default MC_YAW_P 4 +param set-default MC_YAWRATE_P 0.2 +param set-default MC_YAWRATE_I 0.1 +param set-default MC_YAWRATE_D 0 set MIXER quad_w set PWM_OUT 1234 diff --git a/ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance b/ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance index e0a56b753e..f586eb8600 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance +++ b/ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance @@ -26,29 +26,26 @@ . ${R}etc/init.d/rc.mc_defaults -if [ $AUTOCNF = yes ] -then - param set BAT_N_CELLS 6 - param set BAT_V_EMPTY 3.5 - param set MC_ROLL_P 7 - param set MC_ROLLRATE_P 0.08 - param set MC_ROLLRATE_I 0.02 - param set MC_ROLLRATE_D 0.003 - param set MC_PITCH_P 7 - param set MC_PITCHRATE_P 0.13 - param set MC_PITCHRATE_I 0.02 - param set MC_PITCHRATE_D 0.005 - param set MC_YAW_P 2.8 - param set MC_YAWRATE_P 0.2 - param set MC_YAWRATE_I 0.1 - param set MC_YAWRATE_D 0 +param set-default BAT_N_CELLS 6 +param set-default BAT_V_EMPTY 3.5 - param set MPC_XY_VEL_MAX 2 +param set-default MC_ROLL_P 7 +param set-default MC_ROLLRATE_P 0.08 +param set-default MC_ROLLRATE_I 0.02 +param set-default MC_ROLLRATE_D 0.003 +param set-default MC_PITCH_P 7 +param set-default MC_PITCHRATE_P 0.13 +param set-default MC_PITCHRATE_I 0.02 +param set-default MC_PITCHRATE_D 0.005 +param set-default MC_YAW_P 2.8 +param set-default MC_YAWRATE_P 0.2 +param set-default MC_YAWRATE_I 0.1 +param set-default MC_YAWRATE_D 0 - param set PWM_MAIN_MIN 1080 -fi +param set-default MPC_XY_VEL_MAX 2 +param set-default PWM_MAIN_MIN 1080 set MIXER quad_w set PWM_OUT 1234 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 2c515ef6ff..3eef8aa909 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil +++ b/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil @@ -14,57 +14,56 @@ . ${R}etc/init.d/rc.vtol_defaults -if [ $AUTOCNF = yes ] -then - param set BAT_N_CELLS 3 - param set COM_RC_IN_MODE 1 +param set-default BAT_N_CELLS 3 - param set EKF2_AID_MASK 1 - param set EKF2_ANGERR_INIT 0.01 - param set EKF2_GBIAS_INIT 0.01 - param set EKF2_HGT_MODE 0 - param set EKF2_MAG_TYPE 1 +param set-default COM_RC_IN_MODE 1 - param set FW_AIRSPD_MAX 25 - param set FW_AIRSPD_MIN 14 - param set FW_AIRSPD_TRIM 16 +param set-default EKF2_AID_MASK 1 +param set-default EKF2_ANGERR_INIT 0.01 +param set-default EKF2_GBIAS_INIT 0.01 +param set-default EKF2_HGT_MODE 0 +param set-default EKF2_MAG_TYPE 1 - param set MC_PITCH_P 6 - param set MC_PITCHRATE_P 0.2 - param set MC_ROLL_P 6 - param set MC_ROLLRATE_P 0.3 - param set MIS_LTRMIN_ALT 10 - param set MIS_TAKEOFF_ALT 10 - param set MIS_YAW_TMT 10 +param set-default FW_AIRSPD_MAX 25 +param set-default FW_AIRSPD_MIN 14 +param set-default FW_AIRSPD_TRIM 16 - param set MPC_ACC_HOR_MAX 2 - param set MPC_ACC_HOR_MAX 2 - param set MPC_THR_MIN 0.1 - param set MPC_TKO_SPEED 1 - param set MPC_XY_P 0.8 - param set MPC_XY_VEL_D_ACC 0.1 - param set MPC_XY_VEL_I_ACC 4 - param set MPC_XY_VEL_P_ACC 3 - param set MPC_Z_VEL_P_ACC 12 - param set MPC_Z_VEL_I_ACC 3 - param set MPC_Z_VEL_MAX_DN 1.5 +param set-default MC_PITCH_P 6 +param set-default MC_PITCHRATE_P 0.2 +param set-default MC_ROLL_P 6 +param set-default MC_ROLLRATE_P 0.3 +param set-default MIS_LTRMIN_ALT 10 +param set-default MIS_TAKEOFF_ALT 10 +param set-default MIS_YAW_TMT 10 - param set NAV_ACC_RAD 5 - param set NAV_DLL_ACT 2 - param set NAV_LOITER_RAD 80 +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_TKO_SPEED 1 +param set-default MPC_XY_P 0.8 +param set-default MPC_XY_VEL_D_ACC 0.1 +param set-default MPC_XY_VEL_I_ACC 4 +param set-default MPC_XY_VEL_P_ACC 3 +param set-default MPC_Z_VEL_P_ACC 12 +param set-default MPC_Z_VEL_I_ACC 3 +param set-default MPC_Z_VEL_MAX_DN 1.5 - param set RTL_DESCEND_ALT 10 - param set RTL_RETURN_ALT 30 +param set-default NAV_ACC_RAD 5 +param set-default NAV_DLL_ACT 2 +param set-default NAV_LOITER_RAD 80 - param set SDLOG_DIRS_MAX 7 - param set SYS_RESTART_TYPE 2 +param set-default RTL_DESCEND_ALT 10 +param set-default RTL_RETURN_ALT 30 + +param set-default SDLOG_DIRS_MAX 7 +param set-default SYS_RESTART_TYPE 2 + +param set-default VT_F_TRANS_THR 0.75 +param set-default VT_MOT_ID 1234 +param set-default VT_FW_MOT_OFFID 1234 +param set-default VT_TYPE 2 - param set VT_F_TRANS_THR 0.75 - param set VT_MOT_ID 1234 - param set VT_FW_MOT_OFFID 1234 - param set VT_TYPE 2 -fi param set SYS_HITL 1 diff --git a/ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik b/ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik index c9eeeb926c..1fc7adc9bd 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik +++ b/ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik @@ -23,32 +23,29 @@ . ${R}etc/init.d/rc.mc_defaults -if [ $AUTOCNF = yes ] -then - param set MC_PITCH_P 4 - param set MC_PITCHRATE_P 0.24 - param set MC_PITCHRATE_I 0.09 - param set MC_PITCHRATE_D 0.013 - param set MC_PITCHRATE_MAX 180 - param set MC_ROLL_P 4 - param set MC_ROLLRATE_P 0.16 - param set MC_ROLLRATE_I 0.07 - param set MC_ROLLRATE_D 0.009 - param set MC_ROLLRATE_MAX 180 +param set-default MC_PITCH_P 4 +param set-default MC_PITCHRATE_P 0.24 +param set-default MC_PITCHRATE_I 0.09 +param set-default MC_PITCHRATE_D 0.013 +param set-default MC_PITCHRATE_MAX 180 - param set MC_YAW_P 3 - param set MC_YAWRATE_P 0.2 - param set MC_YAWRATE_I 0.1 - param set MC_YAWRATE_D 0 +param set-default MC_ROLL_P 4 +param set-default MC_ROLLRATE_P 0.16 +param set-default MC_ROLLRATE_I 0.07 +param set-default MC_ROLLRATE_D 0.009 +param set-default MC_ROLLRATE_MAX 180 - param set MPC_HOLD_MAX_XY 0.25 - param set MPC_THR_MIN 0.15 - param set MPC_Z_VEL_MAX_DN 2 +param set-default MC_YAW_P 3 +param set-default MC_YAWRATE_P 0.2 +param set-default MC_YAWRATE_I 0.1 +param set-default MC_YAWRATE_D 0 - param set BAT_N_CELLS 4 -fi +param set-default MPC_HOLD_MAX_XY 0.25 +param set-default MPC_THR_MIN 0.15 +param set-default MPC_Z_VEL_MAX_DN 2 +param set-default BAT_N_CELLS 4 set MIXER octo_cox_w set PWM_OUT 12345678 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard b/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard index 5ed66b32ad..f86e82d6d5 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard +++ b/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard @@ -24,16 +24,13 @@ . ${R}etc/init.d/rc.vtol_defaults -if [ $AUTOCNF = yes ] -then - param set PWM_AUX_DIS5 950 - param set PWM_MAIN_RATE 400 - param set VT_TYPE 2 - param set VT_MOT_ID 1234 - param set VT_FW_MOT_OFFID 1234 -fi +param set-default PWM_AUX_DIS5 950 +param set-default PWM_MAIN_RATE 400 +param set-default VT_TYPE 2 +param set-default VT_MOT_ID 1234 +param set-default VT_FW_MOT_OFFID 1234 set MAV_TYPE 22 set MIXER quad_x diff --git a/ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol b/ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol index 0350a7ce56..14c5371ec9 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol +++ b/ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol @@ -19,34 +19,31 @@ . ${R}etc/init.d/rc.vtol_defaults -if [ $AUTOCNF = yes ] -then - param set MAV_TYPE 19 - param set MC_ROLL_P 6 - param set MC_ROLLRATE_P 0.12 - param set MC_ROLLRATE_I 0.002 - param set MC_ROLLRATE_D 0.003 - param set MC_ROLLRATE_FF 0 +param set-default MAV_TYPE 19 - param set MC_PITCH_P 4.5 - param set MC_PITCHRATE_P 0.3 - param set MC_PITCHRATE_I 0.002 - param set MC_PITCHRATE_D 0.003 - param set MC_PITCHRATE_FF 0 +param set-default MC_ROLL_P 6 +param set-default MC_ROLLRATE_P 0.12 +param set-default MC_ROLLRATE_I 0.002 +param set-default MC_ROLLRATE_D 0.003 +param set-default MC_ROLLRATE_FF 0 - param set MC_YAW_P 3.8 - param set MC_YAWRATE_P 0.22 - param set MC_YAWRATE_I 0.02 - param set MC_YAWRATE_D 0 - param set MC_YAWRATE_FF 0 +param set-default MC_PITCH_P 4.5 +param set-default MC_PITCHRATE_P 0.3 +param set-default MC_PITCHRATE_I 0.002 +param set-default MC_PITCHRATE_D 0.003 +param set-default MC_PITCHRATE_FF 0 - param set VT_IDLE_PWM_MC 1080 - param set VT_ELEV_MC_LOCK 0 - param set VT_MOT_ID 12 - param set VT_TYPE 0 -fi +param set-default MC_YAW_P 3.8 +param set-default MC_YAWRATE_P 0.22 +param set-default MC_YAWRATE_I 0.02 +param set-default MC_YAWRATE_D 0 +param set-default MC_YAWRATE_FF 0 +param set-default VT_IDLE_PWM_MC 1080 +param set-default VT_ELEV_MC_LOCK 0 +param set-default VT_MOT_ID 12 +param set-default VT_TYPE 0 set MAV_TYPE 19 set MIXER vtol_tailsitter_duo diff --git a/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6 b/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6 index ef17798b67..d382ee5f03 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6 +++ b/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6 @@ -24,37 +24,34 @@ . ${R}etc/init.d/rc.vtol_defaults -if [ $AUTOCNF = yes ] -then - param set MC_ROLL_P 7 - param set MC_ROLLRATE_P 0.19 - param set MC_ROLLRATE_I 0.002 - param set MC_ROLLRATE_D 0.005 - param set MC_ROLLRATE_FF 0 - param set MC_PITCH_P 7 - param set MC_PITCHRATE_P 0.14 - param set MC_PITCHRATE_I 0.002 - param set MC_PITCHRATE_D 0.004 - param set MC_PITCHRATE_FF 0 - param set MC_YAW_P 4 - param set MC_YAWRATE_P 0.22 - param set MC_YAWRATE_I 0.02 - param set MC_YAWRATE_D 0 - param set MC_YAWRATE_FF 0 - param set PWM_MAIN_RATE 400 +param set-default MC_ROLL_P 7 +param set-default MC_ROLLRATE_P 0.19 +param set-default MC_ROLLRATE_I 0.002 +param set-default MC_ROLLRATE_D 0.005 +param set-default MC_ROLLRATE_FF 0 +param set-default MC_PITCH_P 7 +param set-default MC_PITCHRATE_P 0.14 +param set-default MC_PITCHRATE_I 0.002 +param set-default MC_PITCHRATE_D 0.004 +param set-default MC_PITCHRATE_FF 0 +param set-default MC_YAW_P 4 +param set-default MC_YAWRATE_P 0.22 +param set-default MC_YAWRATE_I 0.02 +param set-default MC_YAWRATE_D 0 +param set-default MC_YAWRATE_FF 0 - param set VT_FW_MOT_OFFID 34 - param set VT_IDLE_PWM_MC 1080 - param set VT_MOT_ID 123456 - param set VT_FW_MOT_OFFID 56 - param set VT_TILT_MC 0.08 - param set VT_TILT_TRANS 0.5 - param set VT_TILT_FW 0.9 - param set VT_ELEV_MC_LOCK 0 - param set VT_TYPE 1 -fi +param set-default PWM_MAIN_RATE 400 +param set-default VT_FW_MOT_OFFID 34 +param set-default VT_IDLE_PWM_MC 1080 +param set-default VT_MOT_ID 123456 +param set-default VT_FW_MOT_OFFID 56 +param set-default VT_TILT_MC 0.08 +param set-default VT_TILT_TRANS 0.5 +param set-default VT_TILT_FW 0.9 +param set-default VT_ELEV_MC_LOCK 0 +param set-default VT_TYPE 1 set MAV_TYPE 21 set MIXER firefly6 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter b/ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter index 4c92111fc9..0b8630b70e 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter +++ b/ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter @@ -14,17 +14,14 @@ . ${R}etc/init.d/rc.vtol_defaults -if [ $AUTOCNF = yes ] -then - param set PWM_MAIN_MAX 2000 - param set PWM_MAIN_RATE 400 - param set VT_MOT_ID 1234 - param set VT_IDLE_PWM_MC 1080 - param set VT_TYPE 0 - param set VT_ELEV_MC_LOCK 1 -fi +param set-default PWM_MAIN_MAX 2000 +param set-default PWM_MAIN_RATE 400 +param set-default VT_MOT_ID 1234 +param set-default VT_IDLE_PWM_MC 1080 +param set-default VT_TYPE 0 +param set-default VT_ELEV_MC_LOCK 1 set MAV_TYPE 20 set MIXER quad_x_vtol diff --git a/ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter b/ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter index 8a77cf0d17..7b2adfc439 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter +++ b/ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter @@ -23,16 +23,13 @@ . ${R}etc/init.d/rc.vtol_defaults -if [ $AUTOCNF = yes ] -then - param set PWM_MAIN_MAX 2000 - param set PWM_MAIN_RATE 400 - param set VT_IDLE_PWM_MC 1080 - param set VT_TYPE 0 - param set VT_ELEV_MC_LOCK 1 -fi +param set-default PWM_MAIN_MAX 2000 +param set-default PWM_MAIN_RATE 400 +param set-default VT_IDLE_PWM_MC 1080 +param set-default VT_TYPE 0 +param set-default VT_ELEV_MC_LOCK 1 set MAV_TYPE 20 set MIXER quad_+_vtol diff --git a/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad b/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad index 112b539f9e..99c3cfcf09 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad +++ b/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad @@ -24,50 +24,47 @@ . ${R}etc/init.d/rc.vtol_defaults -if [ $AUTOCNF = yes ] -then - param set PWM_AUX_DIS5 950 - param set PWM_MAIN_RATE 400 +param set-default PWM_AUX_DIS5 950 - param set MC_ROLL_P 6 - param set MC_ROLLRATE_P 0.17 - param set MC_ROLLRATE_I 0.002 - param set MC_ROLLRATE_D 0.004 - param set MC_ROLLRATE_FF 0 - param set MC_PITCH_P 6 - param set MC_PITCHRATE_P 0.19 - param set MC_PITCHRATE_I 0.002 - param set MC_PITCHRATE_D 0.004 - param set MC_PITCHRATE_FF 0 - param set MC_YAW_P 2.8 - param set MC_YAWRATE_P 0.22 - param set MC_YAWRATE_I 0.02 - param set MC_YAWRATE_D 0 - param set MC_YAWRATE_FF 0 - param set MC_YAWRATE_MAX 40 +param set-default PWM_MAIN_RATE 400 - param set MPC_YAWRAUTO_MAX 40 +param set-default MC_ROLL_P 6 +param set-default MC_ROLLRATE_P 0.17 +param set-default MC_ROLLRATE_I 0.002 +param set-default MC_ROLLRATE_D 0.004 +param set-default MC_ROLLRATE_FF 0 +param set-default MC_PITCH_P 6 +param set-default MC_PITCHRATE_P 0.19 +param set-default MC_PITCHRATE_I 0.002 +param set-default MC_PITCHRATE_D 0.004 +param set-default MC_PITCHRATE_FF 0 +param set-default MC_YAW_P 2.8 +param set-default MC_YAWRATE_P 0.22 +param set-default MC_YAWRATE_I 0.02 +param set-default MC_YAWRATE_D 0 +param set-default MC_YAWRATE_FF 0 +param set-default MC_YAWRATE_MAX 40 - param set FW_PR_FF 0.5 - param set FW_PR_I 0.02 - param set FW_PR_IMAX 0.4 - param set FW_PR_P 0.08 - param set FW_RR_FF 0.6 - param set FW_RR_I 0.01 - param set FW_RR_IMAX 0.2 - param set FW_RR_P 0.05 - param set FW_THR_CRUISE 0.75 +param set-default MPC_YAWRAUTO_MAX 40 - param set VT_ARSP_BLEND 6 - param set VT_ARSP_TRANS 12 - param set VT_F_TRANS_THR 0.75 - param set VT_MOT_ID 1234 - param set VT_FW_MOT_OFFID 1234 - param set VT_IDLE_PWM_MC 1080 - param set VT_TYPE 2 -fi +param set-default FW_PR_FF 0.5 +param set-default FW_PR_I 0.02 +param set-default FW_PR_IMAX 0.4 +param set-default FW_PR_P 0.08 +param set-default FW_RR_FF 0.6 +param set-default FW_RR_I 0.01 +param set-default FW_RR_IMAX 0.2 +param set-default FW_RR_P 0.05 +param set-default FW_THR_CRUISE 0.75 +param set-default VT_ARSP_BLEND 6 +param set-default VT_ARSP_TRANS 12 +param set-default VT_F_TRANS_THR 0.75 +param set-default VT_MOT_ID 1234 +param set-default VT_FW_MOT_OFFID 1234 +param set-default VT_IDLE_PWM_MC 1080 +param set-default VT_TYPE 2 set MAV_TYPE 22 set MIXER quad_x diff --git a/ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta b/ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta index 30933013fa..26989b44db 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta +++ b/ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta @@ -22,40 +22,37 @@ . ${R}etc/init.d/rc.vtol_defaults -if [ $AUTOCNF = yes ] -then - param set MC_ROLL_P 6.5 - param set MC_ROLLRATE_P 0.15 - param set MC_ROLLRATE_I 0.01 - param set MC_ROLLRATE_D 0.003 - param set MC_ROLLRATE_FF 0 - param set MC_PITCH_P 6.5 - param set MC_PITCHRATE_P 0.15 - param set MC_PITCHRATE_I 0.01 - param set MC_PITCHRATE_D 0.003 - param set MC_PITCHRATE_FF 0 - param set MC_YAW_P 3.5 - param set MC_YAWRATE_P 0.2 - param set MC_YAWRATE_I 0.1 - param set MC_YAWRATE_D 0 - param set MC_YAWRATE_FF 0 - param set MC_YAWRATE_MAX 50 - param set MPC_XY_P 0.8 - param set MPC_XY_VEL_P_ACC 2 - param set MPC_ACC_HOR_MAX 2 - param set MPC_YAWRAUTO_MAX 20 +param set-default MC_ROLL_P 6.5 +param set-default MC_ROLLRATE_P 0.15 +param set-default MC_ROLLRATE_I 0.01 +param set-default MC_ROLLRATE_D 0.003 +param set-default MC_ROLLRATE_FF 0 +param set-default MC_PITCH_P 6.5 +param set-default MC_PITCHRATE_P 0.15 +param set-default MC_PITCHRATE_I 0.01 +param set-default MC_PITCHRATE_D 0.003 +param set-default MC_PITCHRATE_FF 0 +param set-default MC_YAW_P 3.5 +param set-default MC_YAWRATE_P 0.2 +param set-default MC_YAWRATE_I 0.1 +param set-default MC_YAWRATE_D 0 +param set-default MC_YAWRATE_FF 0 +param set-default MC_YAWRATE_MAX 50 - param set PWM_AUX_DIS3 950 - param set PWM_MAIN_RATE 400 +param set-default MPC_XY_P 0.8 +param set-default MPC_XY_VEL_P_ACC 2 +param set-default MPC_ACC_HOR_MAX 2 +param set-default MPC_YAWRAUTO_MAX 20 - param set VT_MOT_ID 1234 - param set VT_FW_MOT_OFFID 1234 - param set VT_F_TRANS_THR 0.75 - param set VT_IDLE_PWM_MC 1080 - param set VT_TYPE 2 -fi +param set-default PWM_AUX_DIS3 950 +param set-default PWM_MAIN_RATE 400 +param set-default VT_MOT_ID 1234 +param set-default VT_FW_MOT_OFFID 1234 +param set-default VT_F_TRANS_THR 0.75 +param set-default VT_IDLE_PWM_MC 1080 +param set-default VT_TYPE 2 set MAV_TYPE 22 set MIXER quad_x diff --git a/ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad b/ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad index 778bd798c6..98e0f6e7a9 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad +++ b/ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad @@ -14,37 +14,34 @@ . ${R}etc/init.d/rc.vtol_defaults -if [ $AUTOCNF = yes ] -then - param set MC_ROLL_P 7 - param set MC_ROLLRATE_P 0.15 - param set MC_ROLLRATE_I 0.002 - param set MC_ROLLRATE_D 0.003 - param set MC_ROLLRATE_FF 0 - param set MC_PITCH_P 7 - param set MC_PITCHRATE_P 0.12 - param set MC_PITCHRATE_I 0.002 - param set MC_PITCHRATE_D 0.003 - param set MC_PITCHRATE_FF 0 - param set MC_YAW_P 2.8 - param set MC_YAWRATE_P 0.22 - param set MC_YAWRATE_I 0.02 - param set MC_YAWRATE_D 0 - param set MC_YAWRATE_FF 0 - param set MC_YAWRATE_MAX 40 - param set MPC_YAWRAUTO_MAX 40 +param set-default MC_ROLL_P 7 +param set-default MC_ROLLRATE_P 0.15 +param set-default MC_ROLLRATE_I 0.002 +param set-default MC_ROLLRATE_D 0.003 +param set-default MC_ROLLRATE_FF 0 +param set-default MC_PITCH_P 7 +param set-default MC_PITCHRATE_P 0.12 +param set-default MC_PITCHRATE_I 0.002 +param set-default MC_PITCHRATE_D 0.003 +param set-default MC_PITCHRATE_FF 0 +param set-default MC_YAW_P 2.8 +param set-default MC_YAWRATE_P 0.22 +param set-default MC_YAWRATE_I 0.02 +param set-default MC_YAWRATE_D 0 +param set-default MC_YAWRATE_FF 0 +param set-default MC_YAWRATE_MAX 40 - param set PWM_AUX_DIS5 950 - param set PWM_MAIN_RATE 400 +param set-default MPC_YAWRAUTO_MAX 40 - param set VT_F_TRANS_THR 0.75 - param set VT_MOT_ID 1234 - param set VT_FW_MOT_OFFID 1234 - param set VT_IDLE_PWM_MC 1080 - param set VT_TYPE 2 -fi +param set-default PWM_AUX_DIS5 950 +param set-default PWM_MAIN_RATE 400 +param set-default VT_F_TRANS_THR 0.75 +param set-default VT_MOT_ID 1234 +param set-default VT_FW_MOT_OFFID 1234 +param set-default VT_IDLE_PWM_MC 1080 +param set-default VT_TYPE 2 set MAV_TYPE 22 set MIXER quad_x diff --git a/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger b/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger index ed33d7cc7d..560fca0126 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger +++ b/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger @@ -14,54 +14,51 @@ . ${R}etc/init.d/rc.vtol_defaults -if [ $AUTOCNF = yes ] -then - param set FW_THR_CRUISE 65 - param set FW_PR_P 0.08 - param set FW_PR_FF 0.5 - param set FW_RR_P 0.05 - param set FW_RR_FF 0.6 - param set MIS_YAW_TMT 10 +param set-default FW_THR_CRUISE 65 +param set-default FW_PR_P 0.08 +param set-default FW_PR_FF 0.5 +param set-default FW_RR_P 0.05 +param set-default FW_RR_FF 0.6 - param set MC_ROLL_P 7 - param set MC_ROLLRATE_P 0.15 - param set MC_ROLLRATE_I 0.1 - param set MC_ROLLRATE_D 0.004 - param set MC_ROLLRATE_FF 0 - param set MC_PITCH_P 7 - param set MC_PITCHRATE_P 0.15 - param set MC_PITCHRATE_I 0.1 - param set MC_PITCHRATE_D 0.004 - param set MC_PITCHRATE_FF 0 - param set MC_YAW_P 3.5 - param set MC_YAWRATE_P 0.6 - param set MC_YAWRATE_I 0.04 - param set MC_YAWRATE_D 0 - param set MC_YAWRATE_FF 0 - param set MC_YAWRATE_MAX 40 +param set-default MIS_YAW_TMT 10 - param set MPC_ACC_HOR_MAX 2 - param set MPC_Z_VEL_MAX_DN 1.5 - param set MPC_TKO_SPEED 1.5 - param set MPC_LAND_SPEED 0.8 - param set MPC_YAWRAUTO_MAX 40 +param set-default MC_ROLL_P 7 +param set-default MC_ROLLRATE_P 0.15 +param set-default MC_ROLLRATE_I 0.1 +param set-default MC_ROLLRATE_D 0.004 +param set-default MC_ROLLRATE_FF 0 +param set-default MC_PITCH_P 7 +param set-default MC_PITCHRATE_P 0.15 +param set-default MC_PITCHRATE_I 0.1 +param set-default MC_PITCHRATE_D 0.004 +param set-default MC_PITCHRATE_FF 0 +param set-default MC_YAW_P 3.5 +param set-default MC_YAWRATE_P 0.6 +param set-default MC_YAWRATE_I 0.04 +param set-default MC_YAWRATE_D 0 +param set-default MC_YAWRATE_FF 0 +param set-default MC_YAWRATE_MAX 40 - param set PWM_AUX_DIS5 950 - param set PWM_AUX_REV1 1 - param set PWM_AUX_REV2 1 - param set PWM_MAIN_RATE 400 +param set-default MPC_ACC_HOR_MAX 2 +param set-default MPC_Z_VEL_MAX_DN 1.5 +param set-default MPC_TKO_SPEED 1.5 +param set-default MPC_LAND_SPEED 0.8 +param set-default MPC_YAWRAUTO_MAX 40 - param set VT_ARSP_TRANS 15 - param set VT_ARSP_BLEND 8 - param set VT_B_TRANS_DUR 4 - param set VT_F_TRANS_THR 0.75 - param set