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wip: squashed patch

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This commit is contained in:
Thomas Stastny
2022-12-19 11:27:16 +01:00
parent 283aad01fd
commit ebe0a4095c
659 changed files with 23727 additions and 8530 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/px4fmu_common/init.d-posix/airframes/10020_if750a.post
+10
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@@ -0,0 +1,10 @@
mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
# shellcheck disable=SC2154
mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
# shellcheck disable=SC2154
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_offboard_port_local
mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_offboard_port_local
ROMFS/px4fmu_common/init.d-posix/airframes/10028_quadrotor_x
+12
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@@ -0,0 +1,12 @@
#!/bin/sh
#
# @name Quadrotor SITL model for JSBSim
#
# @type Quadrotor Wide
#
# @maintainer Jaeyoung Lim <jaeyoung@auterion.com>
#
. ${R}etc/init.d/rc.mc_defaults
set MIXER quad_w
ROMFS/px4fmu_common/init.d-posix/airframes/10029_hexarotor_x
+30
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@@ -0,0 +1,30 @@
#!/bin/sh
#
# @name Hexacopter SITL model for JSBSim
#
# @type Hexarotor x
#
# @maintainer Jaeyoung Lim <jaeyoung@auterion.com>
#
. ${R}etc/init.d/rc.mc_defaults
param set-default MC_PITCHRATE_P 0.1
param set-default MC_PITCHRATE_I 0.05
param set-default MC_PITCH_P 6.0
param set-default MC_ROLLRATE_P 0.15
param set-default MC_ROLLRATE_I 0.1
param set-default MC_ROLL_P 6.0
param set-default MPC_XY_VEL_I_ACC 4
param set-default MPC_XY_VEL_P_ACC 3
param set-default RTL_DESCEND_ALT 10
param set-default TRIG_INTERFACE 3
param set-default TRIG_MODE 4
param set-default MNT_MODE_IN 4
param set-default MNT_DO_STAB 2
param set-default MAV_TYPE 13
set MIXER hexa_x
ROMFS/px4fmu_common/init.d-posix/airframes/1025_iris_depth_camera
+11
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@@ -0,0 +1,11 @@
#!/bin/sh
#
# @name 3DR Iris Quadrotor SITL (Depth Camera)
#
# @type Quadrotor Wide
#
. ${R}etc/init.d-posix/airframes/10016_iris
# param set COM_OBS_AVOID 1
param set-default MPC_XY_CRUISE 5.0
ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane
+1 -5
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@@ -10,16 +10,12 @@ param set-default EKF2_MAG_YAWLIM 0
param set-default FW_LND_AIRSPD_SC 1
param set-default FW_LND_ANG 8
param set-default FW_THR_LND_MAX 0
param set-default FW_L1_PERIOD 12
param set-default FW_MAN_P_MAX 30
param set-default FW_PR_P 0.9
param set-default FW_PR_FF 0.2
param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MAX 32
param set-default FW_P_LIM_MIN -15
param set-default FW_RR_FF 0.1
@@ -29,7 +25,7 @@ param set-default FW_SPOILERS_LND 0.4
param set-default FW_THR_MAX 0.6
param set-default FW_THR_MIN 0.05
param set-default FW_THR_CRUISE 0.25
param set-default FW_THR_TRIM 0.25
param set-default FW_T_CLMB_MAX 8
param set-default FW_T_SINK_MAX 2.7
ROMFS/px4fmu_common/init.d-posix/airframes/1033_rascal
-4
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@@ -7,12 +7,9 @@
param set-default FW_LND_AIRSPD_SC 1.1
param set-default FW_LND_ANG 5
param set-default FW_THR_LND_MAX 0
param set-default FW_LND_HHDIST 30
param set-default FW_LND_FL_PMIN 9.5
param set-default FW_LND_FL_PMAX 20
param set-default FW_LND_FLALT 5
param set-default FW_LND_TLALT 15
param set-default FW_L1_PERIOD 25
@@ -38,7 +35,6 @@ param set-default NAV_DLL_ACT 2
param set-default RWTO_TKOFF 1
param set-default RWTO_MAX_PITCH 20
param set-default RWTO_MAX_ROLL 10
param set-default RWTO_PSP 8
param set-default RWTO_AIRSPD_SCL 1.8
ROMFS/px4fmu_common/init.d-posix/airframes/1034_rascal-electric
-4
View File
@@ -7,12 +7,9 @@
param set-default FW_LND_AIRSPD_SC 1.1
param set-default FW_LND_ANG 5
param set-default FW_THR_LND_MAX 0
param set-default FW_LND_HHDIST 30
param set-default FW_LND_FL_PMIN 9.5
param set-default FW_LND_FL_PMAX 20
param set-default FW_LND_FLALT 5
param set-default FW_LND_TLALT 15
param set-default FW_L1_PERIOD 25
@@ -38,7 +35,6 @@ param set-default NAV_DLL_ACT 2
param set-default RWTO_TKOFF 1
param set-default RWTO_MAX_PITCH 20
param set-default RWTO_MAX_ROLL 10
param set-default RWTO_PSP 8
param set-default RWTO_AIRSPD_SCL 1.8
ROMFS/px4fmu_common/init.d-posix/airframes/1035_techpod
-1
View File
@@ -10,7 +10,6 @@ param set-default EKF2_MAG_YAWLIM 0
param set-default FW_LND_AIRSPD_SC 1
param set-default FW_LND_ANG 8
param set-default FW_THR_LND_MAX 0
param set-default FW_L1_PERIOD 15
ROMFS/px4fmu_common/init.d-posix/airframes/1036_malolo
-4
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@@ -7,12 +7,9 @@
param set-default FW_LND_AIRSPD_SC 1.1
param set-default FW_LND_ANG 5
param set-default FW_THR_LND_MAX 0
param set-default FW_LND_HHDIST 30
param set-default FW_LND_FL_PMIN 9.5
param set-default FW_LND_FL_PMAX 20
param set-default FW_LND_FLALT 5
param set-default FW_LND_TLALT 15
param set-default FW_L1_PERIOD 25
@@ -37,7 +34,6 @@ param set-default NAV_DLL_ACT 2
param set-default RWTO_TKOFF 1
param set-default RWTO_MAX_PITCH 20
param set-default RWTO_MAX_ROLL 10
param set-default RWTO_PSP 8
param set-default RWTO_AIRSPD_SCL 1.8
ROMFS/px4fmu_common/init.d-posix/airframes/1037_believer
+1 -5
View File
@@ -10,16 +10,12 @@ param set-default EKF2_MAG_YAWLIM 0
param set-default FW_LND_AIRSPD_SC 1
param set-default FW_LND_ANG 8
param set-default FW_THR_LND_MAX 0
param set-default FW_L1_PERIOD 12
param set-default FW_MAN_P_MAX 30
param set-default FW_PR_P 0.9
param set-default FW_PR_FF 0.2
param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MAX 32
param set-default FW_P_LIM_MIN -15
param set-default FW_RR_FF 0.1
@@ -27,7 +23,7 @@ param set-default FW_RR_P 0.3
param set-default FW_THR_MAX 0.6
param set-default FW_THR_MIN 0.05
param set-default FW_THR_CRUISE 0.25
param set-default FW_THR_TRIM 0.25
param set-default FW_T_ALT_TC 2
param set-default FW_T_CLMB_MAX 8
ROMFS/px4fmu_common/init.d-posix/airframes/1038_glider
+1 -1
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@@ -5,5 +5,5 @@
. ${R}etc/init.d-posix/airframes/1030_plane
param set-default FW_THR_CRUISE 0.0
param set-default FW_THR_TRIM 0.0
param set-default RWTO_TKOFF 0
ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol
+2 -3
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@@ -49,21 +49,20 @@ param set-default PWM_MAIN_FUNC7 202
param set-default PWM_MAIN_FUNC8 203
param set-default FW_L1_PERIOD 12
param set-default FW_MAN_P_MAX 30
param set-default FW_PR_FF 0.2
