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remove confusing 'SVTOL' abbreviation

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Balduin 2025-01-15 13:35:38 +01:00 committed by Ramon Roche
parent ec9465f661
commit ea74357dd0
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4 changed files with 1 additions and 118 deletions
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1
ROMFS/px4fmu_common/init.d-posix/airframes/10043_sihsim_standard_vtol
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@ -11,6 +11,7 @@
# @output Motor4 MC motor back right
# @output Motor5 Forward thrust motor
# @output Servo1 Ailerons (single channel)
# @output Servo1 Aileron
# @output Servo2 Elevator
# @output Servo3 Rudder
#

116
ROMFS/px4fmu_common/init.d-posix/airframes/10043_sihsim_svtol
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@ -1,116 +0,0 @@
#!/bin/sh
#
# @name SIH Standard VTOL
#
# @type Simulation
# @class VTOL
#
# @output Motor1 MC motor front right
# @output Motor2 MC motor back left
# @output Motor3 MC motor front left
# @output Motor4 MC motor back right
# @output Motor5 Forward thrust motor
# @output Servo1 Aileron
# @output Servo2 Elevator
# @output Servo3 Rudder
#
# @board px4_fmu-v2 exclude
#
. ${R}etc/init.d/rc.vtol_defaults
# SIH in SITL changes. could we source these from a common file? {{{
# inspired by: diff ROMFS/px4fmu_common/init.d/airframes/4001_quad_x ROMFS/px4fmu_common/init.d-posix/airframes/10040_sihsim_quadx
PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=svtol}
param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 1
param set-default SENS_EN_MAGSIM 1
param set-default EKF2_GPS_DELAY 0
# battery check disabled below already
# HIL_ACT_FUNC* set below -- do we need PWM_MAIN_FUNC* as well?
# SIH_VEHICLE_TYPE set below too.
# }}}
param set-default VT_B_TRANS_DUR 5
param set-default VT_ELEV_MC_LOCK 0
param set-default VT_TYPE 2
param set-default MPC_MAN_Y_MAX 60
param set-default MC_PITCH_P 5
param set-default CA_AIRFRAME 2
param set-default CA_ROTOR_COUNT 5
param set-default CA_ROTOR0_KM 0.05
param set-default CA_ROTOR0_PX 0.2
param set-default CA_ROTOR0_PY 0.2
param set-default CA_ROTOR1_KM 0.05
param set-default CA_ROTOR1_PX -0.2
param set-default CA_ROTOR1_PY -0.2
param set-default CA_ROTOR2_PX 0.2
param set-default CA_ROTOR2_PY -0.2
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.2
param set-default CA_ROTOR3_PY 0.2
param set-default CA_ROTOR3_KM -0.05
param set-default CA_ROTOR4_PX -0.3
param set-default CA_ROTOR4_KM 0.05
param set-default CA_ROTOR4_AX 1
param set-default CA_ROTOR4_AZ 0
param set-default CA_SV_CS_COUNT 3
param set-default CA_SV_CS0_TRQ_R 0.5
param set-default CA_SV_CS0_TYPE 2
param set-default CA_SV_CS1_TRQ_P 1
param set-default CA_SV_CS1_TYPE 3
param set-default CA_SV_CS2_TRQ_Y 1
param set-default FW_AIRSPD_MAX 12
param set-default FW_AIRSPD_MIN 7
param set-default FW_AIRSPD_TRIM 10
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104
param set-default PWM_MAIN_FUNC5 201
param set-default PWM_MAIN_FUNC6 202
param set-default PWM_MAIN_FUNC7 203
param set-default PWM_MAIN_FUNC8 105
param set-default PWM_MAIN_REV 16
param set-default MAV_TYPE 22
# set SYS_HITL to 2 to start the SIH and avoid sensors startup
# param set-default SYS_HITL 2
# disable some checks to allow to fly:
# - without real battery
param set-default CBRK_SUPPLY_CHK 894281
# - without safety switch
param set-default CBRK_IO_SAFETY 22027
param set-default SENS_DPRES_OFF 0.001
param set SIH_T_MAX 2.0
param set SIH_Q_MAX 0.0165
param set SIH_MASS 0.2
# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
param set SIH_IXX 0.00354
param set SIH_IYY 0.000625
param set SIH_IZZ 0.00300
param set SIH_IXZ 0
param set SIH_KDV 0.2
param set SIH_L_ROLL 0.145
# sih as standard vtol
param set SIH_VEHICLE_TYPE 3
param set-default VT_ARSP_TRANS 6

1
ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
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@ -107,7 +107,6 @@ px4_add_romfs_files(
10043_sihsim_standard_vtol
10044_sihsim_hex
10045_sihsim_rover_ackermann
10046_sihsim_svtol
17001_flightgear_tf-g1
17002_flightgear_tf-g2

1
src/modules/simulation/simulator_sih/CMakeLists.txt
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@ -56,7 +56,6 @@ if(PX4_PLATFORM MATCHES "posix")
standard_vtol
hex
rover_ackermann
svtol
)
# find corresponding airframes