VT_IDLE_PWM_MC 1080 - param set VT_MOT_ID 1234 - param set VT_FW_MOT_OFFID 1234 - param set VT_TYPE 2 -fi +param set-default PWM_AUX_DIS5 950 +param set-default PWM_AUX_REV1 1 +param set-default PWM_AUX_REV2 1 +param set-default PWM_MAIN_RATE 400 +param set-default VT_ARSP_TRANS 15 +param set-default VT_ARSP_BLEND 8 +param set-default VT_B_TRANS_DUR 4 +param set-default VT_F_TRANS_THR 0.75 +param set-default VT_IDLE_PWM_MC 1080 +param set-default VT_MOT_ID 1234 +param set-default VT_FW_MOT_OFFID 1234 +param set-default VT_TYPE 2 set MAV_TYPE 22 set MIXER quad_x diff --git a/ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger b/ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger index 4892c292f9..e90c3d5af0 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger +++ b/ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger @@ -14,75 +14,72 @@ . ${R}etc/init.d/rc.vtol_defaults -if [ $AUTOCNF = yes ] -then - param set FW_AIRSPD_MAX 22 - param set FW_AIRSPD_MIN 14 - param set FW_AIRSPD_TRIM 16 - param set FW_L1_PERIOD 25 - param set FW_PR_P 0.060 - param set FW_P_RMAX_NEG 40 - param set FW_P_RMAX_POS 40 - param set FW_RR_FF 0.4 - param set FW_RR_P 0.04 - param set FW_R_RMAX 40 - param set MC_PITCHRATE_D 0.004 - param set MC_PITCHRATE_I 0 - param set MC_PITCHRATE_MAX 60 - param set MC_PITCHRATE_P 0.21 - param set MC_PITCH_P 4 - param set MC_ROLLRATE_D 0.004 - param set MC_ROLLRATE_I 0.002 - param set MC_ROLLRATE_MAX 60 - param set MC_ROLLRATE_P 0.24 - param set MC_ROLL_P 4 - param set MC_YAWRATE_I 0.02 - param set MC_YAWRATE_MAX 40 - param set MC_YAWRATE_P 0.18 +param set-default FW_AIRSPD_MAX 22 +param set-default FW_AIRSPD_MIN 14 +param set-default FW_AIRSPD_TRIM 16 +param set-default FW_L1_PERIOD 25 +param set-default FW_PR_P 0.060 +param set-default FW_P_RMAX_NEG 40 +param set-default FW_P_RMAX_POS 40 +param set-default FW_RR_FF 0.4 +param set-default FW_RR_P 0.04 +param set-default FW_R_RMAX 40 - param set MIS_TAKEOFF_ALT 2.5 - param set MIS_YAW_TMT 20 +param set-default MC_PITCHRATE_D 0.004 +param set-default MC_PITCHRATE_I 0 +param set-default MC_PITCHRATE_MAX 60 +param set-default MC_PITCHRATE_P 0.21 +param set-default MC_PITCH_P 4 +param set-default MC_ROLLRATE_D 0.004 +param set-default MC_ROLLRATE_I 0.002 +param set-default MC_ROLLRATE_MAX 60 +param set-default MC_ROLLRATE_P 0.24 +param set-default MC_ROLL_P 4 +param set-default MC_YAWRATE_I 0.02 +param set-default MC_YAWRATE_MAX 40 +param set-default MC_YAWRATE_P 0.18 - param set MPC_ACC_HOR_MAX 1 - param set MPC_HOLD_MAX_XY 0.5 - param set MPC_HOLD_MAX_Z 0.5 - param set MPC_LAND_SPEED 1 - param set MPC_MANTHR_MIN 0.05 - param set MPC_MAN_Y_MAX 120 - param set MPC_THR_MIN 0.07 - param set MPC_TILTMAX_AIR 35 - param set MPC_TILTMAX_LND 20 - param set MPC_TKO_SPEED 1 - param set MPC_XY_P 0.3 - param set MPC_XY_VEL_MAX 3 - param set MPC_XY_VEL_P_ACC 1 - param set MPC_Z_P 0.5 - param set MPC_Z_VEL_P_ACC 2 - param set MPC_YAWRAUTO_MAX 40 +param set-default MIS_TAKEOFF_ALT 2.5 +param set-default MIS_YAW_TMT 20 - param set NAV_ACC_RAD 3 +param set-default MPC_ACC_HOR_MAX 1 +param set-default MPC_HOLD_MAX_XY 0.5 +param set-default MPC_HOLD_MAX_Z 0.5 +param set-default MPC_LAND_SPEED 1 +param set-default MPC_MANTHR_MIN 0.05 +param set-default MPC_MAN_Y_MAX 120 +param set-default MPC_THR_MIN 0.07 +param set-default MPC_TILTMAX_AIR 35 +param set-default MPC_TILTMAX_LND 20 +param set-default MPC_TKO_SPEED 1 +param set-default MPC_XY_P 0.3 +param set-default MPC_XY_VEL_MAX 3 +param set-default MPC_XY_VEL_P_ACC 1 +param set-default MPC_Z_P 0.5 +param set-default MPC_Z_VEL_P_ACC 2 +param set-default MPC_YAWRAUTO_MAX 40 - param set PWM_AUX_REV1 1 - param set PWM_AUX_REV2 1 - param set PWM_AUX_REV3 1 - param set PWM_AUX_REV4 1 +param set-default NAV_ACC_RAD 3 - param set PWM_AUX_DIS5 950 +param set-default PWM_AUX_REV1 1 +param set-default PWM_AUX_REV2 1 +param set-default PWM_AUX_REV3 1 +param set-default PWM_AUX_REV4 1 - param set PWM_MAIN_RATE 400 +param set-default PWM_AUX_DIS5 950 - param set VT_ARSP_TRANS 15 - param set VT_B_TRANS_DUR 4 - param set VT_F_TRANS_THR 0.6 - param set VT_IDLE_PWM_MC 1180 - param set VT_MOT_ID 1234 - param set VT_FW_MOT_OFFID 1234 - param set VT_TRANS_MIN_TM 5 - param set VT_TRANS_TIMEOUT 30 - param set VT_TYPE 2 +param set-default PWM_MAIN_RATE 400 -fi +param set-default VT_ARSP_TRANS 15 +param set-default VT_B_TRANS_DUR 4 +param set-default VT_F_TRANS_THR 0.6 +param set-default VT_IDLE_PWM_MC 1180 +param set-default VT_MOT_ID 1234 +param set-default VT_FW_MOT_OFFID 1234 +param set-default VT_TRANS_MIN_TM 5 +param set-default VT_TRANS_TIMEOUT 30 +param set-default VT_TYPE 2 set MAV_TYPE 22 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13010_claire b/ROMFS/px4fmu_common/init.d/airframes/13010_claire index 0b8eaf0245..0af795d0a1 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13010_claire +++ b/ROMFS/px4fmu_common/init.d/airframes/13010_claire @@ -14,26 +14,23 @@ . ${R}etc/init.d/rc.vtol_defaults -if [ $AUTOCNF = yes ] -then - param set PWM_AUX_DISARMED 1000 - param set PWM_AUX_MAX 2000 - param set PWM_AUX_MIN 1000 - param set PWM_AUX_RATE 50 - param set PWM_MAIN_MAX 2000 - param set PWM_MAIN_RATE 400 +param set-default PWM_AUX_DISARMED 1000 +param set-default PWM_AUX_MAX 2000 +param set-default PWM_AUX_MIN 1000 +param set-default PWM_AUX_RATE 50 - param set VT_MOT_ID 1234 - param set VT_FW_MOT_OFFID 13 - param set VT_IDLE_PWM_MC 1080 - param set VT_TILT_FW 0.9 - param set VT_TILT_MC 0.08 - param set VT_TILT_TRANS 0.5 - param set VT_ELEV_MC_LOCK 0 - param set VT_TYPE 1 -fi +param set-default PWM_MAIN_MAX 2000 +param set-default PWM_MAIN_RATE 400 +param set-default VT_MOT_ID 1234 +param set-default VT_FW_MOT_OFFID 13 +param set-default VT_IDLE_PWM_MC 1080 +param set-default VT_TILT_FW 0.9 +param set-default VT_TILT_MC 0.08 +param set-default VT_TILT_TRANS 0.5 +param set-default VT_ELEV_MC_LOCK 0 +param set-default VT_TYPE 1 set MAV_TYPE 21 set MIXER claire diff --git a/ROMFS/px4fmu_common/init.d/airframes/13012_convergence b/ROMFS/px4fmu_common/init.d/airframes/13012_convergence index b3a26c1b56..f05c37c9ac 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13012_convergence +++ b/ROMFS/px4fmu_common/init.d/airframes/13012_convergence @@ -23,66 +23,63 @@ . ${R}etc/init.d/rc.vtol_defaults -if [ $AUTOCNF = yes ] -then - param set CBRK_AIRSPD_CHK 162128 - param set FW_ARSP_MODE 1 +param set-default CBRK_AIRSPD_CHK 162128 - param set FW_L1_PERIOD 17 - param set FW_MAN_R_MAX 50 - param set FW_ACRO_X_MAX 270 - param set FW_ACRO_Y_MAX 270 - param set FW_ACRO_Z_MAX 180 - param set FW_PR_FF 0.5 - param set FW_PR_P 0.08 - param set FW_PSP_OFF 5 - param set FW_P_LIM_MAX 30 - param set FW_P_LIM_MIN -30 - param set FW_P_RMAX_NEG 60 - param set FW_P_RMAX_POS 60 - param set FW_RR_FF 0.33 - param set FW_RR_P 0.11 - param set FW_YR_FF 0.3 - param set FW_YR_P 0.05 +param set-default FW_ARSP_MODE 1 - param set MC_PITCHRATE_D 0.003 - param set MC_PITCHRATE_P 0.15 - param set MC_PITCH_P 6 - param set MC_ROLLRATE_D 0.003 - param set MC_ROLLRATE_P 0.15 - param set MC_ROLL_P 6 - param set MC_YAWRATE_MAX 120 - param set MC_YAWRATE_P 0.27 - param set MC_YAW_P 2.5 +param set-default FW_L1_PERIOD 17 +param set-default FW_MAN_R_MAX 50 +param set-default FW_ACRO_X_MAX 270 +param set-default FW_ACRO_Y_MAX 270 +param set-default FW_ACRO_Z_MAX 180 +param set-default FW_PR_FF 0.5 +param set-default FW_PR_P 0.08 +param set-default FW_PSP_OFF 5 +param set-default FW_P_LIM_MAX 30 +param set-default FW_P_LIM_MIN -30 +param set-default FW_P_RMAX_NEG 60 +param set-default FW_P_RMAX_POS 60 +param set-default FW_RR_FF 0.33 +param set-default FW_RR_P 0.11 +param set-default FW_YR_FF 0.3 +param set-default FW_YR_P 0.05 - param set MC_YAWRATE_P 0.3 - param set MPC_LAND_SPEED 1.2 - param set MPC_TKO_SPEED 2.5 - param set MPC_Z_VEL_MAX_UP 3 +param set-default MC_PITCHRATE_D 0.003 +param set-default MC_PITCHRATE_P 0.15 +param set-default MC_PITCH_P 6 +param set-default MC_ROLLRATE_D 0.003 +param set-default MC_ROLLRATE_P 0.15 +param set-default MC_ROLL_P 6 +param set-default MC_YAWRATE_MAX 120 +param set-default MC_YAWRATE_P 0.27 +param set-default MC_YAW_P 2.5 - param set PWM_MAIN_RATE 400 +param set-default MC_YAWRATE_P 0.3 +param set-default MPC_LAND_SPEED 1.2 +param set-default MPC_TKO_SPEED 2.5 +param set-default MPC_Z_VEL_MAX_UP 3 - param set SENS_BOARD_ROT 8 +param set-default PWM_MAIN_RATE 400 - param set VT_B_TRANS_DUR 1 - param set VT_F_TRANS_DUR 1.2 - param set VT_F_TR_OL_TM 4 - param set VT_FW_DIFTHR_EN 1 - param set VT_FW_DIFTHR_SC 0.17 - param set VT_FW_MOT_OFFID 3 - param set VT_FW_PERM_STAB 0 - param set VT_IDLE_PWM_MC 1200 - param set VT_MOT_ID 123 - param set VT_TILT_FW 1 - param set VT_TILT_MC 0 - param set VT_TILT_TRANS 0.45 - param set VT_TRANS_MIN_TM 1.2 - param set VT_TRANS_P2_DUR 1.3 - param set VT_ELEV_MC_LOCK 0 - param set VT_TYPE 1 -fi +param set-default SENS_BOARD_ROT 8 +param set-default VT_B_TRANS_DUR 1 +param set-default VT_F_TRANS_DUR 1.2 +param set-default VT_F_TR_OL_TM 4 +param set-default VT_FW_DIFTHR_EN 1 +param set-default VT_FW_DIFTHR_SC 0.17 +param set-default VT_FW_MOT_OFFID 3 +param set-default VT_FW_PERM_STAB 0 +param set-default VT_IDLE_PWM_MC 1200 +param set-default VT_MOT_ID 123 +param set-default VT_TILT_FW 1 +param set-default VT_TILT_MC 0 +param set-default VT_TILT_TRANS 0.45 +param set-default VT_TRANS_MIN_TM 1.2 +param set-default VT_TRANS_P2_DUR 1.3 +param set-default VT_ELEV_MC_LOCK 0 +param set-default VT_TYPE 1 set MAV_TYPE 21 set MIXER vtol_convergence diff --git a/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad b/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad index 5e8306a4cd..6128f71c38 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad +++ b/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad @@ -23,137 +23,134 @@ . ${R}etc/init.d/rc.vtol_defaults -if [ $AUTOCNF = yes ] -then - param set BAT_CAPACITY 23000 - param set BAT_N_CELLS 4 - param set BAT_R_INTERNAL 0.0025 - param set CBRK_AIRSPD_CHK 162128 - param set CBRK_IO_SAFETY 22027 +param set-default BAT_CAPACITY 23000 +param set-default BAT_N_CELLS 4 +param set-default BAT_R_INTERNAL 0.0025 - param set EKF2_GPS_POS_X -0.12 - param set EKF2_IMU_POS_X -0.12 - param set EKF2_TAU_VEL 0.5 - param set EKF2_GPS_P_GATE 10 - param set EKF2_GPS_V_GATE 10 +param set-default CBRK_AIRSPD_CHK 162128 +param set-default CBRK_IO_SAFETY 22027 - param set FW_ARSP_MODE 1 - param set FW_L1_PERIOD 25 - param set FW_PR_FF 0.7 - param set FW_PR_I 0.18 - param set FW_PR_P 0.15 - param set FW_P_TC 0.5 - param set FW_PSP_OFF 5 - param set FW_R_LIM 35 - param set FW_RR_FF 0.9 - param set FW_RR_I 0.08 - param set FW_RR_P 0.18 - param set FW_T_HRATE_FF 0.5 - param set FW_T_CLMB_MAX 3 - param set FW_T_SINK_MAX 3 - param set FW_T_SINK_MIN 1 - param set FW_T_VERT_ACC 6 - param set FW_THR_CRUISE 0.70 - param set FW_THR_SLEW_MAX 1 - param set FW_MAN_P_MAX 30 - param set FW_P_LIM_MAX 15 - param set FW_P_LIM_MIN -25 - param set FW_P_RMAX_NEG 45 - param set FW_P_RMAX_POS 45 - param set FW_R_RMAX 50 - param set FW_THR_MIN 0.55 - param set FW_BAT_SCALE_EN 1 - param set FW_THR_ALT_SCL 2.7 - param set FW_T_RLL2THR 20 +param set-default EKF2_GPS_POS_X -0.12 +param set-default EKF2_IMU_POS_X -0.12 +param set-default EKF2_TAU_VEL 0.5 +param set-default EKF2_GPS_P_GATE 10 +param set-default EKF2_GPS_V_GATE 10 - param set LNDMC_ALT_MAX 9999 - param set LNDMC_XY_VEL_MAX 1 - param set LNDMC_Z_VEL_MAX 0.7 +param set-default FW_ARSP_MODE 1 +param set-default FW_L1_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_HRATE_FF 0.5 +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_T_VERT_ACC 6 +param set-default FW_THR_CRUISE 0.70 +param set-default FW_THR_SLEW_MAX 1 +param set-default FW_MAN_P_MAX 30 +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_THR_ALT_SCL 2.7 +param set-default FW_T_RLL2THR 20 - param set MC_ROLL_P 6.5 - param set MC_ROLLRATE_P 0.16 - param set MC_ROLLRATE_I 0.01 - param set MC_ROLLRATE_D 0.003 - param set MC_ROLLRATE_FF 0 - param set MC_ROLLRATE_MAX 80 - param set MC_PITCH_P 6.5 - param set MC_PITCHRATE_P 0.15 - param set MC_PITCHRATE_I 0.05 - param set MC_PITCHRATE_D 0.003 - param set MC_PITCHRATE_FF 0 - param set MC_PITCHRATE_MAX 80 - param set MC_YAW_P 3.5 - param set MC_YAWRATE_P 0.2 - param set MC_YAWRATE_I 0.1 - param set MC_YAWRATE_D 0 - param set MC_YAWRATE_FF 0 - param set MC_YAWRATE_MAX 20 - param set MC_AIRMODE 1 +param set-default LNDMC_ALT_MAX 9999 +param set-default LNDMC_XY_VEL_MAX 1 +param set-default LNDMC_Z_VEL_MAX 0.7 - param set MIS_DIST_1WP 100 - param set MIS_DIST_WPS 100000 - param set MIS_TAKEOFF_ALT 15 +param set-default MC_ROLL_P 6.5 +param set-default MC_ROLLRATE_P 0.16 +param set-default MC_ROLLRATE_I 0.01 +param set-default MC_ROLLRATE_D 0.003 +param set-default MC_ROLLRATE_FF 0 +param set-default MC_ROLLRATE_MAX 80 +param set-default MC_PITCH_P 6.5 +param set-default MC_PITCHRATE_P 0.15 +param set-default MC_PITCHRATE_I 0.05 +param set-default MC_PITCHRATE_D 0.003 +param set-default MC_PITCHRATE_FF 0 +param set-default MC_PITCHRATE_MAX 80 +param set-default MC_YAW_P 3.5 +param set-default MC_YAWRATE_P 0.2 +param set-default MC_YAWRATE_I 0.1 +param set-default MC_YAWRATE_D 0 +param set-default MC_YAWRATE_FF 0 +param set-default MC_YAWRATE_MAX 20 +param set-default MC_AIRMODE 1 - param set MPC_XY_P 0.8 - param set MPC_XY_VEL_P_ACC 2 - param set MPC_XY_VEL_MAX 5 - param set MPC_ACC_HOR_MAX 2 - param set MPC_LAND_SPEED 1.2 - param set MPC_TILTMAX_LND 35 - param set MPC_Z_VEL_MAX_UP 1.5 - param set MPC_Z_VEL_MAX_DN 1.5 - param set MPC_HOLD_MAX_XY 0.5 - param set MPC_HOLD_MAX_Z 0.5 - param set MPC_TKO_RAMP_T 0.8 - param set MPC_XY_CRUISE 5 - param set MPC_TILTMAX_AIR 25 - param set MPC_TILTMAX_LND 25 - param set MPC_YAWRAUTO_MAX 20 +param set-default MIS_DIST_1WP 100 +param set-default MIS_DIST_WPS 100000 +param set-default MIS_TAKEOFF_ALT 15 - param set NAV_DLL_ACT 0 - param set NAV_LOITER_RAD 100 +param set-default MPC_XY_P 0.8 +param set-default MPC_XY_VEL_P_ACC 2 +param set-default MPC_XY_VEL_MAX 5 +param set-default MPC_ACC_HOR_MAX 2 +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_Z_VEL_MAX_DN 1.5 +param set-default MPC_HOLD_MAX_XY 0.5 +param set-default MPC_HOLD_MAX_Z 0.5 +param set-default MPC_TKO_RAMP_T 0.8 +param set-default MPC_XY_CRUISE 5 +param set-default MPC_TILTMAX_AIR 25 +param set-default MPC_TILTMAX_LND 25 +param set-default MPC_YAWRAUTO_MAX 20 - param set PWM_AUX_DISARMED 950 +param set-default NAV_DLL_ACT 0 +param set-default NAV_LOITER_RAD 100 - param set PWM_MAIN_DIS5 1500 - param set PWM_MAIN_DIS6 1500 - param set PWM_MAIN_DIS7 900 - param set PWM_MAIN_DIS8 900 +param set-default PWM_AUX_DISARMED 950 - param set PWM_MAIN_RATE 400 +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 SENS_BOARD_ROT 18 +param set-default PWM_MAIN_RATE 400 - # TELEM2 config - param set MAV_1_CONFIG 102 - param set MAV_1_RATE 5000 - param set MAV_1_FORWARD 1 - param set SER_TEL2_BAUD 57600 +param set-default SENS_BOARD_ROT 18 - param set VT_TYPE 2 - param set VT_MOT_ID 1234 - param set VT_FW_MOT_OFFID 1234 - param set VT_F_TRANS_THR 1 - param set VT_DWN_PITCH_MAX 8 - param set VT_FW_QC_P 55 - param set VT_FW_QC_R 55 - param set VT_TRANS_MIN_TM 15 - param set VT_B_TRANS_DUR 8 - param set VT_WV_LND_EN 1 - param set VT_WV_LTR_EN 1 - param set VT_FWD_THRUST_SC 4 - param set VT_F_TRANS_DUR 1 - param set VT_IDLE_PWM_MC 1025 - param set VT_B_REV_OUT 0.5 - param set VT_B_TRANS_THR 0.7 - param set VT_FW_PERM_STAB 1 - param set VT_TRANS_TIMEOUT 22 - param set VT_F_TRANS_RAMP 4 +# 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 COM_RC_OVERRIDE 0 -fi +param set-default VT_TYPE 2 +param set-default VT_MOT_ID 1234 +param set-default VT_FW_MOT_OFFID 1234 +param set-default VT_F_TRANS_THR 1 +param set-default VT_DWN_PITCH_MAX 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_B_TRANS_DUR 8 +param set-default VT_WV_LND_EN 1 +param set-default VT_WV_LTR_EN 1 +param set-default VT_FWD_THRUST_SC 4 +param set-default VT_F_TRANS_DUR 1 +param set-default VT_IDLE_PWM_MC 1025 +param set-default VT_B_REV_OUT 0.5 +param set-default VT_B_TRANS_THR 0.7 +param set-default VT_FW_PERM_STAB 1 +param set-default VT_TRANS_TIMEOUT 22 +param set-default VT_F_TRANS_RAMP 4 +param set-default COM_RC_OVERRIDE 0 set MAV_TYPE 22 set MIXER deltaquad diff --git a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark b/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark index 224994c462..0ce948f52d 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark +++ b/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark @@ -23,92 +23,89 @@ . ${R}etc/init.d/rc.vtol_defaults -if [ $AUTOCNF = yes ] -then - param set BAT_N_CELLS 6 - param set FW_AIRSPD_MAX 30 - param set FW_AIRSPD_MIN 19 - param set FW_AIRSPD_TRIM 23 - param set FW_L1_R_SLEW_MAX 40 - param set FW_LND_EARLYCFG 1 - param set FW_MAN_P_MAX 30 - param set FW_PR_I 0.1 - param set FW_PSP_OFF 3 - param set FW_P_LIM_MAX 18 - param set FW_P_LIM_MIN -25 - param set FW_RLL_TO_YAW_FF 0.1 - param set FW_RR_I 0.1 - param set FW_RR_P 0.08 - param set FW_R_LIM 45 - param set FW_R_RMAX 50 - param set FW_THR_CRUISE 0.65 - param set FW_THR_MIN 0.3 - param set FW_THR_SLEW_MAX 0.6 - param set FW_T_HRATE_FF 0 - param set FW_T_SINK_MAX 15 - param set FW_T_SINK_MIN 3 - param set FW_YR_I 0.1 - param set FW_YR_P 0.15 +param set-default BAT_N_CELLS 6 - param set IMU_GYRO_CUTOFF 40 +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_L1_R_SLEW_MAX 40 +param set-default FW_LND_EARLYCFG 1 +param set-default FW_MAN_P_MAX 30 +param set-default FW_PR_I 0.1 +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_I 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_CRUISE 0.65 +param set-default FW_THR_MIN 0.3 +param set-default FW_THR_SLEW_MAX 0.6 +param set-default FW_T_HRATE_FF 0 +param set-default FW_T_SINK_MAX 15 +param set-default FW_T_SINK_MIN 3 +param set-default FW_YR_I 0.1 +param set-default FW_YR_P 0.15 - param set IMU_DGYRO_CUTOFF 15 - param set MC_PITCHRATE_I 0.2 - param set MC_PITCHRATE_MAX 60 - param set MC_ROLLRATE_I 0.2 - param set MC_ROLLRATE_MAX 60 - param set MC_YAWRATE_I 0.15 - param set MC_YAWRATE_MAX 40 - param set MC_YAWRATE_P 0.3 +param set-default IMU_GYRO_CUTOFF 40 - param set MIS_TAKEOFF_ALT 30 +param set-default IMU_DGYRO_CUTOFF 15 +param set-default MC_PITCHRATE_I 0.2 +param set-default MC_PITCHRATE_MAX 60 +param set-default MC_ROLLRATE_I 0.2 +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 MPC_ACC_DOWN_MAX 2 - param set MPC_ACC_HOR_MAX 2 - param set MPC_ACC_UP_MAX 3 - param set MC_AIRMODE 1 - param set MPC_JERK_AUTO 4 - param set MPC_LAND_SPEED 1 - param set MPC_MAN_TILT_MAX 25 - param set MPC_MAN_Y_MAX 40 - param set MPC_POS_MODE 3 - param set MPC_SPOOLUP_TIME 1.5 - param set MPC_THR_HOVER 0.45 - param set MPC_TILTMAX_AIR 25 - param set MPC_TKO_RAMP_T 1.8 - param set MPC_TKO_SPEED 1 - param set MPC_VEL_MANUAL 3 - param set MPC_XY_CRUISE 3 - param set MPC_XY_VEL_MAX 3.5 - param set MPC_YAWRAUTO_MAX 40 - param set MPC_Z_VEL_MAX_DN 1.5 - param set MPC_Z_VEL_MAX_UP 2 +param set-default MIS_TAKEOFF_ALT 30 - param set NAV_ACC_RAD 3 +param set-default MPC_ACC_DOWN_MAX 2 +param set-default MPC_ACC_HOR_MAX 2 +param set-default MPC_ACC_UP_MAX 3 +param set-default MC_AIRMODE 1 +param set-default MPC_JERK_AUTO 4 +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_POS_MODE 3 +param set-default MPC_SPOOLUP_TIME 1.5 +param set-default MPC_THR_HOVER 0.45 +param set-default MPC_TILTMAX_AIR 25 +param set-default MPC_TKO_RAMP_T 1.8 +param set-default MPC_TKO_SPEED 1 +param set-default MPC_VEL_MANUAL 3 +param set-default MPC_XY_CRUISE 3 +param set-default MPC_XY_VEL_MAX 3.5 +param set-default MPC_YAWRAUTO_MAX 40 +param set-default MPC_Z_VEL_MAX_DN 1.5 +param set-default MPC_Z_VEL_MAX_UP 2 - param set PWM_MAIN_DIS3 1000 - param set PWM_MAIN_MIN3 1120 - param set PWM_MAIN_MIN 950 +param set-default NAV_ACC_RAD 3 - param set SENS_BOARD_ROT 4 +param set-default PWM_MAIN_DIS3 1000 +param set-default PWM_MAIN_MIN3 1120 +param set-default PWM_MAIN_MIN 950 - param set VT_ARSP_BLEND 10 - param set VT_ARSP_TRANS 21 - param set VT_B_DEC_MSS 1.5 - param set VT_B_TRANS_DUR 12 - param set VT_ELEV_MC_LOCK 0 - param set VT_FWD_THRUST_SC 1.2 - param set VT_FW_MOT_OFFID 5678 - param set VT_F_TR_OL_TM 8 - param set VT_IDLE_PWM_MC 1000 - param set VT_MOT_ID 5678 - param set VT_PSHER_RMP_DT 2 - param set VT_TRANS_MIN_TM 4 - param set VT_TYPE 2 +param set-default SENS_BOARD_ROT 4 -fi +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_B_TRANS_DUR 12 +param set-default VT_ELEV_MC_LOCK 0 +param set-default VT_FWD_THRUST_SC 1.2 +param set-default VT_FW_MOT_OFFID 5678 +param set-default VT_F_TR_OL_TM 8 +param set-default VT_IDLE_PWM_MC 1000 +param set-default VT_MOT_ID 5678 +param set-default VT_PSHER_RMP_DT 2 +param set-default VT_TRANS_MIN_TM 4 +param set-default VT_TYPE 2 set MAV_TYPE 22 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13015_generic_vtol_standard b/ROMFS/px4fmu_common/init.d/airframes/13015_generic_vtol_standard index