param set-default FW_PR_P 0.9
param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MAX 32
param set-default FW_P_LIM_MIN -15
param set-default FW_RR_FF 0.1
param set-default FW_RR_P 0.3
param set-default FW_THR_CRUISE 0.25
param set-default FW_THR_TRIM 0.25
param set-default FW_THR_MAX 0.6
param set-default FW_THR_MIN 0.05
param set-default FW_T_CLMB_MAX 8
param set-default FW_T_SINK_MAX 2.7
param set-default FW_T_SINK_MIN 2.2
param set-default MC_AIRMODE 1
param set-default MC_ROLLRATE_P 0.3
param set-default MC_YAW_P 1.6
ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter
+2 -3
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@@ -44,14 +44,12 @@ param set-default PWM_MAIN_FUNC7 202
param set-default PWM_MAIN_REV 96 # invert both elevons
param set-default FW_L1_PERIOD 12
param set-default FW_MAN_P_MAX 30
param set-default FW_PR_I 0.2
param set-default FW_PR_P 0.2
param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MAX 32
param set-default FW_P_LIM_MIN -15
param set-default FW_RR_P 0.2
param set-default FW_THR_CRUISE 0.33
param set-default FW_THR_TRIM 0.33
param set-default FW_THR_MAX 0.6
param set-default FW_THR_MIN 0.05
param set-default FW_T_ALT_TC 2
@@ -61,6 +59,7 @@ param set-default FW_T_SINK_MAX 2.7
param set-default FW_T_SINK_MIN 2.2
param set-default FW_T_TAS_TC 2
param set-default MC_AIRMODE 1
param set-default MC_ROLLRATE_P 0.3
param set-default MPC_ACC_HOR_MAX 2
ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor
+4 -5
View File
@@ -35,9 +35,7 @@ param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS2_TRQ_P 1.0
param set-default CA_SV_CS2_TYPE 3
param set-default CA_SV_CS_COUNT 3
param set-default CA_SV_TL0_CT 0
param set-default CA_SV_TL1_CT 0
param set-default CA_SV_TL2_CT 0
param set-default CA_SV_TL3_CT 0
param set-default CA_SV_TL_COUNT 4
@@ -54,15 +52,13 @@ param set-default PWM_MAIN_FUNC10 202
param set-default PWM_MAIN_FUNC11 203
param set-default FW_L1_PERIOD 12
param set-default FW_MAN_P_MAX 30
param set-default FW_PR_FF 0.2
param set-default FW_PR_P 0.9
param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MAX 32
param set-default FW_P_LIM_MIN -15
param set-default FW_RR_FF 0.1
param set-default FW_RR_P 0.3
param set-default FW_THR_CRUISE 0.38
param set-default FW_THR_TRIM 0.38
param set-default FW_THR_MAX 0.6
param set-default FW_THR_MIN 0.05
param set-default FW_T_CLMB_MAX 8
@@ -70,6 +66,9 @@ param set-default FW_T_SINK_MAX 2.7
param set-default FW_T_SINK_MIN 2.2
param set-default MC_YAW_P 1.6
param set-default MC_AIRMODE 1
param set-default MC_YAWRATE_P 0.3
param set-default MC_YAWRATE_I 0.3
param set-default MIS_TAKEOFF_ALT 10
ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop
+1 -3
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@@ -8,15 +8,13 @@
. ${R}etc/init.d/rc.vtol_defaults
param set-default FW_L1_PERIOD 12
param set-default FW_MAN_P_MAX 30
param set-default FW_PR_FF 0.2
param set-default FW_PR_P 0.9
param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MAX 32
param set-default FW_P_LIM_MIN -15
param set-default FW_RR_FF 0.1
param set-default FW_RR_P 0.3
param set-default FW_THR_CRUISE 0.25
param set-default FW_THR_TRIM 0.25
param set-default FW_THR_MAX 0.6
param set-default FW_THR_MIN 0.05
param set-default FW_T_ALT_TC 2
ROMFS/px4fmu_common/init.d-posix/airframes/1058_standard_vtol_gimbal
+17
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@@ -0,0 +1,17 @@
#!/bin/sh
#
# @name Standard VTOL with gimbal
#
# @type Standard VTOL with gimbal
#
. ${R}etc/init.d-posix/1040_standard_vtol
param set-default TRIG_INTERFACE 3
param set-default TRIG_MODE 4
param set-default MNT_MODE_IN 0
param set-default MAV_TYPE 22
set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
set MIXER custom
ROMFS/px4fmu_common/init.d-posix/airframes/1058_standard_vtol_gimbal.post
+10
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@@ -0,0 +1,10 @@
mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
# shellcheck disable=SC2154
mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
# shellcheck disable=SC2154
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_offboard_port_local
mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_offboard_port_local
ROMFS/px4fmu_common/init.d-posix/airframes/1059_tiltrotor_tri
+54
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@@ -0,0 +1,54 @@
#!/bin/sh
#
# @name VTOL Tiltrotor Tricopter
#
# @type VTOL Tiltrotor Tricopter
#
. ${R}etc/init.d/rc.vtol_defaults
param set-default FW_AIRSPD_MAX 25
param set-default FW_AIRSPD_MIN 14
param set-default FW_AIRSPD_TRIM 16
param set-default FW_L1_PERIOD 12
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-default MC_PITCHRATE_P 0.3
param set-default MC_PITCH_P 5.0
param set-default MC_ROLLRATE_P 0.4
param set-default MC_ROLL_P 5.0
param set-default MC_YAWRATE_P 0.8
param set-default MC_YAW_P 1.5
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_MAN_Y_MAX 70
param set-default MPC_THR_MIN 0.1
param set-default MPC_TKO_SPEED 1
param set-default MPC_XY_P 0.15
param set-default MPC_XY_VEL_D 0.005
param set-default MPC_XY_VEL_I 0.2
param set-default MPC_XY_VEL_P 0.05
param set-default MPC_Z_VEL_MAX_DN 1.5
param set-default MPC_Z_VEL_P 0.8
param set-default NAV_ACC_RAD 5
param set-default NAV_LOITER_RAD 80
param set-default VT_F_TRANS_DUR 5.0
param set-default VT_F_TRANS_THR 0.75
param set-default VT_TILT_FW 3.1415
param set-default VT_TILT_TRANS 1.2
param set-default VT_ELEV_MC_LOCK 0
param set-default VT_TYPE 1
param set-default VT_B_TRANS_DUR 8
param set-default MAV_TYPE 24
set MIXER_FILE etc/mixers-sitl/tiltrotor_tri_sitl.main.mix
set MIXER custom
ROMFS/px4fmu_common/init.d-posix/airframes/1063_rover_gimbal
+39
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@@ -0,0 +1,39 @@
#!/bin/sh
#
# @name Rover
#
. ${R}etc/init.d/rc.rover_defaults
param set-default GND_L1_DIST 5
param set-default GND_SP_CTRL_MODE 1
param set-default GND_SPEED_D 0.001
param set-default GND_SPEED_I 3
param set-default GND_SPEED_IMAX 0.125
param set-default GND_SPEED_P 0.25
param set-default GND_SPEED_THR_SC 1
param set-default GND_SPEED_TRIM 4
param set-default GND_THR_CRUISE 0.3
param set-default GND_THR_IDLE 0
param set-default GND_THR_MAX 0.5
param set-default GND_THR_MIN 0
param set-default MIS_LTRMIN_ALT 0.01
param set-default MIS_TAKEOFF_ALT 0.01
param set-default NAV_ACC_RAD 0.5
param set-default NAV_LOITER_RAD 2
param set-default CBRK_AIRSPD_CHK 162128
param set-default GND_MAX_ANG 0.6
param set-default GND_WHEEL_BASE 2.0
param set-default TRIG_INTERFACE 3
param set-default TRIG_MODE 4
param set-default MNT_MODE_IN 4
