From ea74357dd0c1375bb75c948d40e632d085efa63d Mon Sep 17 00:00:00 2001 From: Balduin Date: Wed, 15 Jan 2025 13:35:38 +0100 Subject: [PATCH] remove confusing 'SVTOL' abbreviation --- .../airframes/10043_sihsim_standard_vtol | 1 + .../init.d-posix/airframes/10043_sihsim_svtol | 116 ------------------ .../init.d-posix/airframes/CMakeLists.txt | 1 - .../simulation/simulator_sih/CMakeLists.txt | 1 - 4 files changed, 1 insertion(+), 118 deletions(-) delete mode 100644 ROMFS/px4fmu_common/init.d-posix/airframes/10043_sihsim_svtol diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10043_sihsim_standard_vtol b/ROMFS/px4fmu_common/init.d-posix/airframes/10043_sihsim_standard_vtol index 4abc9de264..53e9888501 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/10043_sihsim_standard_vtol +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10043_sihsim_standard_vtol @@ -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 # diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10043_sihsim_svtol b/ROMFS/px4fmu_common/init.d-posix/airframes/10043_sihsim_svtol deleted file mode 100644 index 9faeed49c4..0000000000 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/10043_sihsim_svtol +++ /dev/null @@ -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 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt index 905118eebc..4cf43413f6 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt @@ -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 diff --git a/src/modules/simulation/simulator_sih/CMakeLists.txt b/src/modules/simulation/simulator_sih/CMakeLists.txt index 98915c800e..3dc290a775 100644 --- a/src/modules/simulation/simulator_sih/CMakeLists.txt +++ b/src/modules/simulation/simulator_sih/CMakeLists.txt @@ -56,7 +56,6 @@ if(PX4_PLATFORM MATCHES "posix") standard_vtol hex rover_ackermann - svtol ) # find corresponding airframes