a10a580bb6..63fe83aee6 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13015_generic_vtol_standard +++ b/ROMFS/px4fmu_common/init.d/airframes/13015_generic_vtol_standard @@ -24,35 +24,32 @@ . ${R}etc/init.d/rc.vtol_defaults -if [ $AUTOCNF = yes ] -then - param set PWM_MAIN_RATE 400 - param set PWM_MAIN_MIN1 1100 - param set PWM_MAIN_MIN2 1100 - param set PWM_MAIN_MIN3 1100 - param set PWM_MAIN_MIN4 1100 +param set-default PWM_MAIN_RATE 400 - param set PWM_MAIN_MAX1 1900 - param set PWM_MAIN_MAX2 1900 - param set PWM_MAIN_MAX3 1900 - param set PWM_MAIN_MAX4 1900 +param set-default PWM_MAIN_MIN1 1100 +param set-default PWM_MAIN_MIN2 1100 +param set-default PWM_MAIN_MIN3 1100 +param set-default PWM_MAIN_MIN4 1100 - param set PWM_MAIN_DIS1 900 - param set PWM_MAIN_DIS2 900 - param set PWM_MAIN_DIS3 900 - param set PWM_MAIN_DIS4 900 - param set PWM_MAIN_DIS5 1500 - param set PWM_MAIN_DIS6 1500 - param set PWM_MAIN_DIS7 1500 - param set PWM_MAIN_DIS8 1500 - param set PWM_MAIN_DIS9 900 +param set-default PWM_MAIN_MAX1 1900 +param set-default PWM_MAIN_MAX2 1900 +param set-default PWM_MAIN_MAX3 1900 +param set-default PWM_MAIN_MAX4 1900 - param set VT_TYPE 2 - param set VT_MOT_ID 1234 - param set VT_FW_MOT_OFFID 1234 -fi +param set-default PWM_MAIN_DIS1 900 +param set-default PWM_MAIN_DIS2 900 +param set-default PWM_MAIN_DIS3 900 +param set-default PWM_MAIN_DIS4 900 +param set-default PWM_MAIN_DIS5 1500 +param set-default PWM_MAIN_DIS6 1500 +param set-default PWM_MAIN_DIS7 1500 +param set-default PWM_MAIN_DIS8 1500 +param set-default PWM_MAIN_DIS9 900 +param set-default VT_TYPE 2 +param set-default VT_MOT_ID 1234 +param set-default VT_FW_MOT_OFFID 1234 set MAV_TYPE 22 set MIXER quad_x_vtol_AAERT diff --git a/ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo b/ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo index 497936162c..ab2308d820 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo +++ b/ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo @@ -26,16 +26,13 @@ . ${R}etc/init.d/rc.vtol_defaults -if [ $AUTOCNF = yes ] -then - param set PWM_AUX_DIS5 950 - param set PWM_MAIN_RATE 400 - param set VT_TYPE 2 - param set VT_MOT_ID 12345678 - param set VT_FW_MOT_OFFID 12345678 -fi +param set-default PWM_AUX_DIS5 950 +param set-default PWM_MAIN_RATE 400 +param set-default VT_TYPE 2 +param set-default VT_MOT_ID 12345678 +param set-default VT_FW_MOT_OFFID 12345678 set MAV_TYPE 22 set MIXER octo_cox diff --git a/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter b/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter index 80a679c5f3..aa9c0fec6b 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter +++ b/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter @@ -19,15 +19,12 @@ . ${R}etc/init.d/rc.vtol_defaults -if [ $AUTOCNF = yes ] -then - param set VT_ELEV_MC_LOCK 0 - param set VT_MOT_COUNT 2 - param set VT_TYPE 0 - param set MAV_TYPE 19 -fi +param set-default VT_ELEV_MC_LOCK 0 +param set-default VT_MOT_COUNT 2 +param set-default VT_TYPE 0 +param set-default MAV_TYPE 19 set MAV_TYPE 19 set MIXER vtol_tailsitter_duo diff --git a/ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli b/ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli index 7b05fbf986..a4e556c142 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli +++ b/ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli @@ -20,36 +20,33 @@ . ${R}etc/init.d/rc.mc_defaults set MIXER coax -if [ $AUTOCNF = yes ] -then - param set MC_ROLL_P 6.5 - param set MC_ROLLRATE_P 0.17 - param set MC_ROLLRATE_I 0.05 - param set MC_ROLLRATE_D 0.005 - param set MC_ROLLRATE_FF 0 - param set MC_PITCH_P 6.5 - param set MC_PITCHRATE_P 0.17 - param set MC_PITCHRATE_I 0.05 - param set MC_PITCHRATE_D 0.005 - param set MC_PITCHRATE_FF 0 - param set MC_YAW_P 2 - param set MC_YAWRATE_P 0.1 - param set MC_YAWRATE_I 0.1 - param set MC_YAWRATE_D 0 - param set MC_YAWRATE_FF 0 - param set NAV_ACC_RAD 2 +param set-default MC_ROLL_P 6.5 +param set-default MC_ROLLRATE_P 0.17 +param set-default MC_ROLLRATE_I 0.05 +param set-default MC_ROLLRATE_D 0.005 +param set-default MC_ROLLRATE_FF 0 +param set-default MC_PITCH_P 6.5 +param set-default MC_PITCHRATE_P 0.17 +param set-default MC_PITCHRATE_I 0.05 +param set-default MC_PITCHRATE_D 0.005 +param set-default MC_PITCHRATE_FF 0 +param set-default MC_YAW_P 2 +param set-default MC_YAWRATE_P 0.1 +param set-default MC_YAWRATE_I 0.1 +param set-default MC_YAWRATE_D 0 +param set-default MC_YAWRATE_FF 0 - param set PWM_AUX_RATE 50 - param set PWM_MAIN_DISARM 900 - param set PWM_MAIN_MIN 1075 - param set PWM_MAIN_MAX 1950 - param set PWM_MAIN_RATE 400 +param set-default NAV_ACC_RAD 2 - param set RTL_RETURN_ALT 30 - param set RTL_DESCEND_ALT 10 -fi +param set-default PWM_AUX_RATE 50 +param set-default PWM_MAIN_DISARM 900 +param set-default PWM_MAIN_MIN 1075 +param set-default PWM_MAIN_MAX 1950 +param set-default PWM_MAIN_RATE 400 +param set-default RTL_RETURN_ALT 30 +param set-default RTL_DESCEND_ALT 10 # This is the gimbal pass mixer set MIXER_AUX pass diff --git a/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter b/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter index d22d4d21bf..c1207b2435 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter +++ b/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter @@ -27,34 +27,32 @@ set MIXER blade130 #set PWM_OUT 1234 -if [ $AUTOCNF = yes ] -then - param set ATT_BIAS_MAX 0 - param set CBRK_IO_SAFETY 22027 +param set-default ATT_BIAS_MAX 0 - param set MC_ROLL_P 5 - param set MC_ROLLRATE_P 0 - param set MC_ROLLRATE_I 0 - param set MC_ROLLRATE_D 0 - param set MC_ROLLRATE_FF 0.15 - param set MC_PITCH_P 6.5 - param set MC_PITCHRATE_P 0 - param set MC_PITCHRATE_I 0 - param set MC_PITCHRATE_D 0 - param set MC_PITCHRATE_FF 0.15 - param set MC_YAW_P 3 - param set MC_YAWRATE_P 0.1 - param set MC_YAWRATE_I 0 - param set MC_YAWRATE_D 0 - param set MC_ROLLRATE_MAX 720 - param set MC_PITCHRATE_MAX 720 - param set MC_YAWRATE_MAX 400 - param set MC_ACRO_R_MAX 360 - param set MC_ACRO_P_MAX 360 +param set-default CBRK_IO_SAFETY 22027 - param set MPC_THR_MIN 0.06 - param set MPC_MANTHR_MIN 0.06 +param set-default MC_ROLL_P 5 +param set-default MC_ROLLRATE_P 0 +param set-default MC_ROLLRATE_I 0 +param set-default MC_ROLLRATE_D 0 +param set-default MC_ROLLRATE_FF 0.15 +param set-default MC_PITCH_P 6.5 +param set-default MC_PITCHRATE_P 0 +param set-default MC_PITCHRATE_I 0 +param set-default MC_PITCHRATE_D 0 +param set-default MC_PITCHRATE_FF 0.15 +param set-default MC_YAW_P 3 +param set-default MC_YAWRATE_P 0.1 +param set-default MC_YAWRATE_I 0 +param set-default MC_YAWRATE_D 0 +param set-default MC_ROLLRATE_MAX 720 +param set-default MC_PITCHRATE_MAX 720 +param set-default MC_YAWRATE_MAX 400 +param set-default MC_ACRO_R_MAX 360 +param set-default MC_ACRO_P_MAX 360 - param set PWM_MAIN_MIN 1075 -fi +param set-default MPC_THR_MIN 0.06 +param set-default MPC_MANTHR_MIN 0.06 + +param set-default PWM_MAIN_MIN 1075 diff --git a/ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2 b/ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2 index 3887d288b2..d9549b664e 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2 +++ b/ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2 @@ -26,29 +26,26 @@ . ${R}etc/init.d/rc.fw_defaults -if [ $AUTOCNF = yes ] -then - param set BAT_CAPACITY 2500 - param set BAT_N_CELLS 3 - param set PWM_AUX_RATE 50 - param set PWM_MAIN_RATE 50 +param set-default BAT_CAPACITY 2500 +param set-default BAT_N_CELLS 3 - param set SENS_BOARD_ROT 8 +param set-default PWM_AUX_RATE 50 +param set-default PWM_MAIN_RATE 50 - param set FW_AIRSPD_MAX 20 - param set FW_AIRSPD_MIN 7 - param set FW_AIRSPD_TRIM 13 - param set FW_THR_CRUISE 0.8 +param set-default SENS_BOARD_ROT 8 - param set FW_MAN_P_MAX 25 - param set FW_MAN_R_MAX 25 - param set FW_PR_I 0.02 - param set FW_R_LIM 40 - param set FW_P_LIM_MAX 25 - param set FW_P_LIM_MIN -5 - param set FW_P_RMAX_NEG 20 -fi +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_CRUISE 0.8 +param set-default FW_MAN_P_MAX 25 +param set-default FW_MAN_R_MAX 25 +param set-default FW_PR_I 0.02 +param set-default FW_R_LIM 40 +param set-default FW_P_LIM_MAX 25 +param set-default FW_P_LIM_MIN -5 +param set-default FW_P_RMAX_NEG 20 set MIXER TF-AutoG2 set MIXER_AUX pass diff --git a/ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2 b/ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2 index 0b9a95ab8f..2056f7b74a 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2 +++ b/ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2 @@ -21,29 +21,26 @@ . ${R}etc/init.d/rc.fw_defaults -if [ $AUTOCNF = yes ] -then - param set BAT_CAPACITY 3300 - param set BAT_N_CELLS 3 - param set PWM_AUX_RATE 50 - param set PWM_MAIN_RATE 50 +param set-default BAT_CAPACITY 3300 +param set-default BAT_N_CELLS 3 - param set SENS_BOARD_ROT 4 +param set-default PWM_AUX_RATE 50 +param set-default PWM_MAIN_RATE 50 - param set FW_AIRSPD_MAX 20 - param set FW_AIRSPD_MIN 7 - param set FW_AIRSPD_TRIM 13 - param set FW_THR_CRUISE 0.8 +param set-default SENS_BOARD_ROT 4 - param set FW_MAN_P_MAX 25 - param set FW_MAN_R_MAX 25 - param set FW_PR_I 0.02 - param set FW_R_LIM 40 - param set FW_P_LIM_MAX 25 - param set FW_P_LIM_MIN -5 - param set FW_P_RMAX_NEG 20 -fi +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_CRUISE 0.8 +param set-default FW_MAN_P_MAX 25 +param set-default FW_MAN_R_MAX 25 +param set-default FW_PR_I 0.02 +param set-default FW_R_LIM 40 +param set-default FW_P_LIM_MAX 25 +param set-default FW_P_LIM_MIN -5 +param set-default FW_P_RMAX_NEG 20 set MIXER TF-G2 set MIXER_AUX pass diff --git a/ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1 b/ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1 index a800bc525a..de417958c7 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1 +++ b/ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1 @@ -16,22 +16,19 @@ . ${R}etc/init.d/rc.balloon_defaults -if [ $AUTOCNF = yes ] -then - param set COM_PREARM_MODE 2 # always in prearm state - param set CBRK_IO_SAFETY 22027 - param set SDLOG_PROFILE 17 - param set SDLOG_MODE 2 - param set MAV_0_MODE 1 - param set MAV_0_CONFIG 102 - param set GPS_UBX_DYNMODEL 8 - param set SER_TEL2_BAUD 9600 - param set SENS_BOARD_ROT 0 +param set-default COM_PREARM_MODE 2 # always in prearm state +param set-default CBRK_IO_SAFETY 22027 +param set-default SDLOG_PROFILE 17 +param set-default SDLOG_MODE 2 +param set-default MAV_0_MODE 1 +param set-default MAV_0_CONFIG 102 +param set-default GPS_UBX_DYNMODEL 8 +param set-default SER_TEL2_BAUD 9600 + +param set-default SENS_BOARD_ROT 0 param set MAV_TYPE 8 # MAV_TYPE_FREE_BALLOON -fi - set MIXER IO_pass set MIXER_AUX pass diff --git a/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane b/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane index a30883c1e0..1a2ad26d52 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane +++ b/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane @@ -24,11 +24,8 @@ . ${R}etc/init.d/rc.fw_defaults -if [ $AUTOCNF = yes ] -then - param set PWM_AUX_RATE 50 - param set PWM_MAIN_RATE 50 -fi +param set-default PWM_AUX_RATE 50 +param set-default PWM_MAIN_RATE 50 set MIXER AETRFG diff --git a/ROMFS/px4fmu_common/init.d/airframes/2105_maja b/ROMFS/px4fmu_common/init.d/airframes/2105_maja index 24458feac8..43a666c5ff 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/2105_maja +++ b/ROMFS/px4fmu_common/init.d/airframes/2105_maja @@ -26,25 +26,23 @@ . ${R}etc/init.d/rc.fw_defaults -if [ $AUTOCNF = yes ] -then - param set FW_AIRSPD_MIN 10 - param set FW_AIRSPD_TRIM 15 - param set FW_AIRSPD_MAX 20 +param set-default FW_AIRSPD_MIN 10 +param set-default FW_AIRSPD_TRIM 15 +param set-default FW_AIRSPD_MAX 20 - param set FW_MAN_P_MAX 55 - param set FW_MAN_R_MAX 55 - param set FW_R_LIM 55 +param set-default FW_MAN_P_MAX 55 +param set-default FW_MAN_R_MAX 55 +param set-default FW_R_LIM 55 - param set FW_WR_FF 0.2 - param set FW_WR_I 0.2 - param set FW_WR_IMAX 0.8 - param set FW_WR_P 1 - param set FW_W_RMAX 0 +param set-default FW_WR_FF 0.2 +param set-default FW_WR_I 0.2 +param set-default FW_WR_IMAX 0.8 +param set-default FW_WR_P 1 +param set-default FW_W_RMAX 0 + +# set disarmed value for the ESC +param set-default PWM_MAIN_DISARM 1000 - # set disarmed value for the ESC - param set PWM_MAIN_DISARM 1000 -fi set MIXER AAERTWF diff --git a/ROMFS/px4fmu_common/init.d/airframes/2106_albatross b/ROMFS/px4fmu_common/init.d/airframes/2106_albatross index 19c8bab4e2..cf25f2fe5d 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/2106_albatross +++ b/ROMFS/px4fmu_common/init.d/airframes/2106_albatross @@ -26,25 +26,23 @@ . ${R}etc/init.d/rc.fw_defaults -if [ $AUTOCNF = yes ] -then - param set FW_AIRSPD_MIN 10 - param set FW_AIRSPD_TRIM 15 - param set FW_AIRSPD_MAX 20 +param set-default FW_AIRSPD_MIN 10 +param set-default FW_AIRSPD_TRIM 15 +param set-default FW_AIRSPD_MAX 20 - param set FW_MAN_P_MAX 55 - param set FW_MAN_R_MAX 55 - param set FW_R_LIM 55 +param set-default FW_MAN_P_MAX 55 +param set-default FW_MAN_R_MAX 55 +param set-default FW_R_LIM 55 - param set FW_WR_FF 0.2 - param set FW_WR_I 0.2 - param set FW_WR_IMAX 0.8 - param set FW_WR_P 1 - param set FW_W_RMAX 0 +param set-default FW_WR_FF 0.2 +param set-default FW_WR_I 0.2 +param set-default FW_WR_IMAX 0.8 +param set-default FW_WR_P 1 +param set-default FW_W_RMAX 0 + +# set disarmed value for the ESC +param set-default PWM_MAIN_DISARM 1000 - # set disarmed value for the ESC - param set PWM_MAIN_DISARM 1000 -fi set MIXER AAVVTWFF diff --git a/ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon b/ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon index b02c794583..6bdf132ccb 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon +++ b/ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon @@ -27,25 +27,22 @@ . ${R}etc/init.d/rc.fw_defaults -if [ $AUTOCNF = yes ] -then - param set FW_AIRSPD_MIN 10 - param set FW_AIRSPD_TRIM 15 - param set FW_AIRSPD_MAX 20 +param set-default FW_AIRSPD_MIN 10 +param set-default FW_AIRSPD_TRIM 15 +param set-default FW_AIRSPD_MAX 20 - param set FW_MAN_P_MAX 55 - param set FW_MAN_R_MAX 55 - param set FW_R_LIM 55 +param set-default FW_MAN_P_MAX 55 +param set-default FW_MAN_R_MAX 55 +param set-default FW_R_LIM 55 - param set FW_WR_FF 0.2 - param set FW_WR_I 0.2 - param set FW_WR_IMAX 0.8 - param set FW_WR_P 1 - param set FW_W_RMAX 0 +param set-default FW_WR_FF 0.2 +param set-default FW_WR_I 0.2 +param set-default FW_WR_IMAX 0.8 +param set-default FW_WR_P 1 +param set-default FW_W_RMAX 0 - # set disarmed value for the ESC - param set PWM_MAIN_DISARM 1000 -fi +# set disarmed value for the ESC +param set-default PWM_MAIN_DISARM 1000 # The Mini Talon does not have a wheel and # no flaps. I leave them here because the mixer diff --git a/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox b/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox index c7e71a7ce4..f4a5b53d36 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox +++ b/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox @@ -28,23 +28,20 @@ set VEHICLE_TYPE mc -if [ $AUTOCNF = yes ] -then - param set NAV_ACC_RAD 2 - param set PWM_AUX_RATE 400 - param set PWM_AUX_DISARMED 900 - param set PWM_AUX_MIN 1075 - param set PWM_AUX_MAX 1950 +param set-default NAV_ACC_RAD 2 - param set PWM_MAIN_MIN 1075 - param set PWM_MAIN_MAX 1950 - param set PWM_MAIN_RATE 400 +param set-default PWM_AUX_RATE 400 +param set-default PWM_AUX_DISARMED 900 +param set-default PWM_AUX_MIN 1075 +param set-default PWM_AUX_MAX 1950 - param set RTL_DESCEND_ALT 10 - param set RTL_RETURN_ALT 30 -fi +param set-default PWM_MAIN_MIN 1075 +param set-default PWM_MAIN_MAX 1950 +param set-default PWM_MAIN_RATE 400 +param set-default RTL_DESCEND_ALT 10 +param set-default RTL_RETURN_ALT 30 set MIXER dodeca_top_cox set MIXER_AUX dodeca_bottom_cox diff --git a/ROMFS/px4fmu_common/init.d/airframes/2507_cloudship b/ROMFS/px4fmu_common/init.d/airframes/2507_cloudship index 4c294319d9..9326c9c0db 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/2507_cloudship +++ b/ROMFS/px4fmu_common/init.d/airframes/2507_cloudship @@ -16,11 +16,9 @@ . ${R}etc/init.d/rc.airship_defaults -if [ $AUTOCNF = yes ] -then - param set COM_PREARM_MODE 2 - param set CBRK_IO_SAFETY 22027 -fi +param set-default COM_PREARM_MODE 2 +param set-default CBRK_IO_SAFETY 22027 + set MIXER cloudship set PWM_OUT 1234 diff --git a/ROMFS/px4fmu_common/init.d/airframes/3030_io_camflyer b/ROMFS/px4fmu_common/init.d/airframes/3030_io_camflyer index bc38a74319..571783c9b6 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/3030_io_camflyer +++ b/ROMFS/px4fmu_common/init.d/airframes/3030_io_camflyer @@ -22,30 +22,28 @@ . ${R}etc/init.d/rc.fw_defaults -if [ $AUTOCNF = yes ] -then - param set FW_AIRSPD_MAX 15 - param set FW_AIRSPD_MIN 10 - param set FW_AIRSPD_TRIM 13 - param set FW_R_TC 0.3 - param set FW_P_TC 0.3 - param set FW_L1_DAMPING 0.74 - param set FW_L1_PERIOD 16 - param set FW_LND_ANG 15 - param set FW_LND_FLALT 5 - param set FW_LND_HHDIST 15 - param set FW_LND_HVIRT 13 - param set FW_LND_TLALT 5 - param set FW_THR_LND_MAX 0 - param set FW_PR_FF 0.35 - param set FW_PR_IMAX 0.4 - param set FW_PR_P 0.08 - param set FW_RR_FF 0.6 - param set FW_RR_IMAX 0.2 - param set FW_RR_P 0.04 +param set-default FW_AIRSPD_MAX 15 +param set-default FW_AIRSPD_MIN 10 +param set-default FW_AIRSPD_TRIM 13 +param set-default FW_R_TC 0.3 +param set-default FW_P_TC 0.3 +param set-default FW_L1_DAMPING 0.74 +param set-default FW_L1_PERIOD 16 +param set-default FW_LND_ANG 15 +param set-default FW_LND_FLALT 5 +param set-default FW_LND_HHDIST 15 +param set-default FW_LND_HVIRT 13 +param set-default FW_LND_TLALT 5 +param set-default FW_THR_LND_MAX 0 +param set-default FW_PR_FF 0.35 +param set-default FW_PR_IMAX 0.4 +param set-default FW_PR_P 0.08 +param set-default FW_RR_FF 0.6 +param set-default FW_RR_IMAX 0.2 +param set-default FW_RR_P 0.04 + +param set-default PWM_MAIN_DISARM 1000 - param set PWM_MAIN_DISARM 1000 -fi set MIXER fw_generic_wing diff --git a/ROMFS/px4fmu_common/init.d/airframes/3031_phantom b/ROMFS/px4fmu_common/init.d/airframes/3031_phantom index 38907b090b..87b4504d99 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/3031_phantom +++ b/ROMFS/px4fmu_common/init.d/airframes/3031_phantom @@ -24,33 +24,31 @@ . ${R}etc/init.d/rc.fw_defaults -if [ $AUTOCNF = yes ] -then - param set FW_AIRSPD_MIN 13 - param set FW_AIRSPD_TRIM 15 - param set FW_AIRSPD_MAX 25 - param set FW_R_TC 0.3 - param set FW_P_TC 0.3 - param set FW_L1_DAMPING 0.75 - param set FW_L1_PERIOD 15 - param set FW_PR_FF 0.2 - param set FW_PR_IMAX 0.2 - param set FW_PR_P 0.03 - param set FW_P_LIM_MAX 50 - param set FW_P_LIM_MIN -50 - param set FW_P_ROLLFF 1 - param set FW_RR_FF 0.5 - param set FW_RR_IMAX 0.2 - param set FW_RR_P 0.08 - param set FW_R_LIM 50 - param set FW_R_RMAX 50 +param set-default FW_AIRSPD_MIN 13 +param set-default FW_AIRSPD_TRIM 15 +param set-default FW_AIRSPD_MAX 25 +param set-default FW_R_TC 0.3 +param set-default FW_P_TC 0.3 +param set-default FW_L1_DAMPING 0.75 +param set-default FW_L1_PERIOD 15 +param set-default FW_PR_FF 0.2 +param set-default FW_PR_IMAX 0.2 +param set-default FW_PR_P 0.03 +param set-default FW_P_LIM_MAX 50 +param set-default FW_P_LIM_MIN -50 +param set-default FW_P_ROLLFF 1 +param set-default FW_RR_FF 0.5 +param set-default FW_RR_IMAX 0.2 +param set-default FW_RR_P 0.08 +param set-default FW_R_LIM 50 +param set-default FW_R_RMAX 50 - param set PWM_MAIN_DISARM 1000 +param set-default PWM_MAIN_DISARM 1000 + +# Bottom of bay and nominal zero-pitch attitude differ +# the payload bay is pitched up about 7 degrees +param set-default SENS_BOARD_Y_OFF 7 - # Bottom of bay and nominal zero-pitch attitude differ - # the payload bay is pitched up about 7 degrees - param set SENS_BOARD_Y_OFF 7 -fi set MIXER phantom diff --git a/ROMFS/px4fmu_common/init.d/airframes/3032_skywalker_x5 b/ROMFS/px4fmu_common/init.d/airframes/3032_skywalker_x5 index 254c6257fc..577710bded 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/3032_skywalker_x5 +++ b/ROMFS/px4fmu_common/init.d/airframes/3032_skywalker_x5 @@ -22,24 +22,22 @@ . ${R}etc/init.d/rc.fw_defaults -if [ $AUTOCNF = yes ] -then - param set FW_AIRSPD_MIN 15 - param set FW_AIRSPD_TRIM 20 - param set FW_AIRSPD_MAX 40 - param set FW_R_TC 0.3 - param set FW_P_TC 0.3 - param set FW_L1_DAMPING 0.74 - param set FW_L1_PERIOD 16 - param set FW_LND_ANG 15 - param set FW_LND_FLALT 5 - param set FW_LND_HHDIST 15 - param set FW_LND_HVIRT 13 - param set FW_LND_TLALT 5 - param set FW_THR_LND_MAX 0 - param set FW_PR_FF 0.35 - param set FW_RR_FF 0.6 - param set FW_RR_P 0.04 -fi +param set-default FW_AIRSPD_MIN 15 +param set-default FW_AIRSPD_TRIM 20 +param set-default FW_AIRSPD_MAX 40 +param set-default FW_R_TC 0.3 +param set-default FW_P_TC 0.3 +param set-default FW_L1_DAMPING 0.74 +param set-default FW_L1_PERIOD 16 +param set-default FW_LND_ANG 15 +param set-default FW_LND_FLALT 5 +param set-default FW_LND_HHDIST 15 +param set-default FW_LND_HVIRT 