param set-default MNT_MODE_OUT 2
param set-default MNT_DO_STAB 2
param set-default MAV_TYPE 10
set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix
ROMFS/px4fmu_common/init.d-posix/airframes/1063_rover_gimbal.post
+10
View File
@@ -0,0 +1,10 @@
mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
# shellcheck disable=SC2154
mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
# shellcheck disable=SC2154
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_offboard_port_local
mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_offboard_port_local
ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1
+1 -2
View File
@@ -38,10 +38,9 @@ param set-default FW_P_LIM_MAX 25
param set-default FW_P_LIM_MIN -5
param set-default FW_R_LIM 30
param set-default FW_MAN_P_MAX 30.0
param set-default FW_MAN_R_MAX 30.0
param set-default FW_THR_CRUISE 0.8
param set-default FW_THR_TRIM 0.8
param set-default FW_THR_IDLE 0
param set-default COM_DISARM_PRFLT 0
ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_h480_ctrlalloc
+8 -2
View File
@@ -20,8 +20,14 @@ param set-default MC_ROLLRATE_I 0.0400
param set-default MC_ROLLRATE_D 0.0010
param set-default MC_ROLL_P 9.0
param set-default MPC_XY_VEL_I_ACC 4
param set-default MPC_XY_VEL_P_ACC 3
param set-default MC_PITCHRATE_P 0.0800
param set-default MC_PITCHRATE_I 0.0400
param set-default MC_PITCHRATE_D 0.0010
param set-default MC_PITCH_P 9.0
param set-default MC_ROLLRATE_P 0.0800
param set-default MC_ROLLRATE_I 0.0400
param set-default MC_ROLLRATE_D 0.0010
param set-default MC_ROLL_P 9.0
param set-default RTL_DESCEND_ALT 10
param set-default RTL_LAND_DELAY 0
ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
+9
View File
@@ -37,6 +37,9 @@ px4_add_romfs_files(
10018_iris_foggy_lidar
10019_omnicopter
10020_if750a
10020_if750a.post
10028_quadrotor_x
10029_hexarotor_x
10030_px4vision
10040_quadx
10041_airplane
@@ -56,6 +59,7 @@ px4_add_romfs_files(
1020_uuv_generic
1021_uuv_hippocampus
1022_uuv_bluerov2_heavy
1025_iris_depth_camera
1030_plane
1031_plane_cam
1032_plane_catapult
@@ -71,9 +75,14 @@ px4_add_romfs_files(
1042_tiltrotor
1043_standard_vtol_drop
1043_standard_vtol_drop.post
1058_standard_vtol_gimbal
1058_standard_vtol_gimbal.post
1059_tiltrotor_tri
1060_rover
1061_r1_rover
1062_tf-r1
1063_rover_gimbal
1063_rover_gimbal.post
1070_boat
3010_quadrotor_x
3011_hexarotor_x
ROMFS/px4fmu_common/init.d-posix/px4-rc.mavlink
+1
View File
@@ -24,6 +24,7 @@ mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
# API/Offboard link
mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote
mavlink stream -r 2 -s COMMAND_CANCEL -u $udp_offboard_port_local
# Onboard link to camera
mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
ROMFS/px4fmu_common/init.d-posix/rcS
+8
View File
@@ -30,6 +30,7 @@ set MIXER_FILE none
set OUTPUT_MODE sim
set EXTRA_MIXER_MODE none
set PWM_OUT none
set PWM_AUX_OUT none
set SDCARD_MIXERS_PATH etc/mixers
set USE_IO no
set VEHICLE_TYPE none
@@ -103,6 +104,7 @@ fi
# multi-instance setup
# shellcheck disable=SC2154
param set MAV_SYS_ID $((px4_instance+1))
param set MNT_MAV_SYSID $((px4_instance+1))
if [ $AUTOCNF = yes ]
then
@@ -255,6 +257,12 @@ then
gyro_calibration start
fi
# Payload deliverer module if gripper is enabled
if param compare -s PD_GRIPPER_EN 1
then
payload_deliverer start
fi
#user defined mavlink streams for instances can be in PATH
. px4-rc.mavlink
ROMFS/px4fmu_common/init.d/CMakeLists.txt
+2
View File
@@ -39,8 +39,10 @@ px4_add_romfs_files(
rc.balloon_apps
rc.balloon_defaults
rc.boat_defaults
rc.autostart_ext
rc.fw_apps
rc.fw_defaults
rc.heli_defaults
rc.interface
rc.logging
rc.mc_apps
ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil
-3
View File
@@ -29,9 +29,6 @@ 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_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_P 0.2
param set-default FW_RR_FF 0.6
ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery
-36
View File
@@ -1,36 +0,0 @@
#!/bin/sh
#
# @name Team Blacksheep Discovery
#
# @type Quadrotor Wide
# @class Copter
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
# @output MAIN5 feed-through of RC AUX1 channel
# @output MAIN6 feed-through of RC AUX2 channel
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
# @output AUX4 feed-through of RC FLAPS channel
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.mc_defaults
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_PITCHRATE_P 0.14
param set-default MC_PITCHRATE_I 0.1
param set-default MC_PITCHRATE_D 0.0025
param set-default MC_YAWRATE_P 0.28
set MIXER quad_w
ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris
-40
View File
@@ -1,40 +0,0 @@
#!/bin/sh
#
# @name 3DR Iris Quadrotor
#
# @type Quadrotor Wide
# @class Copter
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
# @output AUX4 feed-through of RC FLAPS channel
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.mc_defaults
# TODO tune roll/pitch separately
param set-default MC_ROLL_P 7
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_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 BAT1_V_DIV 12.27559
param set-default BAT1_A_PER_V 15.391030303103
set MIXER quad_w
ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance
-43
View File
@@ -1,43 +0,0 @@
#!/bin/sh
#
# @name Team Blacksheep Discovery Endurance
#
# @type Quadrotor Wide
# @class Copter
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
# @output MAIN5 feed-through of RC AUX1 channel
# @output MAIN6 feed-through of RC AUX2 channel
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
# @output AUX4 feed-through of RC FLAPS channel
#
# @maintainer Simon Wilks <simon@uaventure.com>
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.mc_defaults
param set-default BAT1_N_CELLS 6
param set-default BAT1_V_EMPTY 3.5
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_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 MPC_XY_VEL_MAX 2
param set-default PWM_MAIN_MIN 1080
set MIXER quad_w
ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
-1
View File
@@ -45,7 +45,6 @@ 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-default NAV_ACC_RAD 5
param set-default NAV_DLL_ACT 2
ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard
+11 -34
View File
@@ -1,22 +1,10 @@
#!/bin/sh
#
# @name Generic Quadplane VTOL
# @name Generic Standard VTOL
#
# @type Standard VTOL
# @class VTOL
#
# @maintainer
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
# @output AUX1 Aileron 1
# @output AUX2 Aileron 2
# @output AUX3 Elevator
# @output AUX4 Rudder
# @output AUX5 Throttle
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
# @board holybro_kakutef7 exclude
@@ -24,21 +12,21 @@
. ${R}etc/init.d/rc.vtol_defaults
param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 2
param set-default CA_ROTOR_COUNT 5
param set-default CA_ROTOR0_PX 0.15
param set-default CA_ROTOR0_PY 0.15
param set-default CA_ROTOR1_PX -0.15
param set-default CA_ROTOR1_PY -0.15
param set-default CA_ROTOR2_PX 0.15
param set-default CA_ROTOR2_PY -0.15
param set-default CA_ROTOR0_PX 1
param set-default CA_ROTOR0_PY 1
param set-default CA_ROTOR1_PX -1
param set-default CA_ROTOR1_PY -1
param set-default CA_ROTOR2_PX 1
param set-default CA_ROTOR2_PY -1
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.15
param set-default CA_ROTOR3_PY 0.15
param set-default CA_ROTOR3_PX -1
param set-default CA_ROTOR3_PY 1
param set-default CA_ROTOR3_KM -0.05
param set-default CA_ROTOR4_AX 1.0
param set-default CA_ROTOR4_AZ 0.0
param set-default CA_ROTOR4_PX 0.2
param set-default CA_SV_CS_COUNT 4
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS0_TRQ_R -0.5
@@ -48,16 +36,5 @@ param set-default CA_SV_CS2_TYPE 3
param set-default CA_SV_CS2_TRQ_P 1.0
param set-default CA_SV_CS3_TRQ_Y 1.0
param set-default CA_SV_CS3_TYPE 4
param set-default PWM_AUX_DIS5 950
param set-default VT_TYPE 2
param set-default VT_MOT_ID 1234
param set-default VT_FW_MOT_OFFID 1234
param set-default MAV_TYPE 22
set MIXER quad_x
set MIXER_AUX vtol_AAERT
set PWM_OUT 1234
ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol
-43
View File
@@ -1,43 +0,0 @@
#!/bin/sh
#
# @name Caipiroshka Duo Tailsitter
#
# @type VTOL Duo Tailsitter
# @class VTOL
#
# @output MAIN1 motor right
# @output MAIN2 motor left
# @output MAIN5 elevon right
# @output MAIN6 elevon left
#
# @maintainer Roman Bapst <roman@px4.io>
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
# @board holybro_kakutef7 exclude
#
. ${R}etc/init.d/rc.vtol_defaults
param set-default MAV_TYPE 19
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_PITCH_P 4.5
param set-default MC_PITCHRATE_P 0.3
param set-default MC_PITCHRATE_I 0.002
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 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 MIXER vtol_tailsitter_duo
set PWM_OUT 123456
ROMFS/px4fmu_common/init.d/airframes/13002_firefly6
-53
View File
@@ -1,53 +0,0 @@
#!/bin/sh
#
# @name BirdsEyeView Aerobotics FireFly6
# @type VTOL Tiltrotor
# @class VTOL
#
# @maintainer Roman Bapst <roman@uaventure.com>
#
# @output MAIN1 Front right motor bottom
# @output MAIN2 Front right motor top
# @output MAIN3 Back motor bottom
# @output MAIN4 Back motor top
# @output MAIN5 Front left motor bottom
# @output MAIN6 Front left motor top
# @output AUX1 Tilt servo
# @output AUX2 Elevon 1
# @output AUX3 Elevon 2
# @output AUX4 Gear
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.vtol_defaults
param set-default MAV_TYPE 21
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_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_YAW_P 4
param set-default MC_YAWRATE_P 0.22
param set-default MC_YAWRATE_I 0.02
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 MIXER firefly6
set MIXER_AUX firefly6
set PWM_OUT 12345678
ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad
+1 -1
View File
@@ -43,7 +43,7 @@ param set-default MPC_YAWRAUTO_MAX 40
param set-default FW_PR_I 0.02
param set-default FW_RR_FF 0.6
param set-default FW_RR_I 0.01
param set-default FW_THR_CRUISE 0.75
param set-default FW_THR_TRIM 0.75
param set-default VT_ARSP_BLEND 6
param set-default VT_ARSP_TRANS 12
ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger
-53
View File
@@ -1,53 +0,0 @@
#!/bin/sh
#
# @name QuadRanger
#
# @type Standard VTOL
# @class VTOL
#
# @maintainer Sander Smeets <sander@droneslab.com>
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.vtol_defaults
param set-default FW_THR_CRUISE 65
param set-default FW_RR_FF 0.6
param set-default MIS_YAW_TMT 10
param set-default MC_ROLL_P 7
param set-default MC_ROLLRATE_I 0.1
param set-default MC_ROLLRATE_D 0.004
param set-default MC_PITCH_P 7
param set-default MC_PITCHRATE_I 0.1
param set-default MC_PITCHRATE_D 0.004
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_MAX 40
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_Z_VEL_MAX_DN 1.5
param set-default MPC_LAND_SPEED 0.8
param set-default MPC_YAWRAUTO_MAX 40
param set-default PWM_AUX_DIS5 950
param set-default PWM_AUX_REV1 1
param set-default PWM_AUX_REV2 1
param set-default VT_ARSP_TRANS 15
param set-default VT_ARSP_BLEND 8
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 MIXER quad_x
set MIXER_AUX vtol_AAERT
set PWM_OUT 1234
ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger
-83
View File
@@ -1,83 +0,0 @@
#!/bin/sh
#
# @name Sparkle Tech Ranger VTOL
#
# @type Standard VTOL
# @class VTOL
#
# @maintainer Andreas Antener <andreas@uaventure.com>
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
# @board holybro_kakutef7 exclude
#
. ${R}etc/init.d/rc.vtol_defaults
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-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-default MIS_TAKEOFF_ALT 2.5
param set-default MIS_YAW_TMT 20
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-default NAV_ACC_RAD 3
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-default PWM_AUX_DIS5 950
param set-default VT_ARSP_TRANS 15
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 MIXER quad_x
set MIXER_AUX vtol_AAERT
set PWM_OUT 1234
ROMFS/px4fmu_common/init.d/airframes/13012_convergence
+1 -3
View File
@@ -34,8 +34,6 @@ 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_PSP_OFF 5
param set-default FW_P_LIM_MAX 30
param set-default FW_P_LIM_MIN -30
param set-default FW_RR_FF 0.33
param set-default FW_RR_P 0.11
@@ -74,4 +72,4 @@ then
set PWM_OUT 1234
else
set PWM_OUT 3456
fi
fi
ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
+1 -3
View File
@@ -53,9 +53,8 @@ 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_TRIM 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
@@ -90,7 +89,6 @@ 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
ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
+1 -3
View File
@@ -31,7 +31,6 @@ 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_MAN_P_MAX 30
param set-default FW_PSP_OFF 3
param set-default FW_P_LIM_MAX 18
param set-default FW_P_LIM_MIN -25
@@ -39,7 +38,7 @@ param set-default FW_RLL_TO_YAW_FF 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_TRIM 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
@@ -71,7 +70,6 @@ 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-default NAV_ACC_RAD 3