13 +param set-default FW_LND_TLALT 5 +param set-default FW_THR_LND_MAX 0 +param set-default FW_PR_FF 0.35 +param set-default FW_RR_FF 0.6 +param set-default FW_RR_P 0.04 + set MIXER fw_generic_wing diff --git a/ROMFS/px4fmu_common/init.d/airframes/3033_wingwing b/ROMFS/px4fmu_common/init.d/airframes/3033_wingwing index a7c71e0e62..2e4a7f58ef 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/3033_wingwing +++ b/ROMFS/px4fmu_common/init.d/airframes/3033_wingwing @@ -24,28 +24,26 @@ . ${R}etc/init.d/rc.fw_defaults -if [ $AUTOCNF = yes ] -then - param set BAT_N_CELLS 2 - param set FW_AIRSPD_MAX 15 - param set FW_AIRSPD_MIN 10 - param set FW_AIRSPD_TRIM 13 - param set FW_R_TC 0.3 - param set FW_P_TC 0.3 - param set FW_L1_DAMPING 0.74 - param set FW_L1_PERIOD 16 - param set FW_LND_ANG 15 - param set FW_LND_FLALT 5 - param set FW_LND_HHDIST 15 - param set FW_LND_HVIRT 13 - param set FW_LND_TLALT 5 - param set FW_THR_LND_MAX 0 - param set FW_PR_FF 0.35 - param set FW_RR_FF 0.6 - param set FW_RR_P 0.04 +param set-default BAT_N_CELLS 2 +param set-default FW_AIRSPD_MAX 15 +param set-default FW_AIRSPD_MIN 10 +param set-default FW_AIRSPD_TRIM 13 +param set-default FW_R_TC 0.3 +param set-default FW_P_TC 0.3 +param set-default FW_L1_DAMPING 0.74 +param set-default FW_L1_PERIOD 16 +param set-default FW_LND_ANG 15 +param set-default FW_LND_FLALT 5 +param set-default FW_LND_HHDIST 15 +param set-default FW_LND_HVIRT 13 +param set-default FW_LND_TLALT 5 +param set-default FW_THR_LND_MAX 0 +param set-default FW_PR_FF 0.35 +param set-default FW_RR_FF 0.6 +param set-default FW_RR_P 0.04 + +param set-default PWM_MAIN_DISARM 1000 - param set PWM_MAIN_DISARM 1000 -fi # Configure this as plane. set MAV_TYPE 1 diff --git a/ROMFS/px4fmu_common/init.d/airframes/3034_fx79 b/ROMFS/px4fmu_common/init.d/airframes/3034_fx79 index a363de1d63..192b53a6ca 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/3034_fx79 +++ b/ROMFS/px4fmu_common/init.d/airframes/3034_fx79 @@ -21,13 +21,11 @@ . ${R}etc/init.d/rc.fw_defaults -if [ $AUTOCNF = yes ] -then - param set FW_AIRSPD_MAX 30 - param set FW_AIRSPD_MIN 13 - param set FW_AIRSPD_TRIM 15 +param set-default FW_AIRSPD_MAX 30 +param set-default FW_AIRSPD_MIN 13 +param set-default FW_AIRSPD_TRIM 15 + +param set-default NAV_LOITER_RAD 150 - param set NAV_LOITER_RAD 150 -fi set MIXER FX79 diff --git a/ROMFS/px4fmu_common/init.d/airframes/3036_pigeon b/ROMFS/px4fmu_common/init.d/airframes/3036_pigeon index ddd75b6882..0c8f8fdd44 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/3036_pigeon +++ b/ROMFS/px4fmu_common/init.d/airframes/3036_pigeon @@ -23,34 +23,32 @@ . ${R}etc/init.d/rc.fw_defaults -if [ $AUTOCNF = yes ] -then - param set FW_AIRSPD_MIN 15 - param set FW_AIRSPD_TRIM 20 - param set FW_AIRSPD_MAX 27 - param set FW_ATT_TC 0.3 - param set FW_L1_DAMPING 0.75 - param set FW_L1_PERIOD 20 - param set FW_PR_FF 0.35 - param set FW_PR_IMAX 0.2 - param set FW_PR_P 0.05 - param set FW_P_LIM_MAX 45 - param set FW_P_LIM_MIN -45 - param set FW_P_ROLLFF 1 - param set FW_P_TC 0.3 - param set FW_RR_FF 0.3 - param set FW_RR_IMAX 0.2 - param set FW_RR_P 0.03 - param set FW_R_LIM 40 - param set FW_R_RMAX 50 - param set FW_R_TC 0.3 +param set-default FW_AIRSPD_MIN 15 +param set-default FW_AIRSPD_TRIM 20 +param set-default FW_AIRSPD_MAX 27 +param set-default FW_ATT_TC 0.3 +param set-default FW_L1_DAMPING 0.75 +param set-default FW_L1_PERIOD 20 +param set-default FW_PR_FF 0.35 +param set-default FW_PR_IMAX 0.2 +param set-default FW_PR_P 0.05 +param set-default FW_P_LIM_MAX 45 +param set-default FW_P_LIM_MIN -45 +param set-default FW_P_ROLLFF 1 +param set-default FW_P_TC 0.3 +param set-default FW_RR_FF 0.3 +param set-default FW_RR_IMAX 0.2 +param set-default FW_RR_P 0.03 +param set-default FW_R_LIM 40 +param set-default FW_R_RMAX 50 +param set-default FW_R_TC 0.3 - param set PWM_MAIN_DISARM 1000 +param set-default PWM_MAIN_DISARM 1000 + +# Bottom of bay and nominal zero-pitch attitude differ +# the payload bay is pitched up about 7 degrees +param set-default SENS_BOARD_Y_OFF 11.9 - # Bottom of bay and nominal zero-pitch attitude differ - # the payload bay is pitched up about 7 degrees - param set SENS_BOARD_Y_OFF 11.9 -fi set MIXER phantom diff --git a/ROMFS/px4fmu_common/init.d/airframes/3037_parrot_disco_mod b/ROMFS/px4fmu_common/init.d/airframes/3037_parrot_disco_mod index 26f9c22fe8..648b4db5ca 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/3037_parrot_disco_mod +++ b/ROMFS/px4fmu_common/init.d/airframes/3037_parrot_disco_mod @@ -23,70 +23,65 @@ . ${R}etc/init.d/rc.fw_defaults -if [ $AUTOCNF = yes ] -then +#################################### +# Airspeed +#################################### +param set-default FW_AIRSPD_MIN 15 # = 29 knots +param set-default FW_AIRSPD_TRIM 20 # = 39 knots +param set-default FW_AIRSPD_MAX 27 # = 52 knots - #################################### - # Airspeed - #################################### +#################################### +# The Main L1 Controller +#################################### +param set-default FW_L1_PERIOD 20 #units of meters - param set FW_AIRSPD_MIN 15 # = 29 knots - param set FW_AIRSPD_TRIM 20 # = 39 knots - param set FW_AIRSPD_MAX 27 # = 52 knots +# Damping factor for L1 control (def = 0.75) +param set-default FW_L1_DAMPING 0.75 - #################################### - # The Main L1 Controller - #################################### +#################################### +# Pitch +#################################### - param set FW_L1_PERIOD 20 #units of meters +# Basic limits (def = +/- 45 deg) +param set-default FW_P_LIM_MAX 45 +param set-default FW_P_LIM_MIN -45 - # Damping factor for L1 control (def = 0.75) - param set FW_L1_DAMPING 0.75 +# Time Constant (def = 0.4s) +param set-default FW_P_TC 0.4 - #################################### - # Pitch - #################################### +# Pitch rate feed forward (def = 0.5 %/rad/sec) +param set-default FW_PR_FF 0.35 - # Basic limits (def = +/- 45 deg) - param set FW_P_LIM_MAX 45 - param set FW_P_LIM_MIN -45 +# Pitch rate integrator limit (def = 0.4) +param set-default FW_PR_IMAX 0.4 - # Time Constant (def = 0.4s) - param set FW_P_TC 0.4 +# Pitch rate proportional gain (def = 0.08 %/rad/sec) +param set-default FW_PR_P 0.08 - # Pitch rate feed forward (def = 0.5 %/rad/sec) - param set FW_PR_FF 0.35 +#################################### +# Roll +#################################### - # Pitch rate integrator limit (def = 0.4) - param set FW_PR_IMAX 0.4 +# Basic limits (def = 50 deg) +param set-default FW_R_LIM 40 - # Pitch rate proportional gain (def = 0.08 %/rad/sec) - param set FW_PR_P 0.08 +# Roll rate upper limit (def = 70 deg/s) +param set-default FW_R_RMAX 50 - #################################### - # Roll - #################################### +# Roll Time Constant (def = 0.4 s) +param set-default FW_R_TC 0.4 - # Basic limits (def = 50 deg) - param set FW_R_LIM 40 +# Roll rate feed forward (def = 0.5 %/rad/sec) +param set-default FW_RR_FF 0.5 - # Roll rate upper limit (def = 70 deg/s) - param set FW_R_RMAX 50 +# Roll rate proportional Gain (def = 0.05 %/rad/sec) +param set-default FW_RR_P 0.05 - # Roll Time Constant (def = 0.4 s) - param set FW_R_TC 0.4 +# Roll Integrator Anti-Windup +param set-default FW_RR_IMAX 0.2 - # Roll rate feed forward (def = 0.5 %/rad/sec) - param set FW_RR_FF 0.5 +param set-default PWM_MAIN_DISARM 1000 - # Roll rate proportional Gain (def = 0.05 %/rad/sec) - param set FW_RR_P 0.05 - - # Roll Integrator Anti-Windup - param set FW_RR_IMAX 0.2 - - param set PWM_MAIN_DISARM 1000 -fi set MIXER fw_generic_wing.main.mix diff --git a/ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha b/ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha index 7482a9c015..d0cbc03682 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha +++ b/ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha @@ -21,49 +21,48 @@ . ${R}etc/init.d/rc.fw_defaults -if [ $AUTOCNF = yes ] -then - param set FW_AIRSPD_MAX 25 - param set FW_AIRSPD_MIN 12.5 - param set FW_AIRSPD_TRIM 16.5 - param set FW_L1_DAMPING 0.75 - param set FW_L1_PERIOD 15 - param set FW_LND_ANG 15 - param set FW_LND_FLALT 8 - param set FW_LND_HHDIST 15 - param set FW_LND_HVIRT 13 - param set FW_LND_TLALT 10 - param set FW_THR_LND_MAX 0 - param set FW_P_LIM_MAX 20 - param set FW_P_LIM_MIN -30 - param set FW_R_LIM 45 - param set FW_R_TC 0.4 - param set FW_P_TC 0.4 - param set FW_PR_FF 0.45 - param set FW_PR_IMAX 0.4 - param set FW_PR_P 0.005 - param set FW_RR_FF 0.45 - param set FW_RR_IMAX 0.2 - param set FW_RR_P 0.013 - param set FW_P_RMAX_NEG 70 - param set FW_P_RMAX_POS 70 - param set FW_R_RMAX 70 - param set FW_THR_CRUISE 0.55 - param set LNDFW_AIRSPD_MAX 6 - param set LNDFW_XYACC_MAX 4 - param set LNDFW_VEL_XY_MAX 3 - param set LNDFW_VEL_Z_MAX 5 +param set-default FW_AIRSPD_MAX 25 +param set-default FW_AIRSPD_MIN 12.5 +param set-default FW_AIRSPD_TRIM 16.5 +param set-default FW_L1_DAMPING 0.75 +param set-default FW_L1_PERIOD 15 +param set-default FW_LND_ANG 15 +param set-default FW_LND_FLALT 8 +param set-default FW_LND_HHDIST 15 +param set-default FW_LND_HVIRT 13 +param set-default FW_LND_TLALT 10 +param set-default FW_THR_LND_MAX 0 +param set-default FW_P_LIM_MAX 20 +param set-default FW_P_LIM_MIN -30 +param set-default FW_R_LIM 45 +param set-default FW_R_TC 0.4 +param set-default FW_P_TC 0.4 +param set-default FW_PR_FF 0.45 +param set-default FW_PR_IMAX 0.4 +param set-default FW_PR_P 0.005 +param set-default FW_RR_FF 0.45 +param set-default FW_RR_IMAX 0.2 +param set-default FW_RR_P 0.013 +param set-default FW_P_RMAX_NEG 70 +param set-default FW_P_RMAX_POS 70 +param set-default FW_R_RMAX 70 +param set-default FW_THR_CRUISE 0.55 - param set MIS_TAKEOFF_ALT 50 +param set-default LNDFW_AIRSPD_MAX 6 +param set-default LNDFW_XYACC_MAX 4 +param set-default LNDFW_VEL_XY_MAX 3 +param set-default LNDFW_VEL_Z_MAX 5 - param set NAV_LOITER_RAD 30 +param set-default MIS_TAKEOFF_ALT 50 + +param set-default NAV_LOITER_RAD 30 + +param set-default PWM_MAIN_REV1 1 +param set-default PWM_MAIN_REV2 1 +param set-default PWM_MAIN_MIN 900 +param set-default PWM_MAIN_MAX 2100 - param set PWM_MAIN_REV1 1 - param set PWM_MAIN_REV2 1 - param set PWM_MAIN_MIN 900 - param set PWM_MAIN_MAX 2100 -fi set MIXER caipi set PWM_OUT 1234 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4003_qavr5 b/ROMFS/px4fmu_common/init.d/airframes/4003_qavr5 index c4c2ccc9cf..ef87133ba2 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4003_qavr5 +++ b/ROMFS/px4fmu_common/init.d/airframes/4003_qavr5 @@ -16,23 +16,21 @@ set MIXER quad_x set PWM_OUT 1234 -if [ $AUTOCNF = yes ] -then - param set MC_ROLL_P 8 - param set MC_ROLLRATE_P 0.08 - param set MC_ROLLRATE_I 0.16 - param set MC_ROLLRATE_D 0.003 - param set MC_PITCH_P 8 - param set MC_PITCHRATE_P 0.1 - param set MC_PITCHRATE_I 0.2 - param set MC_PITCHRATE_D 0.003 - param set MC_YAW_P 2.8 - param set MC_YAWRATE_P 0.15 - param set MC_YAWRATE_I 0.1 - param set MC_YAWRATE_D 0 - param set MPC_THR_MIN 0.06 - param set MPC_MANTHR_MIN 0.06 +param set-default MC_ROLL_P 8 +param set-default MC_ROLLRATE_P 0.08 +param set-default MC_ROLLRATE_I 0.16 +param set-default MC_ROLLRATE_D 0.003 +param set-default MC_PITCH_P 8 +param set-default MC_PITCHRATE_P 0.1 +param set-default MC_PITCHRATE_I 0.2 +param set-default MC_PITCHRATE_D 0.003 +param set-default MC_YAW_P 2.8 +param set-default MC_YAWRATE_P 0.15 +param set-default MC_YAWRATE_I 0.1 +param set-default MC_YAWRATE_D 0 - param set PWM_MAIN_MIN 1075 -fi +param set-default MPC_THR_MIN 0.06 +param set-default MPC_MANTHR_MIN 0.06 + +param set-default PWM_MAIN_MIN 1075 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4009_qav250 b/ROMFS/px4fmu_common/init.d/airframes/4009_qav250 index 66a9c56fe8..588d735c36 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4009_qav250 +++ b/ROMFS/px4fmu_common/init.d/airframes/4009_qav250 @@ -16,26 +16,24 @@ set MIXER quad_x set PWM_OUT 1234 -if [ $AUTOCNF = yes ] -then - param set ATT_BIAS_MAX 0 - param set CBRK_IO_SAFETY 22027 +param set-default ATT_BIAS_MAX 0 - param set MPC_MANTHR_MIN 0.06 - param set MC_ROLL_P 6 - param set MC_ROLLRATE_P 0.14 - param set MC_ROLLRATE_I 0.23 - param set MC_ROLLRATE_D 0.0025 - param set MC_PITCH_P 7 - param set MC_PITCHRATE_P 0.235 - param set MC_PITCHRATE_I 0.17 - param set MC_PITCHRATE_D 0.004 - param set MC_YAW_P 4 - param set MC_YAWRATE_P 0.3 - param set MC_YAWRATE_I 0.2 - param set MC_YAWRATE_D 0 - param set MPC_THR_MIN 0.06 +param set-default CBRK_IO_SAFETY 22027 - param set PWM_MAIN_MIN 1075 -fi +param set-default MPC_MANTHR_MIN 0.06 +param set-default MC_ROLL_P 6 +param set-default MC_ROLLRATE_P 0.14 +param set-default MC_ROLLRATE_I 0.23 +param set-default MC_ROLLRATE_D 0.0025 +param set-default MC_PITCH_P 7 +param set-default MC_PITCHRATE_P 0.235 +param set-default MC_PITCHRATE_I 0.17 +param set-default MC_PITCHRATE_D 0.004 +param set-default MC_YAW_P 4 +param set-default MC_YAWRATE_P 0.3 +param set-default MC_YAWRATE_I 0.2 +param set-default MC_YAWRATE_D 0 +param set-default MPC_THR_MIN 0.06 + +param set-default PWM_MAIN_MIN 1075 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330 b/ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330 index e82faa6b5c..2245ac8d19 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330 +++ b/ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330 @@ -13,21 +13,18 @@ set MIXER quad_x set PWM_OUT 1234 -if [ $AUTOCNF = yes ] -then - param set MC_ROLL_P 7 - param set MC_ROLLRATE_P 0.15 - param set MC_ROLLRATE_I 0.05 - param set MC_ROLLRATE_D 0.003 - param set MC_PITCH_P 7 - param set MC_PITCHRATE_P 0.15 - param set MC_PITCHRATE_I 0.05 - param set MC_PITCHRATE_D 0.003 - param set MC_YAW_P 2.8 - param set MC_YAWRATE_P 0.2 - param set MC_YAWRATE_I 0.1 - param set MC_YAWRATE_D 0 +param set-default MC_ROLL_P 7 +param set-default MC_ROLLRATE_P 0.15 +param set-default MC_ROLLRATE_I 0.05 +param set-default MC_ROLLRATE_D 0.003 +param set-default MC_PITCH_P 7 +param set-default MC_PITCHRATE_P 0.15 +param set-default MC_PITCHRATE_I 0.05 +param set-default MC_PITCHRATE_D 0.003 +param set-default MC_YAW_P 2.8 +param set-default MC_YAWRATE_P 0.2 +param set-default MC_YAWRATE_I 0.1 +param set-default MC_YAWRATE_D 0 - # DJI ESCs do not support calibration and need a higher min - param set PWM_MAIN_MIN 1230 -fi +# DJI ESCs do not support calibration and need a higher min +param set-default PWM_MAIN_MIN 1230 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450 b/ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450 index 5e8d318a45..9aa4c79eb2 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450 +++ b/ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450 @@ -13,21 +13,18 @@ set MIXER quad_x set PWM_OUT 1234 -if [ $AUTOCNF = yes ] -then - param set MC_ROLL_P 7 - param set MC_ROLLRATE_P 0.15 - param set MC_ROLLRATE_I 0.05 - param set MC_ROLLRATE_D 0.003 - param set MC_PITCH_P 7 - param set MC_PITCHRATE_P 0.15 - param set MC_PITCHRATE_I 0.05 - param set MC_PITCHRATE_D 0.003 - param set MC_YAW_P 2.8 - param set MC_YAWRATE_P 0.3 - param set MC_YAWRATE_I 0.1 - param set MC_YAWRATE_D 0 +param set-default MC_ROLL_P 7 +param set-default MC_ROLLRATE_P 0.15 +param set-default MC_ROLLRATE_I 0.05 +param set-default MC_ROLLRATE_D 0.003 +param set-default MC_PITCH_P 7 +param set-default MC_PITCHRATE_P 0.15 +param set-default MC_PITCHRATE_I 0.05 +param set-default MC_PITCHRATE_D 0.003 +param set-default MC_YAW_P 2.8 +param set-default MC_YAWRATE_P 0.3 +param set-default MC_YAWRATE_I 0.1 +param set-default MC_YAWRATE_D 0 - # DJI ESCs do not support calibration and need a higher min - param set PWM_MAIN_MIN 1230 -fi +# DJI ESCs do not support calibration and need a higher min +param set-default PWM_MAIN_MIN 1230 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4014_s500 b/ROMFS/px4fmu_common/init.d/airframes/4014_s500 index 6bb03e83c6..72629b75e6 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4014_s500 +++ b/ROMFS/px4fmu_common/init.d/airframes/4014_s500 @@ -16,12 +16,10 @@ set MIXER quad_x set PWM_OUT 1234 -if [ $AUTOCNF = yes ] -then - param set MC_ROLLRATE_P 0.18 - param set MC_PITCHRATE_P 0.18 - param set MC_ROLLRATE_I 0.15 - param set MC_PITCHRATE_I 0.15 - param set MC_ROLLRATE_D 0.003 - param set MC_PITCHRATE_D 0.003 -fi + +param set-default MC_ROLLRATE_P 0.18 +param set-default MC_PITCHRATE_P 0.18 +param set-default MC_ROLLRATE_I 0.15 +param set-default MC_PITCHRATE_I 0.15 +param set-default MC_ROLLRATE_D 0.003 +param set-default MC_PITCHRATE_D 0.003 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500 b/ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500 index 6c0dcae023..62d2fe9c98 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500 +++ b/ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500 @@ -16,14 +16,13 @@ set MIXER quad_x set PWM_OUT 1234 -if [ $AUTOCNF = yes ] -then - param set IMU_GYRO_CUTOFF 60 - param set IMU_DGYRO_CUTOFF 30 - param set MC_ROLLRATE_P 0.14 - param set MC_PITCHRATE_P 0.14 - param set MC_ROLLRATE_I 0.3 - param set MC_PITCHRATE_I 0.3 - param set MC_ROLLRATE_D 0.004 - param set MC_PITCHRATE_D 0.004 -fi + +param set-default IMU_GYRO_CUTOFF 30 +param set-default IMU_DGYRO_CUTOFF 30 + +param set-default MC_ROLLRATE_P 0.14 +param set-default MC_PITCHRATE_P 0.14 +param set-default MC_ROLLRATE_I 0.3 +param set-default MC_PITCHRATE_I 0.3 +param set-default MC_ROLLRATE_D 0.004 +param set-default MC_PITCHRATE_D 0.004 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision b/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision index 7e5ddeb2c3..da92a11043 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision +++ b/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision @@ -19,121 +19,119 @@ set MIXER quad_x set PWM_OUT 1234 -if [ $AUTOCNF = yes ] -then - # System parameters - # use FMU motor outputs for less delay in the rate control loop - param set SYS_USE_IO 0 - # Commander Parameters - param set COM_OBS_AVOID 1 - param set COM_DISARM_LAND 0.5 +# System parameters +# use FMU motor outputs for less delay in the rate control loop +param set-default SYS_USE_IO 0 - # EKF2 parameters - param set EKF2_AID_MASK 35 - param set EKF2_IMU_POS_X 0.02 - param set EKF2_GPS_POS_X 0.055 - param set EKF2_GPS_POS_Z -0.15 - param set EKF2_HGT_MODE 0 - param set EKF2_MIN_RNG 0.03 - param set EKF2_OF_POS_X 0.055 - param set EKF2_OF_POS_Y 0.02 - param set EKF2_OF_POS_Z 0.065 - param set EKF2_REQ_HDRIFT 0.3 - param set EKF2_REQ_SACC 1 - param set EKF2_REQ_VDRIFT 0.3 - param set EKF2_RNG_AID 1 - param set EKF2_RNG_A_HMAX 8 - param set EKF2_RNG_A_VMAX 2 - param set EKF2_RNG_POS_X 0.055 - param set EKF2_RNG_POS_Y -0.01 - param set EKF2_RNG_POS_Z 0.065 - param set EKF2_PCOEF_XP -0.25 - param set EKF2_PCOEF_YN -0.55 - param set EKF2_PCOEF_YP -0.55 +# Commander Parameters +param set-default COM_OBS_AVOID 1 +param set-default COM_DISARM_LAND 0.5 - # MAVLink parameters - param set MAV_0_CONFIG 101 - param set MAV_1_CONFIG 102 - param set MAV_1_RATE 80000 - param set MAV_1_MODE 9 - param set SER_TEL1_BAUD 921600 +# EKF2 parameters +param set-default EKF2_AID_MASK 35 +param set-default EKF2_IMU_POS_X 0.02 +param set-default EKF2_GPS_POS_X 0.055 +param set-default EKF2_GPS_POS_Z -0.15 +param set-default EKF2_HGT_MODE 0 +param set-default EKF2_MIN_RNG 0.03 +param set-default EKF2_OF_POS_X 0.055 +param set-default EKF2_OF_POS_Y 0.02 +param set-default EKF2_OF_POS_Z 0.065 +param set-default EKF2_REQ_HDRIFT 0.3 +param set-default EKF2_REQ_SACC 1 +param set-default EKF2_REQ_VDRIFT 0.3 +param set-default EKF2_RNG_AID 1 +param set-default EKF2_RNG_A_HMAX 8 +param set-default EKF2_RNG_A_VMAX 2 +param set-default EKF2_RNG_POS_X 0.055 +param set-default EKF2_RNG_POS_Y -0.01 +param set-default EKF2_RNG_POS_Z 0.065 +param set-default EKF2_PCOEF_XP -0.25 +param set-default EKF2_PCOEF_YN -0.55 +param set-default EKF2_PCOEF_YP -0.55 - # Vehicle attitude PID tuning - param set MC_ACRO_EXPO 0 - param set MC_ACRO_EXPO_Y 0 - param set MC_ACRO_P_MAX 200 - param set MC_ACRO_R_MAX 200 - param set MC_ACRO_SUPEXPO 0 - param set MC_ACRO_SUPEXPOY 0 - param set MC_ACRO_Y_MAX 150 - param set IMU_DGYRO_CUTOFF 30 - param set MC_PITCHRATE_D 0.0015 - param set MC_PITCHRATE_I 0.2 - param set MC_PITCHRATE_K 1 - param set MC_PITCHRATE_P 0.15 - param set MC_ROLLRATE_D 0.0015 - param set MC_ROLLRATE_I 0.2 - param set MC_ROLLRATE_K 1 - param set MC_ROLLRATE_P 0.15 - param set MC_YAWRATE_P 0.3 +# MAVLink parameters +param set-default MAV_0_CONFIG 101 +param set-default MAV_1_CONFIG 102 +param set-default MAV_1_RATE 80000 +param set-default MAV_1_MODE 9 +param set-default SER_TEL1_BAUD 921600 - # Position Control Tuning - param set CP_DIST 6 - param set MPC_ACC_DOWN_MAX 5 - param set MPC_ACC_HOR_MAX 10 - param set MPC_ACC_UP_MAX 4 - param set MPC_MANTHR_MIN 0 - param set MPC_MAN_Y_MAX 120 - param set MPC_TILTMAX_AIR 45 - param set MPC_THR_HOVER 0.3 - param set MPC_THR_MIN 0.12 - param set MPC_TKO_SPEED 1 - param set MPC_VEL_MANUAL 5 - param set MPC_XY_CRUISE 5 - param set MPC_XY_VEL_MAX 5 - param set MPC_XY_VEL_P_ACC 1.58 - param set MPC_XY_TRAJ_P 0.3 - param set MPC_Z_TRAJ_P 0.3 - param set MPC_Z_VEL_P_ACC 5 - param set MPC_Z_VEL_I_ACC 3 - param set MPC_LAND_ALT1 3 - param set MPC_LAND_ALT2 1 +# Vehicle attitude PID tuning +param set-default MC_ACRO_EXPO 0 +param set-default MC_ACRO_EXPO_Y 0 +param set-default MC_ACRO_P_MAX 200 +param set-default MC_ACRO_R_MAX 200 +param set-default MC_ACRO_SUPEXPO 0 +param set-default MC_ACRO_SUPEXPOY 0 +param set-default MC_ACRO_Y_MAX 150 +param set-default IMU_DGYRO_CUTOFF 30 +param set-default MC_PITCHRATE_D 0.0015 +param set-default MC_PITCHRATE_I 0.2 +param set-default MC_PITCHRATE_K 1 +param set-default MC_PITCHRATE_P 0.15 +param set-default MC_ROLLRATE_D 0.0015 +param set-default MC_ROLLRATE_I 0.2 +param set-default MC_ROLLRATE_K 1 +param set-default MC_ROLLRATE_P 0.15 +param set-default MC_YAWRATE_P 0.3 - # Navigator Parameters - param set NAV_ACC_RAD 2 +# Position Control Tuning +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_THR_MIN 0.12 +param set-default MPC_TKO_SPEED 1 +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 +param set-default MPC_Z_TRAJ_P 0.3 +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 - # PWM and RC Parameters - param set PWM_MAIN_MAX 1950 - param set PWM_MAIN_MIN 1075 +# Navigator Parameters +param set-default NAV_ACC_RAD 2 - # use oneshot motor output protocol - param set PWM_MAIN_RATE 0 +# PWM and RC Parameters +param set-default PWM_MAIN_MAX 1950 +param set-default PWM_MAIN_MIN 1075 - # RTL Parameters - param set RTL_DESCEND_ALT 5 - param set RTL_RETURN_ALT 5 - param set RTL_CONE_ANG 45 +# use oneshot motor output protocol +param set-default PWM_MAIN_RATE 0 - # Logging Parameters - param set SDLOG_PROFILE 131 +# RTL Parameters +param set-default RTL_DESCEND_ALT 5 +param set-default RTL_RETURN_ALT 5 +param set-default RTL_CONE_ANG 45 - # Sensors Parameters - param set SENS_BOARD_ROT 0 - param set SENS_CM8JL65_CFG 104 - param set SENS_FLOW_MAXHGT 25 - param set SENS_FLOW_MINHGT 0.5 - param set SENS_FLOW_ROT 0 - param set IMU_GYRO_CUTOFF 100 - param set SENS_EN_PMW3901 1 +# Logging Parameters +param set-default SDLOG_PROFILE 131 - # Power Parameters - param set BAT_N_CELLS 4 - param set BAT_A_PER_V 36.364 - param set BAT_V_DIV 18.182 +# Sensors Parameters +param set-default SENS_BOARD_ROT 0 +param set-default SENS_CM8JL65_CFG 104 +param set-default SENS_FLOW_MAXHGT 25 +param set-default SENS_FLOW_MINHGT 0.5 +param set-default SENS_FLOW_ROT 0 +param set-default IMU_GYRO_CUTOFF 100 +param set-default SENS_EN_PMW3901 1 - # Circuit breakers - param set CBRK_IO_SAFETY 22027 +# Power Parameters +param set-default BAT_N_CELLS 4 +param set-default BAT_A_PER_V 36.364 +param set-default BAT_V_DIV 18.182 - param set THR_MDL_FAC 0.3 -fi +# Circuit breakers +param set-default CBRK_IO_SAFETY 22027 + +param set-default THR_MDL_FAC 0.3 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames b/ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames index d3dae3901e..ab9a1caa88 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames +++ b/ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames @@ -21,19 +21,16 @@ set MIXER quad_x set PWM_OUT 1234 -if [ $AUTOCNF = yes ] -then - param set IMU_GYRO_CUTOFF 40 - param set IMU_DGYRO_CUTOFF 20 - param set IMU_GYRO_RATEMAX 400 - param set MC_ROLLRATE_P 0.18 - param set MC_ROLLRATE_I 0.15 - param set MC_ROLLRATE_D 0.003 +param set-default IMU_GYRO_CUTOFF 40 +param set-default IMU_DGYRO_CUTOFF 20 +param set-default IMU_GYRO_RATEMAX 400 - param set MC_PITCHRATE_P 0.18 - param set MC_PITCHRATE_I 0.15 - param set MC_PITCHRATE_D 0.003 +param set-default MC_ROLLRATE_P 0.18 +param set-default MC_ROLLRATE_I 0.15 +param set-default MC_ROLLRATE_D 0.003 -fi +param set-default MC_PITCHRATE_P 0.18 +param set-default MC_PITCHRATE_I 0.15 +param set-default MC_PITCHRATE_D 0.003 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4018_s500_ctrlalloc b/ROMFS/px4fmu_common/init.d/airframes/4018_s500_ctrlalloc index be4f2a7808..99dbec4609 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4018_s500_ctrlalloc +++ b/ROMFS/px4fmu_common/init.d/airframes/4018_s500_ctrlalloc @@ -13,44 +13,41 @@ . ${R}etc/init.d/rc.mc_defaults . ${R}etc/init.d/rc.ctrlalloc -if [ $AUTOCNF = yes ] -then - param set MPC_USE_HTE 0 - param set VM_MASS 1.5 - param set VM_INERTIA_XX 0.03 - param set VM_INERTIA_YY 0.03 - param set VM_INERTIA_ZZ 0.05 +param set-default MPC_USE_HTE 0 - param set CA_AIRFRAME 0 - param set CA_METHOD 1 - param set CA_ACT0_MIN 0.0 - param set CA_ACT1_MIN 0.0 - param set CA_ACT2_MIN 0.0 - param set CA_ACT3_MIN 0.0 - param set CA_ACT0_MAX 1.0 - param set CA_ACT1_MAX 1.0 - param set CA_ACT2_MAX 1.0 - param set CA_ACT3_MAX 1.0 +param set-default VM_MASS 1.5 +param set-default VM_INERTIA_XX 0.03 +param set-default VM_INERTIA_YY 0.03 +param set-default VM_INERTIA_ZZ 0.05 - param set CA_MC_R0_PX 0.177 - param set CA_MC_R0_PY 0.177 - param set CA_MC_R0_CT 6.5 - param set CA_MC_R0_KM 0.05 - param set CA_MC_R1_PX -0.177 - param set CA_MC_R1_PY -0.177 - param set CA_MC_R1_CT 6.5 - param set CA_MC_R1_KM 0.05 - param set CA_MC_R2_PX 0.177 - param set CA_MC_R2_PY -0.177 - param set CA_MC_R2_CT 6.5 - param set CA_MC_R2_KM -0.05 - param set CA_MC_R3_PX -0.177 - param set CA_MC_R3_PY 0.177 - param set CA_MC_R3_CT 6.5 - param set CA_MC_R3_KM -0.05 +param set-default CA_AIRFRAME 0 +param set-default CA_METHOD 1 +param set-default CA_ACT0_MIN 0.0 +param set-default CA_ACT1_MIN 0.0 +param set-default CA_ACT2_MIN 0.0 +param set-default CA_ACT3_MIN 0.0 +param set-default CA_ACT0_MAX 1.0 +param set-default CA_ACT1_MAX 1.0 +param set-default CA_ACT2_MAX 1.0 +param set-default CA_ACT3_MAX 1.0 -fi +param set-default CA_MC_R0_PX 0.177 +param set-default CA_MC_R0_PY 0.177 +param set-default CA_MC_R0_CT 6.5 +param set-default CA_MC_R0_KM 0.05 +param set-default CA_MC_R1_PX -0.177 +param set-default CA_MC_R1_PY -0.177 +param set-default CA_MC_R1_CT 6.5 +param set-default CA_MC_R1_KM 0.05 +param set-default CA_MC_R2_PX 0.177 +param set-default CA_MC_R2_PY -0.177 +param set-default CA_MC_R2_CT 6.5 +param set-default CA_MC_R2_KM -0.05 +param set-default CA_MC_R3_PX -0.177 +param set-default CA_MC_R3_PY 0.177 +param set-default CA_MC_R3_CT 6.5 +param set-default CA_MC_R3_KM -0.05 set MIXER direct set PWM_OUT 1234 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4020_hk_micro_pcb b/ROMFS/px4fmu_common/init.d/airframes/4020_hk_micro_pcb index 46d0fffa85..69f834c6a6 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4020_hk_micro_pcb +++ b/ROMFS/px4fmu_common/init.d/airframes/4020_hk_micro_pcb @@ -22,20 +22,18 @@ set MIXER quad_x set PWM_OUT 1234 -if [ $AUTOCNF = yes ] -then - param set MC_ROLL_P 7 - param set MC_ROLLRATE_P 0.1 - param set MC_ROLLRATE_I 0.05 - param set MC_ROLLRATE_D 0.003 - param set MC_PITCH_P 7 - param set MC_PITCHRATE_P 0.1 - param set MC_PITCHRATE_I 0.05 - param set MC_PITCHRATE_D 0.003 - param set MC_YAW_P 2.8 - param set MC_YAWRATE_P 0.2 - param set MC_YAWRATE_I 0.1 - param set MC_YAWRATE_D 0 - param set PWM_MAIN_MIN 1200 -fi +param set-default MC_ROLL_P 7 +param set-default MC_ROLLRATE_P 0.1 +param set-default MC_ROLLRATE_I 0.05 +param set-default MC_ROLLRATE_D 0.003 +param set-default MC_PITCH_P 7 +param set-default MC_PITCHRATE_P 0.1 +param set-default MC_PITCHRATE_I 0.05 +param set-default MC_PITCHRATE_D 0.003 +param set-default MC_YAW_P 2.8 +param set-default MC_YAWRATE_P 0.2 +param set-default MC_YAWRATE_I 0.1 +param set-default MC_YAWRATE_D 0 + +param set-default PWM_MAIN_MIN 1200 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo b/ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo index 2d1df6d609..55af8d5485 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo +++ b/ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo @@ -19,77 +19,73 @@ . ${R}etc/init.d/rc.mc_defaults -if [ $AUTOCNF = yes ] -then - # tuning - param set MC_PITCHRATE_P 0.11 - param set MC_ROLLRATE_P 0.11 - param set MPC_MANTHR_MIN 0.08 - param set MPC_XY_VEL_MAX 3 - param set MPC_Z_VEL_MAX_DN 2 - # takeoff, land and RTL settings - param set MIS_TAKEOFF_ALT 4 - param set RTL_LAND_DELAY 1 - param set RTL_DESCEND_ALT 5 - param set RTL_RETURN_ALT 15 - param set MPC_TILTMAX_LND 8 - param set MPC_LAND_SPEED 0.4 - param set MPC_HOLD_MAX_Z 1.5 - param set MPC_TKO_JMPSPD 2 - param set MPC_TKO_SPEED 1.5 +# tuning +param set-default MC_PITCHRATE_P 0.11 +param set-default MC_ROLLRATE_P 0.11 +param set-default MPC_MANTHR_MIN 0.08 +param set-default MPC_XY_VEL_MAX 3 +param set-default MPC_Z_VEL_MAX_DN 2 - # setup - # main board rotation: pitch 180 - param set SENS_BOARD_ROT 12 - # solo external mag rotation - param set CAL_MAG0_ROT 38 - # no safety switch - param set CBRK_IO_SAFETY 22027 - # battery voltage not available yet - param set CBRK_SUPPLY_CHK 894281 +# takeoff, land and RTL settings +param set-default MIS_TAKEOFF_ALT 4 +param set-default RTL_LAND_DELAY 1 +param set-default RTL_DESCEND_ALT 5 +param set-default RTL_RETURN_ALT 15 +param set-default MPC_TILTMAX_LND 8 +param set-default MPC_LAND_SPEED 0.4 +param set-default MPC_HOLD_MAX_Z 1.5 +param set-default MPC_TKO_JMPSPD 2 +param set-default MPC_TKO_SPEED 1.5 - # RC configuration - param set RC_MAP_MODE_SW 5 - param set RC_MAP_PITCH 2 - param set RC_MAP_ROLL 1 - param set RC_MAP_THROTTLE 3 - param set RC_MAP_YAW 4 +# setup +# main board rotation: pitch 180 +param set-default SENS_BOARD_ROT 12 +# solo external mag rotation +param set-default CAL_MAG0_ROT 38 +# no safety switch +param set-default CBRK_IO_SAFETY 22027 +# battery voltage not available yet +param set-default CBRK_SUPPLY_CHK 894281 - param set RC1_DZ 10 - param set RC1_MAX 1988 - param set RC1_MIN 1003 - param set RC1_REV 1 - param set RC1_TRIM 1499 - param set RC2_DZ 10 - param set RC2_MAX 1987 - param set RC2_MIN 1023 - param set RC2_REV -1 - param set RC2_TRIM 1499 - param set RC3_DZ 10 - param set RC3_MAX 1877 - param set RC3_MIN 1023 - param set RC3_REV 1 - param set RC3_TRIM 1023 - param set RC4_DZ 10 - param set RC4_MAX 1998 - param set RC4_MIN 1012 - param set RC4_REV 1 - param set RC4_TRIM 1500 - param set RC5_DZ 10 - param set RC5_MAX 2000 - param set RC5_MIN 1000 - param set RC5_REV 1 - param set RC5_TRIM 1500 +# RC configuration +param set-default RC_MAP_MODE_SW 5 +param set-default RC_MAP_PITCH 2 +param set-default RC_MAP_ROLL 1 +param set-default RC_MAP_THROTTLE 3 +param set-default RC_MAP_YAW 4 - # enable high-speed link on telem 1 - param set MAV_0_RATE 80000 - param set MAV_0_MODE 2 - param set SER_TEL1_BAUD 921600 -fi +param set-default RC1_DZ 10 +param set-default RC1_MAX 1988 +param set-default RC1_MIN 1003 +param set-default RC1_REV 1 +param set-default RC1_TRIM 1499 +param set-default RC2_DZ 10 +param set-default RC2_MAX 1987 +param set-default RC2_MIN 1023 +param set-default RC2_REV -1 +param set-default RC2_TRIM 1499 +param set-default RC3_DZ 10 +param set-default RC3_MAX 1877 +param set-default RC3_MIN 1023 +param set-default RC3_REV 1 +param set-default RC3_TRIM 1023 +param set-default RC4_DZ 10 +param set-default RC4_MAX 1998 +param set-default RC4_MIN 1012 +param set-default RC4_REV 1 +param set-default RC4_TRIM 1500 +param set-default RC5_DZ 10 +param set-default RC5_MAX 2000 +param set-default RC5_MIN 1000 +param set-default RC5_REV 1 +param set-default RC5_TRIM 1500 +# enable high-speed link on telem 1 +param set-default MAV_0_RATE 80000 +param set-default MAV_0_MODE 2 +param set-default SER_TEL1_BAUD 921600 set MIXER quad_x set PWM_OUT 1234 set MIXER_AUX none - diff --git a/ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad b/ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad index 995e3491dc..e7e76f024d 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad +++ b/ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad @@ -17,15 +17,13 @@ set MIXER quad_x set PWM_OUT 1234 -if [ $AUTOCNF = yes ] -then - param set MC_ROLL_P 6.5 - param set MC_ROLLRATE_P 0.14 - param set MC_ROLLRATE_I 0.1 - param set MC_ROLLRATE_D 0.004 - param set MC_PITCH_P 6 - param set MC_PITCHRATE_P 0.14 - param set MC_PITCHRATE_I 0.09 - param set MC_PITCHRATE_D 0.004 - param set MC_YAW_P 4 -fi + +param set-default MC_ROLL_P 6.5 +param set-default MC_ROLLRATE_P 0.14 +param set-default MC_ROLLRATE_I 0.1 +param set-default MC_ROLLRATE_D 0.004 +param set-default MC_PITCH_P 6 +param set-default MC_PITCHRATE_P 0.14 +param set-default MC_PITCHRATE_I 0.09 +param set-default MC_PITCHRATE_D 0.004 +param set-default MC_YAW_P 4 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4040_reaper b/ROMFS/px4fmu_common/init.d/airframes/4040_reaper index e8cd64dfb1..058c338a55 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4040_reaper +++ b/ROMFS/px4fmu_common/init.d/airframes/4040_reaper @@ -21,29 +21,27 @@ . ${R}etc/init.d/rc.mc_defaults -if [ $AUTOCNF = yes ] -then - param set MC_ROLL_P 6.5 - param set MC_ROLLRATE_P 0.14 - param set MC_ROLLRATE_I 0.1 - param set MC_ROLLRATE_D 0.004 - param set MC_PITCH_P 6 - param set MC_PITCHRATE_P 0.14 - param set MC_PITCHRATE_I 0.09 - param set MC_PITCHRATE_D 0.004 - param set MC_YAW_P 4 - param set NAV_ACC_RAD 2 +param set-default MC_ROLL_P 6.5 +param set-default MC_ROLLRATE_P 0.14 +param set-default MC_ROLLRATE_I 0.1 +param set-default MC_ROLLRATE_D 0.004 +param set-default MC_PITCH_P 6 +param set-default MC_PITCHRATE_P 0.14 +param set-default MC_PITCHRATE_I 0.09 +param set-default MC_PITCHRATE_D 0.004 +param set-default MC_YAW_P 4 - param set PWM_AUX_DISARMED 950 - param set PWM_AUX_RATE 50 - param set PWM_MAIN_MIN 1100 - param set PWM_MAIN_MAX 1900 - param set PWM_MAIN_RATE 50 +param set-default NAV_ACC_RAD 2 - param set RTL_RETURN_ALT 30 - param set RTL_DESCEND_ALT 10 -fi +param set-default PWM_AUX_DISARMED 950 +param set-default PWM_AUX_RATE 50 +param set-default PWM_MAIN_MIN 1100 +param set-default PWM_MAIN_MAX 1900 +param set-default PWM_MAIN_RATE 50 + +param set-default RTL_RETURN_ALT 30 +param set-default RTL_DESCEND_ALT 10 set MIXER quad_h diff --git a/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x b/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x index d07215d3cc..a971b9f468 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x +++ b/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x @@ -24,41 +24,38 @@ . ${R}etc/init.d/rc.mc_defaults -if [ $AUTOCNF = yes ] -then - param set CBRK_SUPPLY_CHK 894281 - param set CBRK_USB_CHK 197848 - param set IMU_GYRO_CUTOFF 100 - param set IMU_DGYRO_CUTOFF 60 +param set-default CBRK_SUPPLY_CHK 894281 +param set-default CBRK_USB_CHK 197848 - param set MC_AIRMODE 2 - param set MC_PITCHRATE_D 0.001 - param set MC_PITCHRATE_I 0.5 - param set MC_PITCHRATE_MAX 600 - param set MC_PITCHRATE_P 0.075 - param set MC_PITCH_P 6 - param set MC_ROLLRATE_D 0.001 - param set MC_ROLLRATE_I 0.4 - param set MC_ROLLRATE_MAX 600 - param set MC_ROLLRATE_P 0.075 - param set MC_YAWRATE_I 0.3 - param set MC_YAWRATE_MAX 400 - param set MC_YAWRATE_P 0.12 - param set MC_YAW_P 4 +param set-default IMU_GYRO_CUTOFF 100 +param set-default IMU_DGYRO_CUTOFF 60 - param set MPC_MANTHR_MIN 0 - param set MPC_MAN_TILT_MAX 60 +param set-default MC_AIRMODE 2 +param set-default MC_PITCHRATE_D 0.001 +param set-default MC_PITCHRATE_I 0.5 +param set-default MC_PITCHRATE_MAX 600 +param set-default MC_PITCHRATE_P 0.075 +param set-default MC_PITCH_P 6 +param set-default MC_ROLLRATE_D 0.001 +param set-default MC_ROLLRATE_I 0.4 +param set-default MC_ROLLRATE_MAX 600 +param set-default MC_ROLLRATE_P 0.075 +param set-default MC_YAWRATE_I 0.3 +param set-default MC_YAWRATE_MAX 400 +param set-default MC_YAWRATE_P 0.12 +param set-default MC_YAW_P 4 - param set MOT_ORDERING 1 - param set DSHOT_CONFIG 600 +param set-default MPC_MANTHR_MIN 0 +param set-default MPC_MAN_TILT_MAX 60 - param set SYS_HAS_BARO 0 - param set SYS_HAS_MAG 0 +param set-default MOT_ORDERING 1 +param set-default DSHOT_CONFIG 600 - param set BAT_N_CELLS 2 -fi +param set-default SYS_HAS_BARO 0 +param set-default SYS_HAS_MAG 0 +param set-default BAT_N_CELLS 2 # The Whoop uses reversed props set MIXER quad_h set PWM_OUT 1234 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250 b/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250 index 0cfe7ae48f..05a729616e 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250 +++ b/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250 @@ -16,40 +16,38 @@ set MIXER quad_x set PWM_OUT 1234 -if [ $AUTOCNF = yes ] -then - param set MC_ROLL_P 8 - param set MC_ROLLRATE_P 0.08 - param set MC_ROLLRATE_I 0.25 - param set MC_ROLLRATE_D 0.001 - param set MC_PITCH_P 8 - param set MC_PITCHRATE_P 0.08 - param set MC_PITCHRATE_I 0.25 - param set MC_PITCHRATE_D 0.001 - param set MC_YAW_P 4 - param set MC_YAWRATE_P 0.2 - param set MC_YAWRATE_I 0.1 - param set MC_YAWRATE_D 0 - param set MC_ROLLRATE_MAX 1600 - param set MC_PITCHRATE_MAX 1600 - param set MC_YAWRATE_MAX 1000 +param set-default MC_ROLL_P 8 +param set-default MC_ROLLRATE_P 0.08 +param set-default MC_ROLLRATE_I 0.25 +param set-default MC_ROLLRATE_D 0.001 +param set-default MC_PITCH_P 8 +param set-default MC_PITCHRATE_P 0.08 +param set-default MC_PITCHRATE_I 0.25 +param set-default MC_PITCHRATE_D 0.001 +param set-default MC_YAW_P 4 +param set-default MC_YAWRATE_P 0.2 +param set-default MC_YAWRATE_I 0.1 +param set-default MC_YAWRATE_D 0 - param set MPC_MANTHR_MIN 0 - param set MPC_MAN_TILT_MAX 60 +param set-default MC_ROLLRATE_MAX 1600 +param set-default MC_PITCHRATE_MAX 1600 +param set-default MC_YAWRATE_MAX 1000 - # use thrust curve factor (instead of TPA) - param set THR_MDL_FAC 0.3 +param set-default MPC_MANTHR_MIN 0 +param set-default MPC_MAN_TILT_MAX 60 - param set PWM_MAIN_MIN 1075 - # enable one-shot - param set PWM_MAIN_RATE 0 +# use thrust curve factor (instead of TPA) +param set-default THR_MDL_FAC 0.3 - # enable high-rate logging profile (helps with tuning) - param set SDLOG_PROFILE 19 +param set-default PWM_MAIN_MIN 1075 +# enable one-shot +param set-default PWM_MAIN_RATE 0 - param set IMU_DGYRO_CUTOFF 50 - param set IMU_GYRO_CUTOFF 90 +# enable high-rate logging profile (helps with tuning) +param set-default SDLOG_PROFILE 19 - param set CBRK_IO_SAFETY 22027 -fi +param set-default IMU_DGYRO_CUTOFF 50 +param set-default IMU_GYRO_CUTOFF 90 + +param set-default CBRK_IO_SAFETY 22027 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4051_s250aq b/ROMFS/px4fmu_common/init.d/airframes/4051_s250aq index 5b648850ba..5361c80358 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4051_s250aq +++ b/ROMFS/px4fmu_common/init.d/airframes/4051_s250aq @@ -28,32 +28,30 @@ set MAV_TYPE 2 set PWM_OUT 1234 -if [ $AUTOCNF = yes ] -then - param set ATT_BIAS_MAX 0 - param set CBRK_IO_SAFETY 22027 +param set-default ATT_BIAS_MAX 0 - param set MC_ROLL_P 8 - param set MC_ROLLRATE_P 0.19 - param set MC_ROLLRATE_I 0.1 - param set MC_ROLLRATE_D 0.0055 - param set MC_PITCH_P 8 - param set MC_PITCHRATE_P 0.19 - param set MC_PITCHRATE_I 0.1 - param set MC_PITCHRATE_D 0.0055 - param set MC_YAW_P 4 - param set MC_YAWRATE_P 0.2 - param set MC_YAWRATE_I 0.1 - param set MC_YAWRATE_D 0 - param set MC_ROLLRATE_MAX 720 - param set MC_PITCHRATE_MAX 720 - param set MC_YAWRATE_MAX 400 - param set MC_ACRO_R_MAX 360 - param set MC_ACRO_P_MAX 360 +param set-default CBRK_IO_SAFETY 22027 - param set MPC_THR_MIN 0.06 - param set MPC_MANTHR_MIN 0.06 +param set-default MC_ROLL_P 8 +param set-default MC_ROLLRATE_P 0.19 +param set-default MC_ROLLRATE_I 0.1 +param set-default MC_ROLLRATE_D 0.0055 +param set-default MC_PITCH_P 8 +param set-default MC_PITCHRATE_P 0.19 +param set-default MC_PITCHRATE_I 0.1 +param set-default MC_PITCHRATE_D 0.0055 +param set-default MC_YAW_P 4 +param set-default MC_YAWRATE_P 0.2 +param set-default MC_YAWRATE_I 0.1 +param set-default MC_YAWRATE_D 0 +param set-default MC_ROLLRATE_MAX 720 +param set-default MC_PITCHRATE_MAX 720 +param set-default MC_YAWRATE_MAX 400 +param set-default MC_ACRO_R_MAX 360 +param set-default MC_ACRO_P_MAX 360 - param set PWM_MAIN_MIN 1075 -fi +param set-default MPC_THR_MIN 0.06 +param set-default MPC_MANTHR_MIN 0.06 + +param set-default PWM_MAIN_MIN 1075 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250 b/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250 index e2b033f9b0..92cecf6e35 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250 +++ b/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250 @@ -19,41 +19,38 @@ set MIXER quad_x set PWM_OUT 1234 -if [ $AUTOCNF = yes ] -then - # The set does not include a battery, but most people will probably use 4S - param set BAT_N_CELLS 4 - param set IMU_GYRO_CUTOFF 120 - param set IMU_DGYRO_CUTOFF 45 +# The set does not include a battery, but most people will probably use 4S +param set-default BAT_N_CELLS 4 - param set MC_AIRMODE 1 - param set MC_PITCHRATE_D 0.0012 - param set MC_PITCHRATE_I 0.35 - param set MC_PITCHRATE_MAX 1200 - param set MC_PITCHRATE_P 0.082 - param set MC_PITCH_P 8 - param set MC_ROLLRATE_D 0.0012 - param set MC_ROLLRATE_I 0.3 - param set MC_ROLLRATE_MAX 1200 - param set MC_ROLLRATE_P 0.076 - param set MC_ROLL_P 8 - param set MC_YAWRATE_I 0.3 - param set MC_YAWRATE_MAX 600 - param set MC_YAWRATE_P 0.25 - param set MC_YAW_P 4 +param set-default IMU_GYRO_CUTOFF 120 +param set-default IMU_DGYRO_CUTOFF 45 - param set MPC_MANTHR_MIN 0 - param set MPC_MAN_TILT_MAX 60 - param set MPC_THR_CURVE 1 - param set MPC_THR_HOVER 0.25 - param set MPC_THR_MIN 0.05 - param set MPC_Z_VEL_I_ACC 1.7 +param set-default MC_AIRMODE 1 +param set-default MC_PITCHRATE_D 0.0012 +param set-default MC_PITCHRATE_I 0.35 +param set-default MC_PITCHRATE_MAX 1200 +param set-default MC_PITCHRATE_P 0.082 +param set-default MC_PITCH_P 8 +param set-default MC_ROLLRATE_D 0.0012 +param set-default MC_ROLLRATE_I 0.3 +param set-default MC_ROLLRATE_MAX 1200 +param set-default MC_ROLLRATE_P 0.076 +param set-default MC_ROLL_P 8 +param set-default MC_YAWRATE_I 0.3 +param set-default MC_YAWRATE_MAX 600 +param set-default MC_YAWRATE_P 0.25 +param set-default MC_YAW_P 4 - param set PWM_MAIN_MAX 1950 - param set PWM_MAIN_MIN 1050 +param set-default MPC_MANTHR_MIN 0 +param set-default MPC_MAN_TILT_MAX 60 +param set-default MPC_THR_CURVE 1 +param set-default MPC_THR_HOVER 0.25 +param set-default MPC_THR_MIN 0.05 +param set-default MPC_Z_VEL_I_ACC 1.7 - param set PWM_MAIN_RATE 0 - param set THR_MDL_FAC 0.3 -fi +param set-default PWM_MAIN_MAX 1950 +param set-default PWM_MAIN_MIN 1050 +param set-default PWM_MAIN_RATE 0 +param set-default THR_MDL_FAC 0.3 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2 b/ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2 index 24510a8ffc..5ab7497021 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2 +++ b/ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2 @@ -19,49 +19,46 @@ set PWM_OUT 1234 set PARAM_DEFAULTS_VER 2 -if [ $AUTOCNF = yes ] -then - param set BAT_N_CELLS 4 - param set GPS_1_CONFIG 0 - param set RC_PORT_CONFIG 201 +param set-default BAT_N_CELLS 4 - param set IMU_GYRO_CUTOFF 80 - param set IMU_DGYRO_CUTOFF 50 - param set IMU_GYRO_RATEMAX 2000 +param set-default GPS_1_CONFIG 0 +param set-default RC_PORT_CONFIG 201 - param set MC_ROLLRATE_P 0.085 - param set MC_ROLLRATE_I 0.25 - param set MC_ROLLRATE_D 0.0008 - param set MC_ROLLRATE_MAX 1600 - param set MC_ROLL_P 10 +param set-default IMU_GYRO_CUTOFF 80 +param set-default IMU_DGYRO_CUTOFF 50 +param set-default IMU_GYRO_RATEMAX 2000 - param set MC_PITCHRATE_P 0.085 - param set MC_PITCHRATE_I 0.32 - param set MC_PITCHRATE_D 0.0008 - param set MC_PITCHRATE_MAX 1600 - param set MC_PITCH_P 10 +param set-default MC_ROLLRATE_P 0.085 +param set-default MC_ROLLRATE_I 0.25 +param set-default MC_ROLLRATE_D 0.0008 +param set-default MC_ROLLRATE_MAX 1600 +param set-default MC_ROLL_P 10 - param set MC_YAWRATE_MAX 1000 - param set MC_YAWRATE_P 0.15 - param set MC_YAW_P 4 +param set-default MC_PITCHRATE_P 0.085 +param set-default MC_PITCHRATE_I 0.32 +param set-default MC_PITCHRATE_D 0.0008 +param set-default MC_PITCHRATE_MAX 1600 +param set-default MC_PITCH_P 10 - param set MOT_ORDERING 1 - param set MPC_MANTHR_MIN 0 - param set MPC_MAN_TILT_MAX 60 +param set-default MC_YAWRATE_MAX 1000 +param set-default MC_YAWRATE_P 0.15 +param set-default MC_YAW_P 4 - param set DSHOT_CONFIG 1200 +param set-default MOT_ORDERING 1 +param set-default MPC_MANTHR_MIN 0 +param set-default MPC_MAN_TILT_MAX 60 - param set OSD_ATXXXX_CFG 1 - param set TEL_FRSKY_CONFIG 300 +param set-default DSHOT_CONFIG 1200 - param set THR_MDL_FAC 0.35 +param set-default OSD_ATXXXX_CFG 1 +param set-default TEL_FRSKY_CONFIG 300 - param set MPC_THR_CURVE 1 - param set MPC_THR_HOVER 0.12 +param set-default THR_MDL_FAC 0.35 - param set MC_AIRMODE 1 +param set-default MPC_THR_CURVE 1 +param set-default MPC_THR_HOVER 0.12 - param set EV_TSK_RC_LOSS 1 -fi +param set-default MC_AIRMODE 1 +param set-default EV_TSK_RC_LOSS 1 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100 b/ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100 index f240de6b8c..9e426e3010 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100 +++ b/ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100 @@ -17,21 +17,19 @@ set MIXER quad_x set PWM_OUT 1234 -if [ $AUTOCNF = yes ] -then - param set BAT_N_CELLS 6 - param set MC_ROLL_P 6.5 - param set MC_ROLLRATE_P 0.05 - param set MC_ROLLRATE_I 0.05 - param set MC_ROLLRATE_D 0.001 - param set MC_PITCH_P 6.5 - param set MC_PITCHRATE_P 0.05 - param set MC_PITCHRATE_I 0.05 - param set MC_PITCHRATE_D 0.001 - param set MC_YAWRATE_P 0.2 - param set MC_YAWRATE_I 0 - param set MC_YAWRATE_D 0 +param set-default BAT_N_CELLS 6 - param set PWM_MAIN_MIN 1200 -fi +param set-default MC_ROLL_P 6.5 +param set-default MC_ROLLRATE_P 0.05 +param set-default MC_ROLLRATE_I 0.05 +param set-default MC_ROLLRATE_D 0.001 +param set-default MC_PITCH_P 6.5 +param set-default MC_PITCHRATE_P 0.05 +param set-default MC_PITCHRATE_I 0.05 +param set-default MC_PITCHRATE_D 0.001 +param set-default MC_YAWRATE_P 0.2 +param set-default MC_YAWRATE_I 0 +param set-default MC_YAWRATE_D 0 + +param set-default PWM_MAIN_MIN 1200 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4070_aerofc b/ROMFS/px4fmu_common/init.d/airframes/4070_aerofc index 9f3d4dbc85..ca2ec641c1 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4070_aerofc +++ b/ROMFS/px4fmu_common/init.d/airframes/4070_aerofc @@ -21,61 +21,59 @@ # # Load default params for this platform # -if [ $AUTOCNF = yes ] -then - # Set all params here, then disable autoconfig - param set EKF2_GPS_POS_X -0.06 - param set EKF2_GPS_POS_Z -0.1 - param set EKF2_MIN_OBS_DT 50 - param set EKF2_BARO_GATE 10 - param set EKF2_BARO_NOISE 5 - param set EKF2_ACC_NOISE 0.7 +# Set all params here, then disable autoconfig +param set-default EKF2_GPS_POS_X -0.06 +param set-default EKF2_GPS_POS_Z -0.1 +param set-default EKF2_MIN_OBS_DT 50 - param set LNDMC_Z_VEL_MAX 2 +param set-default EKF2_BARO_GATE 10 +param set-default EKF2_BARO_NOISE 5 +param set-default EKF2_ACC_NOISE 0.7 - param set MC_ROLL_P 8 - param set MC_ROLLRATE_P 0.13 - param set MC_ROLLRATE_I 0.07 - param set MC_ROLLRATE_D 0.0012 - param set MC_ROLLRATE_MAX 360 - param set MC_PITCH_P 8 - param set MC_PITCHRATE_P 0.13 - param set MC_PITCHRATE_I 0.07 - param set MC_PITCHRATE_D 0.0012 - param set MC_PITCHRATE_MAX 360 - param set MC_YAW_P 4 - param set MC_YAWRATE_P 0.12 - param set MC_YAWRATE_I 0.05 - param set MC_YAWRATE_D 0 +param set-default LNDMC_Z_VEL_MAX 2 - param set MPC_LAND_SPEED 0.7 - param set MPC_MANTHR_MIN 0.04 - param set MPC_THR_HOVER 0.5 - param set MPC_THR_MAX 0.94 - param set MPC_THR_MIN 0.1 - param set MPC_XY_CRUISE 8 - param set MPC_XY_P 1.5 - param set MPC_XY_VEL_P_ACC 3 - param set MPC_Z_P 1.5 - param set MPC_Z_VEL_P_ACC 16 - param set MPC_Z_VEL_I_ACC 3 - param set MPC_Z_VEL_MAX_DN 4 - param set MPC_Z_VEL_MAX_UP 5 +param set-default MC_ROLL_P 8 +param set-default MC_ROLLRATE_P 0.13 +param set-default MC_ROLLRATE_I 0.07 +param set-default MC_ROLLRATE_D 0.0012 +param set-default MC_ROLLRATE_MAX 360 +param set-default MC_PITCH_P 8 +param set-default MC_PITCHRATE_P 0.13 +param set-default MC_PITCHRATE_I 0.07 +param set-default MC_PITCHRATE_D 0.0012 +param set-default MC_PITCHRATE_MAX 360 +param set-default MC_YAW_P 4 +param set-default MC_YAWRATE_P 0.12 +param set-default MC_YAWRATE_I 0.05 +param set-default MC_YAWRATE_D 0 - # TELEM2 config - param set MAV_1_CONFIG 102 - param set MAV_1_RATE 80000 - param set MAV_1_FORWARD 1 - param set SER_TEL2_BAUD 921600 -fi +param set-default MPC_LAND_SPEED 0.7 +param set-default MPC_MANTHR_MIN 0.04 +param set-default MPC_THR_HOVER 0.5 +param set-default MPC_THR_MAX 0.94 +param set-default MPC_THR_MIN 0.1 +param set-default MPC_XY_CRUISE 8 +param set-default MPC_XY_P 1.5 +param set-default MPC_XY_VEL_P_ACC 3 +param set-default MPC_Z_P 1.5 +param set-default MPC_Z_VEL_P_ACC 16 +param set-default MPC_Z_VEL_I_ACC 3 +param set-default MPC_Z_VEL_MAX_DN 4 +param set-default MPC_Z_VEL_MAX_UP 5 + +# TELEM2 config +param set-default MAV_1_CONFIG 102 +param set-default MAV_1_RATE 80000 +param set-default MAV_1_FORWARD 1 +param set-default SER_TEL2_BAUD 921600 if ! param greater SYS_HITL 0 then - tap_esc start -d /dev/ttyS0 -n 4 - usleep 300000 + tap_esc start -d /dev/ttyS0 -n 4 + usleep 300000 - set OUTPUT_MODE tap_esc + set OUTPUT_MODE tap_esc fi set MIXER quad_x diff --git a/ROMFS/px4fmu_common/init.d/airframes/4071_ifo b/ROMFS/px4fmu_common/init.d/airframes/4071_ifo index f6356d7d0f..ae7c1ea5ca 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4071_ifo +++ b/ROMFS/px4fmu_common/init.d/airframes/4071_ifo @@ -25,99 +25,97 @@ set VEHICLE_TYPE mc set MIXER quad_x set PWM_OUT 1234 -if [ $AUTOCNF = yes ] -then - # Attitude & rate gains - #param set MC_ROLL_P 7 - param set MC_ROLLRATE_P 0.15 - #param set MC_ROLLRATE_I 0.9 - param set MC_ROLLRATE_D 0.0013 - #param set MC_PITCH_P 7 - param set MC_PITCHRATE_P 0.15 - #param set MC_PITCHRATE_I 1.1 - param set MC_PITCHRATE_D 0.0016 +# Attitude & rate gains +#param set MC_ROLL_P 7 +param set-default MC_ROLLRATE_P 0.15 +#param set MC_ROLLRATE_I 0.9 +param set-default MC_ROLLRATE_D 0.0013 - param set MC_YAW_P 2.8 - param set MC_YAWRATE_P 0.2 - #param set MC_YAWRATE_I 0.15 - param set MC_YAWRATE_D 0 - param set MC_YAW_FF 0.5 +#param set MC_PITCH_P 7 +param set-default MC_PITCHRATE_P 0.15 +#param set MC_PITCHRATE_I 1.1 +param set-default MC_PITCHRATE_D 0.0016 - #param set MC_ROLL_TC 0.19 - #param set MC_PITCH_TC 0.16 +param set-default MC_YAW_P 2.8 +param set-default MC_YAWRATE_P 0.2 +#param set MC_YAWRATE_I 0.15 +param set-default MC_YAWRATE_D 0 +param set-default MC_YAW_FF 0.5 - # Manual mode settings: Unleash Draco R's power :) - #param set MPC_MAN_TILT_MAX 70 - #param set MC_PITCHRATE_MAX 1600 - #param set MC_ROLLRATE_MAX 1600 - #param set MC_YAWRATE_MAX 700 - param set MPC_MANTHR_MAX 0.9 - param set MPC_MANTHR_MIN 0.08 - #param set MPC_MAN_TILT_MAX 35 - #param set MPC_TILTMAX_AIR 20 +#param set MC_ROLL_TC 0.19 +#param set MC_PITCH_TC 0.16 - # Filter settings - param set IMU_DGYRO_CUTOFF 90 - param set IMU_GYRO_CUTOFF 100 +# Manual mode settings: Unleash Draco R's power :) +#param set MPC_MAN_TILT_MAX 70 +#param set MC_PITCHRATE_MAX 1600 +#param set MC_ROLLRATE_MAX 1600 +#param set MC_YAWRATE_MAX 700 +param set-default MPC_MANTHR_MAX 0.9 +param set-default MPC_MANTHR_MIN 0.08 +#param set MPC_MAN_TILT_MAX 35 +#param set MPC_TILTMAX_AIR 20 - # Thrust curve (avoids the need for TPA) - #param set THR_MDL_FAC 0.25 +# Filter settings +param set-default IMU_DGYRO_CUTOFF 90 +param set-default IMU_GYRO_CUTOFF 100 - # System - param set PWM_MAIN_MAX 1950 - param set PWM_MAIN_MIN 1100 - param set PWM_MAIN_RATE 0 +# Thrust curve (avoids the need for TPA) +#param set THR_MDL_FAC 0.25 - #param set SYS_FMU_TASK 1 - param set SENS_BOARD_ROT 10 +# System +param set-default PWM_MAIN_MAX 1950 +param set-default PWM_MAIN_MIN 1100 +param set-default PWM_MAIN_RATE 0 - # EKF2 - param set EKF2_GND_EFF_DZ 6 - param set EKF2_HGT_MODE 1 +#param set SYS_FMU_TASK 1 +param set-default SENS_BOARD_ROT 10 - # Position control - param set MPC_Z_P 1 - param set MPC_Z_VEL_P_ACC 4 - param set MPC_Z_VEL_I_ACC 0.4 +# EKF2 +param set-default EKF2_GND_EFF_DZ 6 +param set-default EKF2_HGT_MODE 1 - param set MPC_THR_MIN 0.06 - param set MPC_THR_HOVER 0.3 +# 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 MIS_TAKEOFF_ALT 1.1 - param set MPC_XY_P 1.7 - param set MPC_XY_VEL_P_ACC 2.6 - param set MPC_XY_VEL_I_ACC 1.2 - param set MPC_XY_VEL_D_ACC 0.2 - param set MPC_TKO_RAMP_T 1 - param set MPC_TKO_SPEED 1.1 - param set MPC_VEL_MANUAL 3 +param set-default MPC_THR_MIN 0.06 +param set-default MPC_THR_HOVER 0.3 - param set BAT_SOURCE 0 - param set BAT_N_CELLS 4 - param set BAT_V_DIV 10.14 - param set BAT_A_PER_V 18.18 - #param set CBRK_IO_SAFETY 22027 - param set COM_DISARM_LAND 2 +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_TKO_SPEED 1.1 +param set-default MPC_VEL_MANUAL 3 - # Filter settings - param set IMU_GYRO_CUTOFF 90 - param set IMU_DGYRO_CUTOFF 70 +param set-default BAT_SOURCE 0 +param set-default BAT_N_CELLS 4 +param set-default BAT_V_DIV 10.14 +param set-default BAT_A_PER_V 18.18 +#param set CBRK_IO_SAFETY 22027 +param set-default COM_DISARM_LAND 2 - # Don't try to be intelligent on RC loss: just cut the motors - param set NAV_RCL_ACT 6 +# Filter settings +param set-default IMU_GYRO_CUTOFF 90 +param set-default IMU_DGYRO_CUTOFF 70 - # enable to use high-rate logging for better rate tracking analysis - # param set SDLOG_PROFILE 19 +# Don't try to be intelligent on RC loss: just cut the motors +param set-default NAV_RCL_ACT 6 - # TELEM1 ttyS1 - Wifi module - param set MAV_0_CONFIG 101 - param set MAV_0_RATE 0 - param set MAV_0_MODE 2 # onboard - param set SER_TEL1_BAUD 921600 +# enable to use high-rate logging for better rate tracking analysis +# param set SDLOG_PROFILE 19 - # TELEM2 ttyS2 - Sub 1-Ghz - param set MAV_1_CONFIG 102 - param set MAV_1_MODE 0 # normal - param set SER_TEL2_BAUD 57600 -fi +# TELEM1 ttyS1 - Wifi module +param set-default MAV_0_CONFIG 101 +param set-default MAV_0_RATE 0 +param set-default MAV_0_MODE 2 # onboard +param set-default SER_TEL1_BAUD 921600 + +# TELEM2 ttyS2 - Sub 1-Ghz +param set-default MAV_1_CONFIG 102 +param set-default MAV_1_MODE 0 # normal +param set-default SER_TEL2_BAUD 57600 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4072_draco b/ROMFS/px4fmu_common/init.d/airframes/4072_draco index 8a8def2c0b..975d0c545c 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4072_draco +++ b/ROMFS/px4fmu_common/init.d/airframes/4072_draco @@ -26,75 +26,73 @@ set MIXER quad_x set PWM_OUT 1234 -if [ $AUTOCNF = yes ] -then - # use the Q attitude estimator, it works w/o mag or GPS. - param set SYS_MC_EST_GROUP 3 - param set ATT_ACC_COMP 0 - param set ATT_W_ACC 0.4 - param set ATT_W_GYRO_BIAS 0 - param set SYS_HAS_MAG 0 - # Attitude & rate gains - param set MC_ROLL_P 8.0 - param set MC_ROLLRATE_P 0.11 - param set MC_ROLLRATE_I 0.3 - param set MC_ROLLRATE_D 0.0015 - param set MC_ROLLRATE_MAX 1600 +# use the Q attitude estimator, it works w/o mag or GPS. +param set-default SYS_MC_EST_GROUP 3 +param set-default ATT_ACC_COMP 0 +param set-default ATT_W_ACC 0.4 +param set-default ATT_W_GYRO_BIAS 0 +param set-default SYS_HAS_MAG 0 - param set MC_PITCH_P 8 - param set MC_PITCHRATE_P 0.13 - param set MC_PITCHRATE_I 0.35 - param set MC_PITCHRATE_D 0.0015 - param set MC_PITCHRATE_MAX 1600 +# Attitude & rate gains +param set-default MC_ROLL_P 8.0 +param set-default MC_ROLLRATE_P 0.11 +param set-default MC_ROLLRATE_I 0.3 +param set-default MC_ROLLRATE_D 0.0015 +param set-default MC_ROLLRATE_MAX 1600 - param set MC_YAW_P 4 - param set MC_YAWRATE_P 0.21 - param set MC_YAWRATE_I 0.3 - param set MC_YAWRATE_D 0.0 - param set MC_YAW_FF 0.5 - param set MC_YAWRATE_MAX 600 +param set-default MC_PITCH_P 8 +param set-default MC_PITCHRATE_P 0.13 +param set-default MC_PITCHRATE_I 0.35 +param set-default MC_PITCHRATE_D 0.0015 +param set-default MC_PITCHRATE_MAX 1600 - param set MC_ROLL_TC 0.19 - param set MC_PITCH_TC 0.16 - param set MC_AIRMODE 1 +param set-default MC_YAW_P 4 +param set-default MC_YAWRATE_P 0.21 +param set-default MC_YAWRATE_I 0.3 +param set-default MC_YAWRATE_D 0.0 +param set-default MC_YAW_FF 0.5 +param set-default MC_YAWRATE_MAX 600 - param set MPC_MAN_TILT_MAX 60 - param set MPC_THR_CURVE 1 - param set MPC_THR_HOVER 0.25 +param set-default MC_ROLL_TC 0.19 +param set-default MC_PITCH_TC 0.16 +param set-default MC_AIRMODE 1 - # Thrust curve (avoids the need for TPA) - param set THR_MDL_FAC 0.3 +param set-default MPC_MAN_TILT_MAX 60 +param set-default MPC_THR_CURVE 1 +param set-default MPC_THR_HOVER 0.25 - # System - param set PWM_MAIN_MAX 1950 - param set PWM_MAIN_MIN 1180 +# Thrust curve (avoids the need for TPA) +param set-default THR_MDL_FAC 0.3 - # enable one-shot - param set PWM_MAIN_RATE 0 +# System +param set-default PWM_MAIN_MAX 1950 +param set-default PWM_MAIN_MIN 1180 - param set SENS_BOARD_ROT 2 +# enable one-shot +param set-default PWM_MAIN_RATE 0 - param set BAT_SOURCE 0 - param set CBRK_IO_SAFETY 22027 - #param set COM_DISARM_LAND 3 +param set-default SENS_BOARD_ROT 2 - # Filter settings - param set IMU_GYRO_CUTOFF 90 - param set IMU_DGYRO_CUTOFF 100 +param set-default BAT_SOURCE 0 +param set-default CBRK_IO_SAFETY 22027 +#param set COM_DISARM_LAND 3 - # Don't try to be intelligent on RC loss: just cut the motors - #param set NAV_RCL_ACT 6 +# Filter settings +param set-default IMU_GYRO_CUTOFF 90 +param set-default IMU_DGYRO_CUTOFF 100 - # enable to use high-rate logging for better rate tracking analysis - param set SDLOG_PROFILE 27 +# Don't try to be intelligent on RC loss: just cut the motors +#param set NAV_RCL_ACT 6 - # TELEM1 ttyS1 - #param set MAV_0_CONFIG 101 - #param set MAV_0_MODE 2 # onboard - #param set MAV_0_RATE 20000 - #param set SER_TEL1_BAUD 921600 +# enable to use high-rate logging for better rate tracking analysis +param set-default SDLOG_PROFILE 27 - # TELEM2 ttyS2 - #param set MAV_1_CONFIG 0 -fi +# TELEM1 ttyS1 +#param set MAV_0_CONFIG 101 +#param set MAV_0_MODE 2 # onboard +#param set MAV_0_RATE 20000 +#param set SER_TEL1_BAUD 921600 + +# TELEM2 ttyS2 +#param set MAV_1_CONFIG 0 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s b/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s index e2f4ce70b7..56f9d390c1 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s +++ b/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s @@ -24,119 +24,117 @@ set VEHICLE_TYPE mc set MIXER quad_x set PWM_OUT 1234 -if [ $AUTOCNF = yes ] -then - # Attitude & rate gains - #param set MC_ROLL_P 7 - param set MC_ROLLRATE_P 0.15 - #param set MC_ROLLRATE_I 0.9 - param set MC_ROLLRATE_D 0.0013 - #param set MC_PITCH_P 7 - param set MC_PITCHRATE_P 0.15 - #param set MC_PITCHRATE_I 1.1 - param set MC_PITCHRATE_D 0.0016 +# Attitude & rate gains +#param set MC_ROLL_P 7 +param set-default MC_ROLLRATE_P 0.15 +#param set MC_ROLLRATE_I 0.9 +param set-default MC_ROLLRATE_D 0.0013 - param set MC_YAW_P 2.8 - param set MC_YAWRATE_P 0.2 - #param set MC_YAWRATE_I 0.15 - param set MC_YAWRATE_D 0 +#param set MC_PITCH_P 7 +param set-default MC_PITCHRATE_P 0.15 +#param set MC_PITCHRATE_I 1.1 +param set-default MC_PITCHRATE_D 0.0016 - #param set MC_ROLL_TC 0.19 - #param set MC_PITCH_TC 0.16 +param set-default MC_YAW_P 2.8 +param set-default MC_YAWRATE_P 0.2 +#param set MC_YAWRATE_I 0.15 +param set-default MC_YAWRATE_D 0 - # Manual mode settings: Unleash Draco R's power :) - #param set MPC_MAN_TILT_MAX 70 - #param set MC_PITCHRATE_MAX 1600 - #param set MC_ROLLRATE_MAX 1600 - #param set MC_YAWRATE_MAX 700 - param set MPC_MANTHR_MIN 0.08 - #param set MPC_MAN_TILT_MAX 35 - #param set MPC_TILTMAX_AIR 20 +#param set MC_ROLL_TC 0.19 +#param set MC_PITCH_TC 0.16 - # Filter settings - param set IMU_GYRO_CUTOFF 100 +# Manual mode settings: Unleash Draco R's power :) +#param set MPC_MAN_TILT_MAX 70 +#param set MC_PITCHRATE_MAX 1600 +#param set MC_ROLLRATE_MAX 1600 +#param set MC_YAWRATE_MAX 700 +param set-default MPC_MANTHR_MIN 0.08 +#param set MPC_MAN_TILT_MAX 35 +#param set MPC_TILTMAX_AIR 20 - # Thrust curve (avoids the need for TPA) - #param set THR_MDL_FAC 0.25 +# Filter settings +param set-default IMU_GYRO_CUTOFF 100 - # Obsolete - #param set PWM_MAIN_MAX 1950 - #param set PWM_MAIN_MIN 1100 - #param set PWM_MAIN_RATE 0 +# Thrust curve (avoids the need for TPA) +#param set THR_MDL_FAC 0.25 - # Sensors - param set SENS_BOARD_ROT 10 - # Yaw 180 - param set SENS_FLOW_ROT 4 - # TFMini on TELEM3 - param set SENS_TFMINI_CFG 103 +# Obsolete +#param set PWM_MAIN_MAX 1950 +#param set PWM_MAIN_MIN 1100 +#param set PWM_MAIN_RATE 0 - # Smart Battery - param set SENS_EN_BATT 1 +# Sensors +param set-default SENS_BOARD_ROT 10 +# Yaw 180 +param set-default SENS_FLOW_ROT 4 +# TFMini on TELEM3 +param set-default SENS_TFMINI_CFG 103 - # EKF2 - param set EKF2_AID_MASK 3 - param set EKF2_GND_EFF_DZ 6 - param set EKF2_HGT_MODE 1 - param set EKF2_MIN_RNG 0.3 - param set EKF2_RNG_AID 1 +# Smart Battery +param set-default SENS_EN_BATT 1 - # Flow - param set EKF2_OF_QMIN 70 +# EKF2 +param set-default EKF2_AID_MASK 3 +param set-default EKF2_GND_EFF_DZ 6 +param set-default EKF2_HGT_MODE 1 +param set-default EKF2_MIN_RNG 0.3 +param set-default EKF2_RNG_AID 1 - # Position control - param set MPC_Z_P 1.1 - param set MPC_Z_VEL_P_ACC 6 - param set MPC_Z_VEL_I_ACC 1 +# Flow +param set-default EKF2_OF_QMIN 70 - param set MPC_THR_MIN 0.06 - param set MPC_THR_HOVER 0.44 +# Position control +param set-default MPC_Z_P 1.1 +param set-default MPC_Z_VEL_P_ACC 6 +param set-default MPC_Z_VEL_I_ACC 1 - param set MIS_TAKEOFF_ALT 1.1 - param set MPC_XY_P 1.7 - param set MPC_XY_VEL_P_ACC 2.6 - param set MPC_XY_VEL_I_ACC 1.2 - param set MPC_XY_VEL_D_ACC 0.2 - param set MPC_TKO_RAMP_T 1 - param set MPC_TKO_SPEED 1.1 - param set MPC_VEL_MANUAL 3 +param set-default MPC_THR_MIN 0.06 +param set-default MPC_THR_HOVER 0.44 - param set BAT_SOURCE 0 - param set BAT_N_CELLS 4 - param set BAT_V_DIV 10.14 - param set BAT_A_PER_V 18.18 - #param set CBRK_IO_SAFETY 22027 - param set COM_DISARM_LAND 2 +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_TKO_SPEED 1.1 +param set-default