ROMFS/px4fmu_common/init.d/airframes/13100_generic_vtol_tiltrotor
+44
View File
@@ -0,0 +1,44 @@
#!/bin/sh
#
# @name Generic Tiltrotor VTOL
#
# @type VTOL Tiltrotor
# @class VTOL
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.vtol_defaults
param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 3
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 1
param set-default CA_ROTOR0_PY 1
param set-default CA_ROTOR0_TILT 2
param set-default CA_ROTOR1_PX -1
param set-default CA_ROTOR1_PY -1
param set-default CA_ROTOR2_PX 1
param set-default CA_ROTOR2_PY -1
param set-default CA_ROTOR2_TILT 1
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -1
param set-default CA_ROTOR3_PY 1
param set-default CA_ROTOR3_KM -0.05
param set-default CA_SV_CS_COUNT 4
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS1_TRQ_R 0.5
param set-default CA_SV_CS2_TYPE 7
param set-default CA_SV_CS2_TRQ_P 0.5
param set-default CA_SV_CS2_TRQ_Y 0.5
param set-default CA_SV_CS3_TYPE 8
param set-default CA_SV_CS3_TRQ_P 0.5
param set-default CA_SV_CS3_TRQ_Y -0.5
param set-default CA_SV_TL_COUNT 2
param set-default MAV_TYPE 21
param set-default VT_TYPE 1
ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter
+9 -21
View File
@@ -1,17 +1,10 @@
#!/bin/sh
#
# @name Generic Tailsitter
# @name Generic VTOL Tailsitter
#
# @type VTOL Duo Tailsitter
# @type VTOL Tailsitter
# @class VTOL
#
# @output MAIN1 motor right
# @output MAIN2 motor left
# @output MAIN5 elevon right
# @output MAIN6 elevon left
#
# @maintainer Roman Bapst <roman@px4.io>
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
# @board holybro_kakutef7 exclude
@@ -19,18 +12,13 @@
. ${R}etc/init.d/rc.vtol_defaults
param set-default MAV_TYPE 19
param set-default VT_ELEV_MC_LOCK 0
param set-default VT_MOT_COUNT 2
param set-default VT_TYPE 0
param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 4
param set-default CA_ROTOR_COUNT 2
param set-default CA_ROTOR0_KM -0.05
param set-default CA_ROTOR0_PY 0.2
param set-default CA_ROTOR1_KM -0.05
param set-default CA_ROTOR1_PY -0.2
param set-default CA_ROTOR0_PY -0.2
param set-default CA_ROTOR1_KM 0.05
param set-default CA_ROTOR1_PY 0.2
param set-default CA_SV_CS_COUNT 2
param set-default CA_SV_CS0_TRQ_P 0.5
param set-default CA_SV_CS0_TRQ_Y 0.5
@@ -39,6 +27,6 @@ param set-default CA_SV_CS1_TRQ_P 0.5
param set-default CA_SV_CS1_TRQ_Y -0.5
param set-default CA_SV_CS1_TYPE 6
set MIXER vtol_tailsitter_duo
set PWM_OUT 1234
param set-default MAV_TYPE 19
param set-default VT_TYPE 0
param set-default VT_ELEV_MC_LOCK 0
ROMFS/px4fmu_common/init.d/airframes/16001_helicopter
+7 -35
View File
@@ -1,54 +1,26 @@
#!/bin/sh
#
# @name Blade 130X
# @name Generic Helicopter (Tail ESC)
#
# @type Helicopter
# @class Copter
#
# @maintainer Bart Slinger <bartslinger@gmail.com>
#
# @output MAIN1 main motor
# @output MAIN2 front swashplate servo
# @output MAIN3 right swashplate servo
# @output MAIN4 left swashplate servo
# @output MAIN5 tail-rotor servo
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.mc_defaults
. ${R}etc/init.d/rc.heli_defaults
# Configure as helicopter (number 4 defined in commander_helper.cpp)
param set-default MAV_TYPE 4
set MIXER blade130
set PWM_OUT none
param set-default ATT_BIAS_MAX 0
param set-default CBRK_IO_SAFETY 22027
param set-default MC_ROLL_P 5
# Disable PID gains for initial setup. These should be enabled after setting the FF gain.
# P is expected to be lower than FF.
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_ROLLRATE_FF 0.1
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_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-default MC_PITCHRATE_FF 0.1
param set-default MPC_THR_MIN 0.06
param set-default MPC_MANTHR_MIN 0.06
param set-default PWM_MAIN_MIN 1075
param set-default CA_AIRFRAME 10
ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2
-51
View File
@@ -1,51 +0,0 @@
#!/bin/sh
#
# @name ThunderFly Auto-G2
#
# @type Autogyro
# @class Autogyro
#
# @output MAIN1 rotor_head_L
# @output MAIN2 rotor_head_R
# @output MAIN3 elevator
# @output MAIN4 rudder
# @output MAIN5 rudder (second, optional)
# @output MAIN6 throttle
# @output MAIN7 wheel
#
# @output AUX1 feed-through of RC AUX1 channel for prerotator (optional)
# @output AUX2 feed-through of RC AUX2 channel for release device (optional)
#
# @url https://github.com/ThunderFly-aerospace/Auto-G2/
# @maintainer ThunderFly s.r.o., Roman Dvorak <dvorakroman@thunderfly.cz>
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.fw_defaults
param set-default BAT1_CAPACITY 2500
param set-default BAT1_N_CELLS 3
param set-default PWM_AUX_RATE 50
param set-default PWM_MAIN_RATE 50
param set-default SENS_BOARD_ROT 8
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
ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2
-46
View File
@@ -1,46 +0,0 @@
#!/bin/sh
#
# @name ThunderFly TF-G2
#
# @type Autogyro
# @class Autogyro
#
# @output MAIN2 rotor_head_L
# @output MAIN3 rotor_head_R
# @output MAIN4 rudder
# @output MAIN5 throttle
#
#
# @url https://github.com/ThunderFly-aerospace/TF-G2/
# @maintainer ThunderFly s.r.o., Roman Dvorak <dvorakroman@thunderfly.cz>
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.fw_defaults
param set-default BAT1_CAPACITY 3300
param set-default BAT1_N_CELLS 3
param set-default PWM_AUX_RATE 50
param set-default PWM_MAIN_RATE 50
param set-default SENS_BOARD_ROT 4
param set-default FW_AIRSPD_MAX 20
param set-default FW_AIRSPD_MIN 7
param set-default FW_AIRSPD_TRIM 13
param set-default FW_THR_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
ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane
+2 -22
View File
@@ -1,28 +1,16 @@
#!/bin/sh
#
# @name Standard Plane
# @name Generic Standard Plane
#
# @type Standard Plane
# @class Plane
#
# @output MAIN1 aileron
# @output MAIN2 elevator
# @output MAIN3 throttle
# @output MAIN4 rudder
# @output MAIN5 flaps
# @output MAIN6 gear
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.fw_defaults
param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 1
param set-default CA_ROTOR_COUNT 1
param set-default CA_ROTOR0_PX 0.3
@@ -34,11 +22,3 @@ param set-default CA_SV_CS2_TRQ_P 1.0
param set-default CA_SV_CS2_TYPE 3
param set-default CA_SV_CS3_TRQ_Y 1.0
param set-default CA_SV_CS3_TYPE 4
param set-default PWM_AUX_RATE 50
param set-default PWM_MAIN_RATE 50
set MIXER AETRFG
# Rate must be set by group (see pwm info).
# Throttle is in the same group as servos.
ROMFS/px4fmu_common/init.d/airframes/2105_maja
-45
View File
@@ -1,45 +0,0 @@
#!/bin/sh
#
# @name Bormatec Maja
#
# @type Standard Plane
# @class Plane
#
# @output MAIN1 aileron
# @output MAIN2 aileron
# @output MAIN3 elevator
# @output MAIN4 rudder
# @output MAIN5 throttle
# @output MAIN6 wheel
# @output MAIN7 flaps
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
#
# @maintainer Andreas Antener <andreas@uaventure.com>
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.fw_defaults
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-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 MIXER AAERTWF
# use PWM parameters for throttle channel
set PWM_OUT 5
ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon
-48
View File
@@ -1,48 +0,0 @@
#!/bin/sh
#
# @name X-UAV Mini Talon
#
# @type Plane V-Tail
# @class Plane
#
# @output MAIN1 aileron right
# @output MAIN2 aileron left
# @output MAIN3 v-tail right
# @output MAIN4 v-tail left
# @output MAIN5 throttle
# @output MAIN6 wheel
# @output MAIN7 flaps right
# @output MAIN8 flaps left
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
#
# @maintainer Friedrich Beckmann <friedrich.beckmann@hs-augsburg.de>
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.fw_defaults
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-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