MPC_VEL_MANUAL 3 - # Filter settings - param set IMU_GYRO_CUTOFF 90 +param set-default BAT_SOURCE 0 +param set-default BAT_N_CELLS 4 +param set-default BAT_V_DIV 10.14 +param set-default BAT_A_PER_V 18.18 +#param set CBRK_IO_SAFETY 22027 +param set-default COM_DISARM_LAND 2 - # Don't try to be intelligent on RC loss: just cut the motors - param set NAV_RCL_ACT 6 +# Filter settings +param set-default IMU_GYRO_CUTOFF 90 - # enable to use high-rate logging for better rate tracking analysis - # param set SDLOG_PROFILE 19 +# Don't try to be intelligent on RC loss: just cut the motors +param set-default NAV_RCL_ACT 6 - # TELEM1 ttyS1 - Wifi module - param set MAV_0_CONFIG 101 - param set MAV_0_RATE 0 - param set MAV_0_MODE 2 # onboard - param set SER_TEL1_BAUD 921600 +# enable to use high-rate logging for better rate tracking analysis +# param set SDLOG_PROFILE 19 - # TELEM2 ttyS2 - Sub 1-Ghz - param set MAV_1_CONFIG 102 - param set MAV_1_MODE 0 # normal - param set SER_TEL2_BAUD 57600 +# TELEM1 ttyS1 - Wifi module +param set-default MAV_0_CONFIG 101 +param set-default MAV_0_RATE 0 +param set-default MAV_0_MODE 2 # onboard +param set-default SER_TEL1_BAUD 921600 - # DSHOT - param set DSHOT_CONFIG 600 +# TELEM2 ttyS2 - Sub 1-Ghz +param set-default MAV_1_CONFIG 102 +param set-default MAV_1_MODE 0 # normal +param set-default SER_TEL2_BAUD 57600 - # EKF OF POSITION - param set EKF2_OF_POS_X 0.06 - param set EKF2_OF_POS_Y 0.03 - param set EKF2_OF_POS_Z -0.07 +# DSHOT +param set-default DSHOT_CONFIG 600 - # Failsafe - param set COM_LOW_BAT_ACT 3 -fi +# EKF OF POSITION +param set-default EKF2_OF_POS_X 0.06 +param set-default EKF2_OF_POS_Y 0.03 +param set-default EKF2_OF_POS_Z -0.07 + +# Failsafe +param set-default COM_LOW_BAT_ACT 3 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4080_zmr250 b/ROMFS/px4fmu_common/init.d/airframes/4080_zmr250 index 771f0489d1..70f970b294 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4080_zmr250 +++ b/ROMFS/px4fmu_common/init.d/airframes/4080_zmr250 @@ -17,32 +17,30 @@ set MIXER quad_x set PWM_OUT 1234 -if [ $AUTOCNF = yes ] -then - param set CBRK_IO_SAFETY 22027 - param set MC_ROLL_P 2.2 - param set MC_ROLLRATE_P 0.06 - param set MC_ROLLRATE_I 0.2 - param set MC_ROLLRATE_D 0.0017 +param set-default CBRK_IO_SAFETY 22027 - param set MC_PITCH_P 2.2 - param set MC_PITCHRATE_P 0.06 - param set MC_PITCHRATE_I 0.2 - param set MC_PITCHRATE_D 0.0017 +param set-default MC_ROLL_P 2.2 +param set-default MC_ROLLRATE_P 0.06 +param set-default MC_ROLLRATE_I 0.2 +param set-default MC_ROLLRATE_D 0.0017 - param set MC_YAW_P 1 - param set MC_YAWRATE_P 0.15 - param set MC_YAWRATE_I 0.2 - param set MC_YAWRATE_D 0 +param set-default MC_PITCH_P 2.2 +param set-default MC_PITCHRATE_P 0.06 +param set-default MC_PITCHRATE_I 0.2 +param set-default MC_PITCHRATE_D 0.0017 - param set MC_ACRO_R_MAX 1000 - param set MC_ACRO_P_MAX 1000 - param set MC_ACRO_Y_MAX 1000 +param set-default MC_YAW_P 1 +param set-default MC_YAWRATE_P 0.15 +param set-default MC_YAWRATE_I 0.2 +param set-default MC_YAWRATE_D 0 - # param set NAV_RCL_ACT 6 # Lockdown +param set-default MC_ACRO_R_MAX 1000 +param set-default MC_ACRO_P_MAX 1000 +param set-default MC_ACRO_Y_MAX 1000 - param set PWM_MAIN_MIN 1075 - param set PWM_MAIN_RATE 400 - param set PWM_MAIN_DISARM 900 -fi +# param set NAV_RCL_ACT 6 # Lockdown + +param set-default PWM_MAIN_MIN 1075 +param set-default PWM_MAIN_RATE 400 +param set-default PWM_MAIN_DISARM 900 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4090_nanomind b/ROMFS/px4fmu_common/init.d/airframes/4090_nanomind index e5947e78cc..4448cf6cab 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4090_nanomind +++ b/ROMFS/px4fmu_common/init.d/airframes/4090_nanomind @@ -21,24 +21,22 @@ set MIXER quad_x set PWM_OUT 1234 -if [ $AUTOCNF = yes ] -then - param set BAT_N_CELLS 1 - param set MC_ROLL_P 8 - param set MC_ROLLRATE_P 0.19 - param set MC_ROLLRATE_I 0.1 - param set MC_ROLLRATE_D 0.0055 - param set MC_PITCH_P 8 - param set MC_PITCHRATE_P 0.19 - param set MC_PITCHRATE_I 0.1 - param set MC_PITCHRATE_D 0.0055 - param set MC_YAW_P 4 - param set MC_YAWRATE_P 0.2 - param set MC_YAWRATE_I 0.1 - param set MC_YAWRATE_D 0 +param set-default BAT_N_CELLS 1 - param set PWM_MAIN_DISARM 0 - param set PWM_MAIN_MIN 500 - param set PWM_MAIN_MAX 2200 -fi +param set-default MC_ROLL_P 8 +param set-default MC_ROLLRATE_P 0.19 +param set-default MC_ROLLRATE_I 0.1 +param set-default MC_ROLLRATE_D 0.0055 +param set-default MC_PITCH_P 8 +param set-default MC_PITCHRATE_P 0.19 +param set-default MC_PITCHRATE_I 0.1 +param set-default MC_PITCHRATE_D 0.0055 +param set-default MC_YAW_P 4 +param set-default MC_YAWRATE_P 0.2 +param set-default MC_YAWRATE_I 0.1 +param set-default MC_YAWRATE_D 0 + +param set-default PWM_MAIN_DISARM 0 +param set-default PWM_MAIN_MIN 500 +param set-default PWM_MAIN_MAX 2200 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4250_teal b/ROMFS/px4fmu_common/init.d/airframes/4250_teal index a84d950a84..efe879ff2e 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4250_teal +++ b/ROMFS/px4fmu_common/init.d/airframes/4250_teal @@ -28,169 +28,166 @@ echo "Executing 4250_teal script." set MIXER quad_x set PWM_OUT 1234 -if [ $AUTOCNF = yes ] -then - # First thing, reset all params to default... EXCEPT THIS LIST - param reset_all SYS_AUTOSTART SYS_AUTOCONFIG RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* CAL_MAG* SENS_BOARD* EKF2_MAGBIAS* - # battery - param set BAT_CAPACITY 2750 - param set BAT_CRIT_THR 0.15 - param set BAT_EMERGEN_THR 0.075 - param set BAT_LOW_THR 0.20 - param set BAT_N_CELLS 4 - param set BAT_R_INTERNAL 0.06 - param set BAT_SOURCE 1 - param set BAT_V_CHARGED 4.15 - param set BAT_V_DIV 11.1625 - param set BAT_V_EMPTY 3.65 - param set BAT_V_OFFS_CURR -0.0045 +# First thing, reset all params to default... EXCEPT THIS LIST +param reset_all SYS_AUTOSTART SYS_AUTOCONFIG RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* CAL_MAG* SENS_BOARD* EKF2_MAGBIAS* - # sensor calibration - param set CAL_MAG_SIDES 63 - param set SENS_BOARD_ROT 0 +# battery +param set-default BAT_CAPACITY 2750 +param set-default BAT_CRIT_THR 0.15 +param set-default BAT_EMERGEN_THR 0.075 +param set-default BAT_LOW_THR 0.20 +param set-default BAT_N_CELLS 4 +param set-default BAT_R_INTERNAL 0.06 +param set-default BAT_SOURCE 1 +param set-default BAT_V_CHARGED 4.15 +param set-default BAT_V_DIV 11.1625 +param set-default BAT_V_EMPTY 3.65 +param set-default BAT_V_OFFS_CURR -0.0045 - # circuit breakers - param set CBRK_IO_SAFETY 22027 - param set CBRK_USB_CHK 197848 +# sensor calibration +param set-default CAL_MAG_SIDES 63 +param set-default SENS_BOARD_ROT 0 - # commander - param set COM_DISARM_LAND 0.1 - # Return mode at critically low level, Land mode at current position if reaching dangerously low levels. - param set COM_LOW_BAT_ACT 3 +# circuit breakers +param set-default CBRK_IO_SAFETY 22027 +param set-default CBRK_USB_CHK 197848 - # ekf2 - param set EKF2_AID_MASK 1 - param set EKF2_MAG_TYPE 1 - param set EKF2_GPS_CHECK 511 - param set EKF2_GPS_POS_X -0.04 - param set EKF2_IMU_POS_X -0.06 - param set EKF2_PCOEF_XN 0.1 - param set EKF2_PCOEF_XP -0.5 - param set EKF2_RNG_AID 1 - param set EKF2_RNG_A_VMAX 20 - param set EKF2_RNG_NOISE 0.2 - param set EKF2_MIN_RNG 0.07 +# commander +param set-default COM_DISARM_LAND 0.1 +# Return mode at critically low level, Land mode at current position if reaching dangerously low levels. +param set-default COM_LOW_BAT_ACT 3 - # gps - param set GPS_UBX_DYNMODEL 7 +# ekf2 +param set-default EKF2_AID_MASK 1 +param set-default EKF2_MAG_TYPE 1 +param set-default EKF2_GPS_CHECK 511 +param set-default EKF2_GPS_POS_X -0.04 +param set-default EKF2_IMU_POS_X -0.06 +param set-default EKF2_PCOEF_XN 0.1 +param set-default EKF2_PCOEF_XP -0.5 +param set-default EKF2_RNG_AID 1 +param set-default EKF2_RNG_A_VMAX 20 +param set-default EKF2_RNG_NOISE 0.2 +param set-default EKF2_MIN_RNG 0.07 - # geofence - # Geofence violation action -- Warning. - param set GF_ACTION 1 +# gps +param set-default GPS_UBX_DYNMODEL 7 - # land detector - param set LNDMC_XY_VEL_MAX 1 - # This is set high because we have lots of vibrations while in contact with ground. - param set LNDMC_ROT_MAX 50 +# geofence +# Geofence violation action -- Warning. +param set-default GF_ACTION 1 - # serial comms - param set SER_TEL1_BAUD 921600 - param set SER_TEL2_BAUD 921600 +# land detector +param set-default LNDMC_XY_VEL_MAX 1 +# This is set high because we have lots of vibrations while in contact with ground. +param set-default LNDMC_ROT_MAX 50 - # mavlink stream configuration - # TEL1 ttyS1 -- disabled. TX1 FTDI UART has issues. - param set MAV_0_CONFIG 0 - param set MAV_0_RATE 800000 +# serial comms +param set-default SER_TEL1_BAUD 921600 +param set-default SER_TEL2_BAUD 921600 - # TEL2 ttyS2 -- Primary MAVLINK stream to companion computer. - param set MAV_1_CONFIG 102 - param set MAV_1_RATE 800000 +# mavlink stream configuration +# TEL1 ttyS1 -- disabled. TX1 FTDI UART has issues. +param set-default MAV_0_CONFIG 0 +param set-default MAV_0_RATE 800000 - # mc_att_control - param set MC_ACRO_P_MAX 360 - param set MC_ACRO_R_MAX 360 - param set MC_ACRO_Y_MAX 360 +# TEL2 ttyS2 -- Primary MAVLINK stream to companion computer. +param set-default MAV_1_CONFIG 102 +param set-default MAV_1_RATE 800000 - param set MC_ROLL_P 6 - param set MC_ROLLRATE_P 0.055 - param set MC_ROLLRATE_I 0.2 - param set MC_ROLLRATE_D 0.0012 - param set MC_ROLLRATE_MAX 180 +# mc_att_control +param set-default MC_ACRO_P_MAX 360 +param set-default MC_ACRO_R_MAX 360 +param set-default MC_ACRO_Y_MAX 360 - param set MC_PITCH_P 6.5 - param set MC_PITCHRATE_P 0.06 - param set MC_PITCHRATE_I 0.2 - param set MC_PITCHRATE_D 0.0012 - param set MC_PITCHRATE_MAX 180 +param set-default MC_ROLL_P 6 +param set-default MC_ROLLRATE_P 0.055 +param set-default MC_ROLLRATE_I 0.2 +param set-default MC_ROLLRATE_D 0.0012 +param set-default MC_ROLLRATE_MAX 180 - param set MC_YAW_P 1 - param set MC_YAWRATE_P 0.08 - param set MC_YAWRATE_I 0.08 - param set MC_YAWRATE_D 0 - param set MC_YAWRATE_MAX 180 +param set-default MC_PITCH_P 6.5 +param set-default MC_PITCHRATE_P 0.06 +param set-default MC_PITCHRATE_I 0.2 +param set-default MC_PITCHRATE_D 0.0012 +param set-default MC_PITCHRATE_MAX 180 - # Set to reduce voltage transients as seen by battery management system. - param set MOT_SLEW_MAX 0.15 +param set-default MC_YAW_P 1 +param set-default MC_YAWRATE_P 0.08 +param set-default MC_YAWRATE_I 0.08 +param set-default MC_YAWRATE_D 0 +param set-default MC_YAWRATE_MAX 180 - #### CONTROLLER ### - param set MPC_LAND_ALT1 8 - param set MPC_LAND_ALT2 5 - param set MPC_TKO_RAMP_T 0.75 - param set MPC_TKO_SPEED 0.75 - param set MPC_TILTMAX_LND 18 - param set MPC_TILTMAX_AIR 45 - param set MPC_MAN_TILT_MAX 45 +# Set to reduce voltage transients as seen by battery management system. +param set-default MOT_SLEW_MAX 0.15 - param set MPC_MANTHR_MAX 0.85 - param set MPC_MANTHR_MIN 0.15 - # Full throttle can trip over current protection on BMS. - param set MPC_THR_MAX 0.85 - param set MPC_THR_MIN 0.15 +#### CONTROLLER ### +param set-default MPC_LAND_ALT1 8 +param set-default MPC_LAND_ALT2 5 +param set-default MPC_TKO_RAMP_T 0.75 +param set-default MPC_TKO_SPEED 0.75 +param set-default MPC_TILTMAX_LND 18 +param set-default MPC_TILTMAX_AIR 45 +param set-default MPC_MAN_TILT_MAX 45 - param set MPC_VEL_MANUAL 26.5 - # RTL speed, it was too fast and scaring people. - param set MPC_XY_CRUISE 15 +param set-default MPC_MANTHR_MAX 0.85 +param set-default MPC_MANTHR_MIN 0.15 +# Full throttle can trip over current protection on BMS. +param set-default MPC_THR_MAX 0.85 +param set-default MPC_THR_MIN 0.15 - param set MPC_MAN_Y_MAX 200 +param set-default MPC_VEL_MANUAL 26.5 +# RTL speed, it was too fast and scaring people. +param set-default MPC_XY_CRUISE 15 - param set MPC_JERK_MAX 5 - param set MPC_ACC_UP_MAX 10 - param set MPC_ACC_DOWN_MAX 10 - param set MPC_ACC_HOR 10 - param set MPC_ACC_HOR_MAX 15 +param set-default MPC_MAN_Y_MAX 200 - param set MPC_XY_P 1.15 - param set MPC_XY_VEL_P_ACC 2.8 - param set MPC_XY_VEL_I_ACC 0.28 - param set MPC_XY_VEL_D_ACC 0.28 - param set MPC_XY_VEL_MAX 26.5 +param set-default MPC_JERK_MAX 5 +param set-default MPC_ACC_UP_MAX 10 +param set-default MPC_ACC_DOWN_MAX 10 +param set-default MPC_ACC_HOR 10 +param set-default MPC_ACC_HOR_MAX 15 - param set MPC_Z_P 0.85 - param set MPC_Z_VEL_P_ACC 5 - param set MPC_Z_VEL_I_ACC 1.7 - param set MPC_Z_VEL_D_ACC 0.4 - # Documentation says limit is 8.0, but does not seem to be enforced in code. - param set MPC_Z_VEL_MAX_UP 20 - param set MPC_Z_VEL_MAX_DN 2.5 - #### CONTROLLER ### +param set-default MPC_XY_P 1.15 +param set-default MPC_XY_VEL_P_ACC 2.8 +param set-default MPC_XY_VEL_I_ACC 0.28 +param set-default MPC_XY_VEL_D_ACC 0.28 +param set-default MPC_XY_VEL_MAX 26.5 - # navigator - param set NAV_ACC_RAD 2.5 - # RC loss failsafe behavior -- hold mode. - param set NAV_RCL_ACT 1 +param set-default MPC_Z_P 0.85 +param set-default MPC_Z_VEL_P_ACC 5 +param set-default MPC_Z_VEL_I_ACC 1.7 +param set-default MPC_Z_VEL_D_ACC 0.4 +# Documentation says limit is 8.0, but does not seem to be enforced in code. +param set-default MPC_Z_VEL_MAX_UP 20 +param set-default MPC_Z_VEL_MAX_DN 2.5 +#### CONTROLLER ### - # pwm control - param set PWM_MAIN_DISARM 900 - param set PWM_MAIN_MAX 1850 - param set PWM_MAIN_MIN 1075 - # Oneshot125 - param set PWM_MAIN_RATE 0 +# navigator +param set-default NAV_ACC_RAD 2.5 +# RC loss failsafe behavior -- hold mode. +param set-default NAV_RCL_ACT 1 - # rtl - param set RTL_DESCEND_ALT 5 - param set RTL_LAND_DELAY 5 - param set RTL_MIN_DIST 7.5 - param set RTL_RETURN_ALT 25 +# pwm control +param set-default PWM_MAIN_DISARM 900 +param set-default PWM_MAIN_MAX 1850 +param set-default PWM_MAIN_MIN 1075 +# Oneshot125 +param set-default PWM_MAIN_RATE 0 - # calibration - param set CAL_ACC0_PRIO 255 - param set CAL_ACC1_PRIO 0 +# rtl +param set-default RTL_DESCEND_ALT 5 +param set-default RTL_LAND_DELAY 5 +param set-default RTL_MIN_DIST 7.5 +param set-default RTL_RETURN_ALT 25 - param set CAL_GYRO0_PRIO 255 - param set CAL_GYRO1_PRIO 0 -fi +# calibration +param set-default CAL_ACC0_PRIO 255 +param set-default CAL_ACC1_PRIO 0 +param set-default CAL_GYRO0_PRIO 255 +param set-default CAL_GYRO1_PRIO 0 # Logger mode. Default(1) + estimator replay(2) + thermal calibration(4) param set SDLOG_PROFILE 6 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4500_clover4 b/ROMFS/px4fmu_common/init.d/airframes/4500_clover4 index 3afaafdfac..1e9d6273e8 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4500_clover4 +++ b/ROMFS/px4fmu_common/init.d/airframes/4500_clover4 @@ -17,19 +17,17 @@ set MIXER quad_x set PWM_OUT 1234 -if [ $AUTOCNF = yes ] -then - param set MC_PITCHRATE_P 0.087 - param set MC_PITCHRATE_I 0.037 - param set MC_PITCHRATE_D 0.0044 - param set MC_PITCH_P 8.5 - param set MC_ROLLRATE_P 0.087 - param set MC_ROLLRATE_I 0.037 - param set MC_ROLLRATE_D 0.0044 - param set MC_ROLL_P 8.5 - param set MPC_XY_VEL_P_ACC 2.2 - param set MPC_XY_VEL_D_ACC 0.26 - param set MPC_XY_P 1.1 - param set MPC_Z_VEL_P_ACC 4.8 - param set MPC_Z_P 1.2 -fi + +param set-default MC_PITCHRATE_P 0.087 +param set-default MC_PITCHRATE_I 0.037 +param set-default MC_PITCHRATE_D 0.0044 +param set-default MC_PITCH_P 8.5 +param set-default MC_ROLLRATE_P 0.087 +param set-default MC_ROLLRATE_I 0.037 +param set-default MC_ROLLRATE_D 0.0044 +param set-default MC_ROLL_P 8.5 +param set-default MPC_XY_VEL_P_ACC 2.2 +param set-default MPC_XY_VEL_D_ACC 0.26 +param set-default MPC_XY_P 1.1 +param set-default MPC_Z_VEL_P_ACC 4.8 +param set-default MPC_Z_P 1.2 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie b/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie index 57dc6d7848..b912c8ded3 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie +++ b/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie @@ -19,59 +19,56 @@ set MIXER quad_x_cw set PWM_OUT 1234 -if [ $AUTOCNF = yes ] -then - param set BAT_N_CELLS 1 - param set BAT_CAPACITY 240 - param set BAT_SOURCE 1 - param set CBRK_SUPPLY_CHK 894281 - param set CBRK_USB_CHK 197848 - param set COM_RC_IN_MODE 1 +param set-default BAT_N_CELLS 1 +param set-default BAT_CAPACITY 240 +param set-default BAT_SOURCE 1 - param set EKF2_ABL_LIM 2 - param set EKF2_AID_MASK 3 - param set EKF2_HGT_MODE 2 - param set EKF2_MAG_TYPE 1 - param set EKF2_OF_DELAY 10 +param set-default CBRK_SUPPLY_CHK 894281 +param set-default CBRK_USB_CHK 197848 +param set-default COM_RC_IN_MODE 1 - param set IMU_GYRO_CUTOFF 100 - param set IMU_ACCEL_CUTOFF 30 +param set-default EKF2_ABL_LIM 2 +param set-default EKF2_AID_MASK 3 +param set-default EKF2_HGT_MODE 2 +param set-default EKF2_MAG_TYPE 1 +param set-default EKF2_OF_DELAY 10 - param set MC_AIRMODE 1 - param set IMU_DGYRO_CUTOFF 70 - param set MC_PITCHRATE_D 0.002 - param set MC_PITCHRATE_I 0.2 - param set MC_PITCHRATE_P 0.07 - param set MC_PITCH_P 6.5 - param set MC_ROLLRATE_D 0.002 - param set MC_ROLLRATE_I 0.2 - param set MC_ROLLRATE_P 0.07 - param set MC_ROLL_P 6.5 - param set MC_YAW_P 3 +param set-default IMU_GYRO_CUTOFF 100 +param set-default IMU_ACCEL_CUTOFF 30 - param set MPC_THR_HOVER 0.7 - param set MPC_THR_MAX 1 - param set MPC_Z_P 1.5 - param set MPC_Z_VEL_P_ACC 8 - param set MPC_Z_VEL_I_ACC 6 - param set MPC_HOLD_MAX_XY 0.1 - param set MPC_MAX_FLOW_HGT 3 +param set-default MC_AIRMODE 1 +param set-default IMU_DGYRO_CUTOFF 70 +param set-default MC_PITCHRATE_D 0.002 +param set-default MC_PITCHRATE_I 0.2 +param set-default MC_PITCHRATE_P 0.07 +param set-default MC_PITCH_P 6.5 +param set-default MC_ROLLRATE_D 0.002 +param set-default MC_ROLLRATE_I 0.2 +param set-default MC_ROLLRATE_P 0.07 +param set-default MC_ROLL_P 6.5 +param set-default MC_YAW_P 3 - param set NAV_RCL_ACT 3 +param set-default MPC_THR_HOVER 0.7 +param set-default MPC_THR_MAX 1 +param set-default MPC_Z_P 1.5 +param set-default MPC_Z_VEL_P_ACC 8 +param set-default MPC_Z_VEL_I_ACC 6 +param set-default MPC_HOLD_MAX_XY 0.1 +param set-default MPC_MAX_FLOW_HGT 3 - param set PWM_MAIN_DISARM 0 - param set PWM_MAIN_MIN 0 - param set PWM_MAIN_MAX 255 +param set-default NAV_RCL_ACT 3 - # Run the motors at 328.125 kHz (recommended) - param set PWM_MAIN_RATE 3921 +param set-default PWM_MAIN_DISARM 0 +param set-default PWM_MAIN_MIN 0 +param set-default PWM_MAIN_MAX 255 - param set SDLOG_PROFILE 1 +# Run the motors at 328.125 kHz (recommended) +param set-default PWM_MAIN_RATE 3921 - param set SENS_FLOW_MINRNG 0.05 +param set-default SDLOG_PROFILE 1 -fi +param set-default SENS_FLOW_MINRNG 0.05 set PWM_MAIN_DISARM none set PWM_MAIN_MAX none diff --git a/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21 b/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21 index 2435312c19..fa1b748195 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21 +++ b/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21 @@ -19,59 +19,56 @@ set MIXER quad_x_cw set PWM_OUT 1234 -if [ $AUTOCNF = yes ] -then - param set SYS_MC_EST_GROUP 3 - param set SYS_HAS_MAG 0 - param set BAT_N_CELLS 1 - param set BAT1_N_CELLS 1 - param set BAT1_SOURCE 1 +param set-default SYS_MC_EST_GROUP 3 +param set-default SYS_HAS_MAG 0 - param set CBRK_SUPPLY_CHK 894281 - param set CBRK_USB_CHK 197848 - param set COM_RC_IN_MODE 1 +param set-default BAT_N_CELLS 1 +param set-default BAT1_N_CELLS 1 +param set-default BAT1_SOURCE 1 - param set IMU_GYRO_CUTOFF 100 - param set IMU_ACCEL_CUTOFF 30 +param set-default CBRK_SUPPLY_CHK 894281 +param set-default CBRK_USB_CHK 197848 +param set-default COM_RC_IN_MODE 1 - param set MC_AIRMODE 1 - param set IMU_DGYRO_CUTOFF 70 - param set MC_PITCHRATE_D 0.002 - param set MC_PITCHRATE_I 0.2 - param set MC_PITCHRATE_P 0.07 - param set MC_PITCH_P 6.5 - param set MC_ROLLRATE_D 0.002 - param set MC_ROLLRATE_I 0.2 - param set MC_ROLLRATE_P 0.07 - param set MC_ROLL_P 6.5 - param set MC_YAW_P 3 +param set-default IMU_GYRO_CUTOFF 100 +param set-default IMU_ACCEL_CUTOFF 30 - param set MPC_THR_HOVER 0.7 - param set MPC_THR_MAX 1 - param set MPC_Z_P 1.5 - param set MPC_Z_VEL_P_ACC 8 - param set MPC_Z_VEL_I_ACC 6 - param set MPC_HOLD_MAX_XY 0.1 - param set MPC_MAX_FLOW_HGT 3 - #param set IMU_GYRO_NF_FREQ 10 - #param set IMU_GYRO_NF_BW 20 +param set-default MC_AIRMODE 1 +param set-default IMU_DGYRO_CUTOFF 70 +param set-default MC_PITCHRATE_D 0.002 +param set-default MC_PITCHRATE_I 0.2 +param set-default MC_PITCHRATE_P 0.07 +param set-default MC_PITCH_P 6.5 +param set-default MC_ROLLRATE_D 0.002 +param set-default MC_ROLLRATE_I 0.2 +param set-default MC_ROLLRATE_P 0.07 +param set-default MC_ROLL_P 6.5 +param set-default MC_YAW_P 3 - param set NAV_RCL_ACT 3 +param set-default MPC_THR_HOVER 0.7 +param set-default MPC_THR_MAX 1 +param set-default MPC_Z_P 1.5 +param set-default MPC_Z_VEL_P_ACC 8 +param set-default MPC_Z_VEL_I_ACC 6 +param set-default MPC_HOLD_MAX_XY 0.1 +param set-default MPC_MAX_FLOW_HGT 3 +#param set IMU_GYRO_NF_FREQ 10 +#param set IMU_GYRO_NF_BW 20 - param set PWM_MAIN_DISARM 0 - param set