# The Mini Talon does not have a wheel and
# no flaps. I leave them here because the mixer
# computes also wheel and flap controls.
set MIXER AAVVTWFF_vtail
# use PWM parameters for throttle channel
set PWM_OUT 5
ROMFS/px4fmu_common/init.d/airframes/3000_generic_wing
+12 -11
View File
@@ -5,19 +5,20 @@
# @type Flying Wing
# @class Plane
#
# @output MAIN1 left aileron
# @output MAIN2 right aileron
# @output MAIN4 throttle
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
#
# @maintainer
#
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.fw_defaults
set MIXER fw_generic_wing
param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 1
param set-default CA_ROTOR_COUNT 1
param set-default CA_ROTOR0_PX 0.15
param set-default CA_SV_CS_COUNT 2
param set-default CA_SV_CS0_TYPE 5
param set-default CA_SV_CS0_TRQ_P 0.5
param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS1_TYPE 6
param set-default CA_SV_CS1_TRQ_P 0.5
param set-default CA_SV_CS1_TRQ_R 0.5
ROMFS/px4fmu_common/init.d/airframes/3031_phantom
-49
View File
@@ -1,49 +0,0 @@
#!/bin/sh
#
# @name Phantom FPV Flying Wing
#
# @url https://docs.px4.io/master/en/frames_plane/wing_wing_z84.html
#
# @type Flying Wing
# @class Plane
#
# @output MAIN1 left aileron
# @output MAIN2 right aileron
# @output MAIN4 throttle
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
#
# @maintainer Simon Wilks <simon@uaventure.com>
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.fw_defaults
param set-default FW_AIRSPD_MIN 13
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_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_RR_P 0.08
param set-default FW_R_LIM 50
param set-default FW_R_RMAX 50
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
set MIXER fw_generic_wing
# Provide ESC a constant 1000 us pulse
set PWM_OUT 4
ROMFS/px4fmu_common/init.d/airframes/3032_skywalker_x5
-40
View File
@@ -1,40 +0,0 @@
#!/bin/sh
#
# @name Skywalker X5 Flying Wing
#
# @type Flying Wing
# @class Plane
#
# @output MAIN1 left aileron
# @output MAIN2 right aileron
# @output MAIN4 throttle
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
#
# @maintainer Julian Oes <julian@px4.io>
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.fw_defaults
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_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
ROMFS/px4fmu_common/init.d/airframes/3033_wingwing
-48
View File
@@ -1,48 +0,0 @@
#!/bin/sh
#
# @name Wing Wing (aka Z-84) Flying Wing
#
# @url https://docs.px4.io/master/en/frames_plane/wing_wing_z84.html
#
# @type Flying Wing
# @class Plane
#
# @output MAIN1 left aileron
# @output MAIN2 right aileron
# @output MAIN4 throttle
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.fw_defaults
param set-default BAT1_N_CELLS 2
param set-default FW_AIRSPD_MAX 15
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_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
# Set mixer.
set MIXER fw_generic_wing
# Provide ESC a constant 1000 us pulse.
set PWM_OUT 4
ROMFS/px4fmu_common/init.d/airframes/3036_pigeon
-49
View File
@@ -1,49 +0,0 @@
#!/bin/sh
#
# @name Sparkle Tech Pigeon
#
# @url http://www.sparkletech.hk/
#
# @type Flying Wing
# @class Plane
#
# @output MAIN1 left aileron
# @output MAIN2 right aileron
# @output MAIN4 throttle
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
#
# @maintainer Simon Wilks <simon@uaventure.com>
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.fw_defaults
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_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_TC 0.3
param set-default FW_RR_FF 0.3
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-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
set MIXER fw_generic_wing
# Provide ESC a constant 1000 us pulse
set PWM_OUT 4
ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha
-61
View File
@@ -1,61 +0,0 @@
#!/bin/sh
#
# @name TBS Caipirinha
#
# @type Flying Wing
# @class Plane
#
# @output MAIN1 left aileron
# @output MAIN2 right aileron
# @output MAIN4 throttle
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.fw_defaults
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_PERIOD 15
param set-default FW_LND_ANG 15
param set-default FW_LND_FLALT 8
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_PR_FF 0.45
param set-default FW_PR_P 0.005
param set-default FW_RR_FF 0.45
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-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-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