PWM_MAIN_MIN 0 - param set PWM_MAIN_MAX 255 +param set-default NAV_RCL_ACT 3 - # Run the motors at 328.125 kHz (recommended) - param set PWM_MAIN_RATE 3921 +param set-default PWM_MAIN_DISARM 0 +param set-default PWM_MAIN_MIN 0 +param set-default PWM_MAIN_MAX 255 - param set SDLOG_PROFILE 1 +# Run the motors at 328.125 kHz (recommended) +param set-default PWM_MAIN_RATE 3921 - param set SENS_FLOW_MINRNG 0.05 +param set-default SDLOG_PROFILE 1 +param set-default SENS_FLOW_MINRNG 0.05 -fi set PWM_MAIN_DISARM none set PWM_MAIN_MAX none 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 bfe62ea222..f21f131435 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle +++ b/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle @@ -16,45 +16,42 @@ . ${R}etc/init.d/rc.rover_defaults -if [ $AUTOCNF = yes ] -then - param set BAT_N_CELLS 2 - param set EKF2_ANGERR_INIT 0.01 - param set EKF2_GBIAS_INIT 0.01 - param set EKF2_MAG_TYPE 1 +param set-default BAT_N_CELLS 2 - param set FW_AIRSPD_MAX 3 - param set FW_AIRSPD_MIN 0 - param set FW_AIRSPD_TRIM 1 +param set-default EKF2_ANGERR_INIT 0.01 +param set-default EKF2_GBIAS_INIT 0.01 +param set-default EKF2_MAG_TYPE 1 - param set GND_L1_DIST 10 - param set GND_SP_CTRL_MODE 1 - param set GND_SPEED_P 0.25 - param set GND_SPEED_I 3 - param set GND_SPEED_D 0.001 - param set GND_SPEED_IMAX 0.125 - param set GND_SPEED_THR_SC 1 - param set GND_THR_IDLE 0 - param set GND_THR_CRUISE 0.3 - param set GND_THR_MAX 0.5 - param set GND_THR_MIN 0 - param set GND_WR_P 2 - param set GND_WR_I 0.9674 - param set GND_WR_IMAX 0.1 - param set GND_WR_D 1.2 +param set-default FW_AIRSPD_MAX 3 +param set-default FW_AIRSPD_MIN 0 +param set-default FW_AIRSPD_TRIM 1 - param set MIS_LTRMIN_ALT 0.01 - param set MIS_TAKEOFF_ALT 0.01 +param set-default GND_L1_DIST 10 +param set-default GND_SP_CTRL_MODE 1 +param set-default GND_SPEED_P 0.25 +param set-default GND_SPEED_I 3 +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 GND_THR_IDLE 0 +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 GND_WR_P 2 +param set-default GND_WR_I 0.9674 +param set-default GND_WR_IMAX 0.1 +param set-default GND_WR_D 1.2 - param set NAV_ACC_RAD 0.5 +param set-default MIS_LTRMIN_ALT 0.01 +param set-default MIS_TAKEOFF_ALT 0.01 - # Provide ESC a constant 1500 us pulse - param set PWM_MAIN_DISARM 1500 - param set PWM_MAIN_MAX 2000 - param set PWM_MAIN_MIN 1000 -fi +param set-default NAV_ACC_RAD 0.5 +# Provide ESC a constant 1500 us pulse +param set-default PWM_MAIN_DISARM 1500 +param set-default PWM_MAIN_MAX 2000 +param set-default PWM_MAIN_MIN 1000 # Configure this as rover set MAV_TYPE 10 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 7ab3d3df6a..3000f92354 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 @@ -21,67 +21,64 @@ . ${R}etc/init.d/rc.rover_defaults -if [ $AUTOCNF = yes ] -then - param set BAT_N_CELLS 4 - param set EKF2_GBIAS_INIT 0.01 - param set EKF2_ANGERR_INIT 0.01 - param set EKF2_MAG_TYPE 1 +param set-default BAT_N_CELLS 4 - param set FW_AIRSPD_MIN 0 - param set FW_AIRSPD_TRIM 1 - param set FW_AIRSPD_MAX 3 +param set-default EKF2_GBIAS_INIT 0.01 +param set-default EKF2_ANGERR_INIT 0.01 +param set-default EKF2_MAG_TYPE 1 - param set GND_SP_CTRL_MODE 1 - param set GND_L1_DIST 5 - param set GND_L1_PERIOD 3 - param set GND_THR_IDLE 0 - param set GND_THR_CRUISE 0.7 - param set GND_THR_MAX 0.5 +param set-default FW_AIRSPD_MIN 0 +param set-default FW_AIRSPD_TRIM 1 +param set-default FW_AIRSPD_MAX 3 - # Because this is differential drive, it can make a turn with radius 0. - # This corresponds to a turn angle of pi radians. - # If a special case is made for differential-drive, this will need to change. - param set GND_MAX_ANG 3.142 - param set GND_WHEEL_BASE 0.3 +param set-default GND_SP_CTRL_MODE 1 +param set-default GND_L1_DIST 5 +param set-default GND_L1_PERIOD 3 +param set-default GND_THR_IDLE 0 +param set-default GND_THR_CRUISE 0.7 +param set-default GND_THR_MAX 0.5 - # TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase - # to support negative throttle. - param set GND_THR_MIN 0 - param set GND_SPEED_P 0.25 - param set GND_SPEED_I 3 - param set GND_SPEED_D 0.001 - param set GND_SPEED_IMAX 0.125 - param set GND_SPEED_THR_SC 1 +# Because this is differential drive, it can make a turn with radius 0. +# This corresponds to a turn angle of pi radians. +# If a special case is made for differential-drive, this will need to change. +param set-default GND_MAX_ANG 3.142 +param set-default GND_WHEEL_BASE 0.3 - param set MIS_LTRMIN_ALT 0.01 - param set MIS_TAKEOFF_ALT 0.01 +# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase +# to support negative throttle. +param set-default GND_THR_MIN 0 +param set-default GND_SPEED_P 0.25 +param set-default GND_SPEED_I 3 +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 NAV_ACC_RAD 0.5 +param set-default MIS_LTRMIN_ALT 0.01 +param set-default MIS_TAKEOFF_ALT 0.01 - # Provide ESC a constant 1500 us pulse, which corresponds to - # idle on the Roboclaw motor controller on the Aion R1 - param set PWM_MAIN_DISARM 1500 - param set PWM_MAIN_DIS0 1500 - param set PWM_MAIN_DIS1 1500 - param set PWM_MAIN_MAX 2000 - param set PWM_MAIN_MIN 1000 +param set-default NAV_ACC_RAD 0.5 - # Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor - param set CBRK_AIRSPD_CHK 162128 +# Provide ESC a constant 1500 us pulse, which corresponds to +# idle on the Roboclaw motor controller on the Aion R1 +param set-default PWM_MAIN_DISARM 1500 +param set-default PWM_MAIN_DIS0 1500 +param set-default PWM_MAIN_DIS1 1500 +param set-default PWM_MAIN_MAX 2000 +param set-default PWM_MAIN_MIN 1000 - # Differential drive acts like ackermann steering with a maximum turn angle of 180 degrees, or pi radians - param set GND_MAX_ANG 3.1415 +# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor +param set-default CBRK_AIRSPD_CHK 162128 - param set RBCLW_BAUD 8 - param set RBCLW_COUNTS_REV 1200 - param set RBCLW_ADDRESS 128 - # param set SER_TEL4_BAUD 115200 - # 104 corresponds to Telem 4 - param set RBCLW_SER_CFG 104 -fi +# Differential drive acts like ackermann steering with a maximum turn angle of 180 degrees, or pi radians +param set-default GND_MAX_ANG 3.1415 +param set-default RBCLW_BAUD 8 +param set-default RBCLW_COUNTS_REV 1200 +param set-default RBCLW_ADDRESS 128 +# param set SER_TEL4_BAUD 115200 +# 104 corresponds to Telem 4 +param set-default RBCLW_SER_CFG 104 # Start this driver after setting parameters, because the driver uses some of those parameters. # roboclaw start /dev/ttyS3 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 1b5a8bc9bc..85c4b9dfd7 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 @@ -21,55 +21,52 @@ . ${R}etc/init.d/rc.rover_defaults -if [ $AUTOCNF = yes ] -then - param set BAT_N_CELLS 2 - param set EKF2_GBIAS_INIT 0.01 - param set EKF2_ANGERR_INIT 0.01 - param set EKF2_MAG_TYPE 1 +param set-default BAT_N_CELLS 2 - param set FW_AIRSPD_MIN 0 - param set FW_AIRSPD_TRIM 1 - param set FW_AIRSPD_MAX 3 +param set-default EKF2_GBIAS_INIT 0.01 +param set-default EKF2_ANGERR_INIT 0.01 +param set-default EKF2_MAG_TYPE 1 - param set GND_THR_IDLE 0 - param set GND_THR_CRUISE 0.3 - param set GND_THR_MAX 0.5 +param set-default FW_AIRSPD_MIN 0 +param set-default FW_AIRSPD_TRIM 1 +param set-default FW_AIRSPD_MAX 3 - # Differential drive acts like ackermann steering with a maximum turn angle of 60 degrees, or pi/3 radians - param set GND_MAX_ANG 1.042 - param set GND_WHEEL_BASE 0.17 +param set-default GND_THR_IDLE 0 +param set-default GND_THR_CRUISE 0.3 +param set-default GND_THR_MAX 0.5 - # TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase - # to support negative throttle. - param set GND_THR_MIN 0.0 - param set GND_SPEED_P 0.25 - param set GND_SPEED_I 3 - param set GND_SPEED_D 0.001 - param set GND_SPEED_IMAX 0.125 - param set GND_SPEED_THR_SC 1 +# Differential drive acts like ackermann steering with a maximum turn angle of 60 degrees, or pi/3 radians +param set-default GND_MAX_ANG 1.042 +param set-default GND_WHEEL_BASE 0.17 - param set MIS_LTRMIN_ALT 0.01 - param set MIS_TAKEOFF_ALT 0.01 +# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase +# to support negative throttle. +param set-default GND_THR_MIN 0.0 +param set-default GND_SPEED_P 0.25 +param set-default GND_SPEED_I 3 +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 NAV_ACC_RAD 0.5 +param set-default MIS_LTRMIN_ALT 0.01 +param set-default MIS_TAKEOFF_ALT 0.01 - # Provide ESC a constant 1500 us pulse to idle - param set PWM_MAIN_DISARM 1500 - param set PWM_MAIN_DIS3 1485 - param set PWM_MAIN_DIS4 1485 - param set PWM_MAIN_FAIL3 1485 - param set PWM_MAIN_FAIL4 1485 - param set PWM_MAIN_MAX 2000 - param set PWM_MAIN_MIN 1000 - param set PWM_MAIN_MIN3 970 - param set PWM_MAIN_MIN4 970 +param set-default NAV_ACC_RAD 0.5 - # Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor - param set CBRK_AIRSPD_CHK 162128 +# Provide ESC a constant 1500 us pulse to idle +param set-default PWM_MAIN_DISARM 1500 +param set-default PWM_MAIN_DIS3 1485 +param set-default PWM_MAIN_DIS4 1485 +param set-default PWM_MAIN_FAIL3 1485 +param set-default PWM_MAIN_FAIL4 1485 +param set-default PWM_MAIN_MAX 2000 +param set-default PWM_MAIN_MIN 1000 +param set-default PWM_MAIN_MIN3 970 +param set-default PWM_MAIN_MIN4 970 -fi +# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor +param set-default CBRK_AIRSPD_CHK 162128 # Configure this as rover set MAV_TYPE 10 diff --git a/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic b/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic index 312aa1c7b7..33ec6cb100 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic +++ b/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic @@ -14,17 +14,14 @@ . ${R}etc/init.d/rc.uuv_defaults -if [ $AUTOCNF = yes ] -then - #Set data link loss failsafe mode (0: disabled) - param set NAV_DLL_ACT 0 - # disable circuit breaker for airspeed sensor - param set CBRK_AIRSPD_CHK 162128 +#Set data link loss failsafe mode (0: disabled) +param set-default NAV_DLL_ACT 0 - #param set CBRK_GPSFAIL 240024 -fi +# disable circuit breaker for airspeed sensor +param set-default CBRK_AIRSPD_CHK 162128 +#param set CBRK_GPSFAIL 240024 set MAV_TYPE 12 param set MAV_TYPE ${MAV_TYPE} diff --git a/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus b/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus index 0265c2a6e2..13ec47f8f4 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus +++ b/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus @@ -14,17 +14,14 @@ . ${R}etc/init.d/rc.uuv_defaults -if [ $AUTOCNF = yes ] -then - #Set data link loss failsafe mode (0: disabled) - param set NAV_DLL_ACT 0 - # disable circuit breaker for airspeed sensor - param set CBRK_AIRSPD_CHK 162128 +#Set data link loss failsafe mode (0: disabled) +param set-default NAV_DLL_ACT 0 - #param set CBRK_GPSFAIL 240024 -fi +# disable circuit breaker for airspeed sensor +param set-default CBRK_AIRSPD_CHK 162128 +#param set CBRK_GPSFAIL 240024 set MAV_TYPE 12 param set MAV_TYPE ${MAV_TYPE} 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 57e0f12f4e..5b2509de47 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy +++ b/ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy @@ -23,28 +23,25 @@ . ${R}etc/init.d/rc.uuv_defaults -if [ $AUTOCNF = yes ] -then - #Set data link loss failsafe mode (0: disabled) - param set NAV_DLL_ACT 0 - # disable circuit breaker for airspeed sensor - param set CBRK_AIRSPD_CHK 162128 - # companion computer is connected via USB permanently - param set CBRK_USB_CHK 197848 - param set CBRK_IO_SAFETY 22027 +#Set data link loss failsafe mode (0: disabled) +param set-default NAV_DLL_ACT 0 - param set COM_PREARM_MODE 0 +# disable circuit breaker for airspeed sensor +param set-default CBRK_AIRSPD_CHK 162128 +# companion computer is connected via USB permanently +param set-default CBRK_USB_CHK 197848 +param set-default CBRK_IO_SAFETY 22027 - param set MAV_1_CONFIG 102 +param set-default COM_PREARM_MODE 0 - param set BAT1_A_PER_V 37.8798 - param set BAT1_CAPACITY 18000 - param set BAT1_V_DIV 11.0 - param set BAT1_N_CELLS 4 - param set BAT_V_OFFS_CURR 0.33 -fi +param set-default MAV_1_CONFIG 102 +param set-default BAT1_A_PER_V 37.8798 +param set-default BAT1_CAPACITY 18000 +param set-default BAT1_V_DIV 11.0 +param set-default BAT1_N_CELLS 4 +param set-default BAT_V_OFFS_CURR 0.33 set PWM_OUT 12345678 # set MIXER IO_pass set MIXER vectored6dof diff --git a/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r b/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r index e4e2eae66d..f36c9fcef1 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r +++ b/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r @@ -30,109 +30,106 @@ set MIXER hexa_x set PWM_OUT 12345678 -if [ $AUTOCNF = yes ] -then - ############################################### - # Attitude & rate gains - ############################################### - # Roll - param set MC_ROLL_P 6.5 - param set MC_ROLLRATE_P 0.15 - param set MC_ROLLRATE_I 0.05 - param set MC_ROLLRATE_D 0.0013 - param set MC_ROLLRATE_MAX 800 - # Pitch - param set MC_PITCH_P 6.5 - param set MC_PITCHRATE_P 0.15 - param set MC_PITCHRATE_I 0.05 - param set MC_PITCHRATE_D 0.0016 - param set MC_PITCHRATE_MAX 800 - # Yaw - param set MC_YAW_P 2.8 - param set MC_YAWRATE_P 0.2 - param set MC_YAWRATE_I 0.1 - param set MC_YAWRATE_D 0 - param set MC_YAW_FF 0 - param set MC_YAWRATE_MAX 700 - ############################################### - # Multirotor Position Gains - ############################################### - param set MPC_ACC_HOR 8 - param set MPC_THR_MIN 0.06 - param set MPC_THR_HOVER 0.3 - # altitude control gains - param set MPC_Z_P 1 - param set MPC_Z_VEL_P_ACC 4 - param set MPC_Z_VEL_I_ACC 0.4 - # position control gains - param set MPC_XY_P 0.9500 - param set MPC_XY_VEL_P_ACC 1.8 - param set MPC_XY_VEL_I_ACC 0.4 - param set MPC_XY_VEL_D_ACC 0.2 - # etc gains - param set MPC_TKO_RAMP_T 0.4 - param set MPC_TKO_SPEED 1.5 - param set MPC_VEL_MANUAL 5 +############################################### +# Attitude & rate gains +############################################### +# Roll +param set-default MC_ROLL_P 6.5 +param set-default MC_ROLLRATE_P 0.15 +param set-default MC_ROLLRATE_I 0.05 +param set-default MC_ROLLRATE_D 0.0013 +param set-default MC_ROLLRATE_MAX 800 +# Pitch +param set-default MC_PITCH_P 6.5 +param set-default MC_PITCHRATE_P 0.15 +param set-default MC_PITCHRATE_I 0.05 +param set-default MC_PITCHRATE_D 0.0016 +param set-default MC_PITCHRATE_MAX 800 +# Yaw +param set-default MC_YAW_P 2.8 +param set-default MC_YAWRATE_P 0.2 +param set-default MC_YAWRATE_I 0.1 +param set-default MC_YAWRATE_D 0 +param set-default MC_YAW_FF 0 +param set-default MC_YAWRATE_MAX 700 - # Filter settings - param set IMU_DGYRO_CUTOFF 90 - param set IMU_GYRO_CUTOFF 100 +############################################### +# Multirotor Position Gains +############################################### +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_TKO_SPEED 1.5 +param set-default MPC_VEL_MANUAL 5 - # Thrust curve (avoids the need for TPA) - param set THR_MDL_FAC 0.25 +# Filter settings +param set-default IMU_DGYRO_CUTOFF 90 +param set-default IMU_GYRO_CUTOFF 100 - # System - param set PWM_MAIN_MAX 1950 - param set PWM_MAIN_MIN 1100 - param set PWM_MAIN_DIS5 980 - param set PWM_MAIN_DIS6 980 +# Thrust curve (avoids the need for TPA) +param set-default THR_MDL_FAC 0.25 - # DSHOT - param set DSHOT_CONFIG 600 +# System +param set-default PWM_MAIN_MAX 1950 +param set-default PWM_MAIN_MIN 1100 +param set-default PWM_MAIN_DIS5 980 +param set-default PWM_MAIN_DIS6 980 - param set MIS_TAKEOFF_ALT 1.1 +# DSHOT +param set-default DSHOT_CONFIG 600 - ##################################### - # EKF - ##################################### - # Height mode as GPS - param set EKF2_HGT_MODE 1 - # Enable optical flow and GPS - param set EKF2_AID_MASK 1 - param set EKF2_RNG_AID 1 - param set EKF2_MAG_TYPE 1 - param set EKF2_OF_QMIN 80 +param set-default MIS_TAKEOFF_ALT 1.1 - # default horizontal stablization sensors - param set SENS_EN_PMW3901 1 - param set SENS_EN_PX4FLOW 1 - param set SENS_EN_LL40LS 2 - param set SENS_FLOW_ROT 2 +##################################### +# EKF +##################################### +# Height mode as GPS +param set-default EKF2_HGT_MODE 1 +# Enable optical flow and GPS +param set-default EKF2_AID_MASK 1 +param set-default EKF2_RNG_AID 1 +param set-default EKF2_MAG_TYPE 1 +param set-default EKF2_OF_QMIN 80 - # - param set CBRK_IO_SAFETY 22027 - param set COM_DISARM_LAND 3 +# default horizontal stablization sensors +param set-default SENS_EN_PMW3901 1 +param set-default SENS_EN_PX4FLOW 1 +param set-default SENS_EN_LL40LS 2 +param set-default SENS_FLOW_ROT 2 - # PWM ONESHOT - param set PWM_MAIN_RATE 0 +# +param set-default CBRK_IO_SAFETY 22027 +param set-default COM_DISARM_LAND 3 - # Battery - param set BAT_SOURCE 0 - param set BAT_N_CELLS 4 - param set BAT_V_DIV 10.133 +# PWM ONESHOT +param set-default PWM_MAIN_RATE 0 - # TELEM1 ttyS1 - param set MAV_0_CONFIG 101 - param set MAV_0_MODE 0 # onboard - param set MAV_0_FORWARD 1 - param set SER_TEL1_BAUD 57600 +# Battery +param set-default BAT_SOURCE 0 +param set-default BAT_N_CELLS 4 +param set-default BAT_V_DIV 10.133 - # TELEM2 ttyS2 - param set MAV_1_CONFIG 102 - param set MAV_1_MODE 2 - param set MAV_1_FORWARD 1 - param set MAV_1_RATE 800000 - param set SER_TEL2_BAUD 921600 -fi +# TELEM1 ttyS1 +param set-default MAV_0_CONFIG 101 +param set-default MAV_0_MODE 0 # onboard +param set-default MAV_0_FORWARD 1 +param set-default SER_TEL1_BAUD 57600 +# TELEM2 ttyS2 +param set-default MAV_1_CONFIG 102 +param set-default MAV_1_MODE 2 +param set-default MAV_1_FORWARD 1 +param set-default MAV_1_RATE 800000 +param set-default SER_TEL2_BAUD 921600 diff --git a/ROMFS/px4fmu_common/init.d/airframes/6003_hexa_x_ctrlalloc b/ROMFS/px4fmu_common/init.d/airframes/6003_hexa_x_ctrlalloc index c113cc10c8..00c31ab2ec 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/6003_hexa_x_ctrlalloc +++ b/ROMFS/px4fmu_common/init.d/airframes/6003_hexa_x_ctrlalloc @@ -13,62 +13,59 @@ . ${R}etc/init.d/rc.mc_defaults . ${R}etc/init.d/rc.ctrlalloc -if [ $AUTOCNF = yes ] -then - param set MPC_USE_HTE 0 - param set VM_MASS 1.5 - param set VM_INERTIA_XX 0.03 - param set VM_INERTIA_YY 0.03 - param set VM_INERTIA_ZZ 0.05 +param set-default MPC_USE_HTE 0 - param set CA_AIRFRAME 0 - param set CA_METHOD 1 - param set CA_ACT0_MIN 0.0 - param set CA_ACT1_MIN 0.0 - param set CA_ACT2_MIN 0.0 - param set CA_ACT3_MIN 0.0 - param set CA_ACT4_MIN 0.0 - param set CA_ACT5_MIN 0.0 +param set-default VM_MASS 1.5 +param set-default VM_INERTIA_XX 0.03 +param set-default VM_INERTIA_YY 0.03 +param set-default VM_INERTIA_ZZ 0.05 - param set CA_ACT0_MAX 1.0 - param set CA_ACT1_MAX 1.0 - param set CA_ACT2_MAX 1.0 - param set CA_ACT3_MAX 1.0 - param set CA_ACT4_MAX 1.0 - param set CA_ACT5_MAX 1.0 +param set-default CA_AIRFRAME 0 +param set-default CA_METHOD 1 +param set-default CA_ACT0_MIN 0.0 +param set-default CA_ACT1_MIN 0.0 +param set-default CA_ACT2_MIN 0.0 +param set-default CA_ACT3_MIN 0.0 +param set-default CA_ACT4_MIN 0.0 +param set-default CA_ACT5_MIN 0.0 - param set CA_MC_R0_PX 0.0 - param set CA_MC_R0_PY 0.275 - param set CA_MC_R0_CT 6.5 - param set CA_MC_R0_KM -0.05 +param set-default CA_ACT0_MAX 1.0 +param set-default CA_ACT1_MAX 1.0 +param set-default CA_ACT2_MAX 1.0 +param set-default CA_ACT3_MAX 1.0 +param set-default CA_ACT4_MAX 1.0 +param set-default CA_ACT5_MAX 1.0 - param set CA_MC_R1_PX 0.0 - param set CA_MC_R1_PY -0.275 - param set CA_MC_R1_CT 6.5 - param set CA_MC_R1_KM 0.05 +param set-default CA_MC_R0_PX 0.0 +param set-default CA_MC_R0_PY 0.275 +param set-default CA_MC_R0_CT 6.5 +param set-default CA_MC_R0_KM -0.05 - param set CA_MC_R2_PX 0.238 - param set CA_MC_R2_PY -0.1375 - param set CA_MC_R2_CT 6.5 - param set CA_MC_R2_KM -0.05 +param set-default CA_MC_R1_PX 0.0 +param set-default CA_MC_R1_PY -0.275 +param set-default CA_MC_R1_CT 6.5 +param set-default CA_MC_R1_KM 0.05 - param set CA_MC_R3_PX -0.238 - param set CA_MC_R3_PY 0.1375 - param set CA_MC_R3_CT 6.5 - param set CA_MC_R3_KM 0.05 +param set-default CA_MC_R2_PX 0.238 +param set-default CA_MC_R2_PY -0.1375 +param set-default CA_MC_R2_CT 6.5 +param set-default CA_MC_R2_KM -0.05 - param set CA_MC_R4_PX 0.238 - param set CA_MC_R4_PY 0.1375 - param set CA_MC_R4_CT 6.5 - param set CA_MC_R4_KM 0.05 +param set-default CA_MC_R3_PX -0.238 +param set-default CA_MC_R3_PY 0.1375 +param set-default CA_MC_R3_CT 6.5 +param set-default CA_MC_R3_KM 0.05 - param set CA_MC_R5_PX -0.238 - param set CA_MC_R5_PY -0.1375 - param set CA_MC_R5_CT 6.5 - param set CA_MC_R5_KM -0.05 +param set-default CA_MC_R4_PX 0.238 +param set-default CA_MC_R4_PY 0.1375 +param set-default CA_MC_R4_CT 6.5 +param set-default CA_MC_R4_KM 0.05 -fi +param set-default CA_MC_R5_PX -0.238 +param set-default CA_MC_R5_PY -0.1375 +param set-default CA_MC_R5_CT 6.5 +param set-default CA_MC_R5_KM -0.05 set MIXER direct set PWM_OUT 123456