set MIXER fw_generic_wing
set PWM_OUT 1234
ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
-1
View File
@@ -69,7 +69,6 @@ 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
ROMFS/px4fmu_common/init.d/airframes/4050_generic_250
-1
View File
@@ -26,7 +26,6 @@ param set-default MC_ROLLRATE_MAX 1600
param set-default MC_PITCHRATE_MAX 1600
param set-default MC_YAWRATE_MAX 1000
param set-default MPC_MANTHR_MIN 0
param set-default MPC_MAN_TILT_MAX 60
# use thrust curve factor (instead of TPA)
ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
+2 -31
View File
@@ -44,19 +44,12 @@ px4_add_romfs_files(
# [2000, 2999] Standard planes"
2100_standard_plane
2105_maja
2106_albatross
2200_mini_talon
2507_cloudship
# [3000, 3999] Flying wing"
3000_generic_wing
3031_phantom
3032_skywalker_x5
3033_wingwing
3036_pigeon
3100_tbs_caipirinha
# [4000, 4999] Quadrotor x"
4001_quad_x
@@ -67,8 +60,6 @@ px4_add_romfs_files(
4016_holybro_px4vision
4017_nxp_hovergames
4019_x500_v2
4030_3dr_solo
4031_3dr_quad
4040_reaper
4041_beta75x
4050_generic_250
@@ -77,11 +68,8 @@ px4_add_romfs_files(
4053_holybro_kopis2
4061_atl_mantis_edu
4071_ifo
4072_draco
4073_ifo-s
4080_zmr250
4090_nanomind
4100_tiltquadrotor
4500_clover4
4900_crazyflie
4901_crazyflie21
@@ -102,10 +90,6 @@ px4_add_romfs_files(
# [9000, 9999] Octorotor +"
9001_octo_+
# [10000, 10999] Quadrotor Wide arm / H frame"
10015_tbs_discovery
10016_3dr_iris
10018_tbs_endurance
# [11000, 11999] Hexa Cox
11001_hexa_cox
@@ -115,44 +99,31 @@ px4_add_romfs_files(
# [13000, 13999] VTOL
13000_generic_vtol_standard
13001_caipirinha_vtol
13002_firefly6
13003_quad_tailsitter
13004_quad+_tailsitter
13005_vtol_AAERT_quad
13006_vtol_standard_delta
13007_vtol_AAVVT_quad
13008_QuadRanger
13009_vtol_spt_ranger
13012_convergence
13100_generic_vtol_tiltrotor
13013_deltaquad
13014_vtol_babyshark
13030_generic_vtol_quad_tiltrotor
13050_generic_vtol_octo
13200_generic_vtol_tailsitter
# [14000, 14999] Tri Y
14001_tri_y_yaw+
14002_tri_y_yaw-
15001_coax_heli
16001_helicopter
# [17000, 17999] Autogyro
17002_TF-AutoG2
17003_TF-G2
# [18000, 18999] High-altitude balloons
18001_TF-B1
# [22000, 22999] Reserve for custom models
24001_dodeca_cox
50000_generic_ground_vehicle
50003_aion_robotics_r1_rover
50004_nxpcup_car_dfrobot_gpx
# [60000, 61000] (Unmanned) Underwater Robots
60000_uuv_generic
ROMFS/px4fmu_common/init.d/rc.fw_defaults
+1 -1
View File
@@ -14,7 +14,7 @@ param set-default MAV_TYPE 1
# Default parameters for fixed wing UAVs.
#
param set-default COM_POS_FS_DELAY 5
param set-default COM_POS_FS_EPH 15
param set-default COM_POS_FS_EPH 50
param set-default COM_POS_FS_EPV 30
param set-default COM_VEL_FS_EVH 5
# Disable preflight disarm to not interfere with external launching
ROMFS/px4fmu_common/init.d/rc.heli_defaults
+17
View File
@@ -0,0 +1,17 @@
#!/bin/sh
#
# Helicopter default parameters.
#
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
# Inherit from mc
. ${R}etc/init.d/rc.mc_defaults
param set-default MAV_TYPE 4
param set-default COM_PREARM_MODE 2
param set-default COM_SPOOLUP_TIME 10
# No need for minimum collective pitch (or airmode) to keep torque authority
param set-default MPC_MANTHR_MIN 0
ROMFS/px4fmu_common/init.d/rc.interface
+8 -5
View File
@@ -32,14 +32,17 @@ fi
#
# If mount (gimbal) control is enabled and output mode is AUX, set the aux
# mixer to mount (override the airframe-specific MIXER_AUX setting).
# mixer to mount if no other aux mixer has been set.
#
if param greater -s MNT_MODE_IN -1
then
if param compare -s MNT_MODE_OUT 0
then
set MIXER_AUX mount
fi
if param compare -s MNT_MODE_OUT 0
then
if [ $MIXER_AUX = none ]
then
set MIXER_AUX mount
fi
fi
fi
#
ROMFS/px4fmu_common/init.d/rc.sensors
+1 -5
View File
@@ -129,11 +129,7 @@ fi
# Sensirion SDP3X differential pressure sensor external I2C
if param compare -s SENS_EN_SDP3X 1
then
if ! sdp3x start -X
then
# try another common address
sdp3x start -X -a 0x22
fi
sdp3x start -X -k
fi
# TE MS4515 differential pressure sensor external I2C
ROMFS/px4fmu_common/init.d/rc.vtol_defaults
+12 -6
View File
@@ -10,6 +10,8 @@ set VEHICLE_TYPE vtol
# MAV_TYPE_VTOL_FIXEDROTOR 22
param set-default MAV_TYPE 22
param set-default COM_POS_FS_EPH 50
param set-default MIS_TAKEOFF_ALT 20
param set-default MIS_YAW_TMT 10
@@ -21,16 +23,20 @@ param set-default HTE_VXY_THR 2.0
param set-default MIS_DIST_WPS 5000
param set-default MPC_ACC_HOR_MAX 2
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_VEL_MANUAL 5
param set-default MPC_XY_CRUISE 5
param set-default MPC_XY_ERR_MAX 5
param set-default MPC_XY_VEL_MAX 4
param set-default MPC_Z_VEL_MAX_DN 1.5
param set-default MPC_XY_VEL_MAX 8
param set-default MPC_JERK_MAX 4.5
param set-default MPC_YAW_MODE 4
param set-default NAV_ACC_RAD 3
# reduce aggressiveness around roll and yaw axis,
# as VTOLs usually have high intertia and lot af drag due to wings
param set-default MC_ROLL_P 5
param set-default MC_ROLLRATE_MAX 120
param set-default MC_YAW_P 2
param set-default MC_YAWRATE_MAX 120
param set-default MPC_MAN_Y_MAX 90
param set-default PWM_AUX_RATE 50
param set-default PWM_MAIN_RATE 400
ROMFS/px4fmu_common/init.d/rcS
+52 -36
View File
@@ -107,6 +107,16 @@ then
fi
fi
# Check for an update
if [ -e /fs/microsd/new ]
then
echo "Updating external autostart files"
# FIXME: add NuttX support for recursive rm, then we can remove the
# directory (for now this is done during updating via MAVLink FTP)
#rm -r $SDCARD_EXT_PATH
mv /fs/microsd/new $SDCARD_EXT_PATH
fi
set PARAM_FILE /fs/microsd/params
fi
@@ -206,6 +216,26 @@ else
fi
unset BOARD_RC_DEFAULTS
#
# Set parameters and env variables for selected SYS_AUTOSTART.
#
set AUTOSTART_PATH etc/init.d/rc.autostart
if ! param compare SYS_AUTOSTART 0
then
if param greater SYS_AUTOSTART 1000000
then
# Use external startup file
if [ $SDCARD_AVAILABLE = yes ]
then
set AUTOSTART_PATH etc/init.d/rc.autostart_ext
else
echo "ERROR [init] SD card not mounted - trying to load airframe from ROMFS"
fi
fi
. ${R}$AUTOSTART_PATH
fi
unset AUTOSTART_PATH
#
# Start the tone_alarm driver.
# Needs to be started after the parameters are loaded (for CBRK_BUZZER).
@@ -243,26 +273,6 @@ else
rgbled start -X -q
rgbled_ncp5623c start -X -q
#
# Set parameters and env variables for selected AUTOSTART.
#
set AUTOSTART_PATH etc/init.d/rc.autostart
if ! param compare SYS_AUTOSTART 0
then
if param greater SYS_AUTOSTART 1000000
then
# Use external startup file
if [ $SDCARD_AVAILABLE = yes ]
then
set AUTOSTART_PATH etc/init.d/rc.autostart_ext
else
echo "ERROR [init] SD card not mounted - trying to load airframe from ROMFS"
fi
fi
. ${R}$AUTOSTART_PATH
fi
unset AUTOSTART_PATH
#
# Override parameters from user configuration file.
#
@@ -303,7 +313,7 @@ else
then
# Check for the mini using build with px4io fw file
# but not a px4IO
if ver hwtypecmp V540 V560
if ver hwtypecmp V5004000 V5006000
then
param set SYS_USE_IO 0
else
@@ -399,6 +409,21 @@ else
commander start
fi
# PPS capture driver (before pwm_out)
if param greater -s PPS_CAP_ENABLE 0
then
pps_capture start
fi
# Camera capture driver (before pwm_out)
if param greater -s CAM_CAP_FBACK 0
then
if camera_capture start
then
camera_capture on
fi
fi
#
# Configure vehicle type specific parameters.
# Note: rc.vehicle_setup is the entry point for rc.interface,
@@ -441,21 +466,6 @@ else
rc_input start $RC_INPUT_ARGS
fi
# PPS capture driver (before pwm_out)
if param greater -s PPS_CAP_ENABLE 0
then
pps_capture start
fi
# Camera capture driver (before pwm_out)
if param greater -s CAM_CAP_FBACK 0
then
if camera_capture start
then
camera_capture on
fi
fi
#
# Play the startup tune (if not disabled or there is an error)
#
@@ -505,6 +515,12 @@ else
px4flow start -X &
fi
# Payload deliverer module if gripper is enabled
if param compare -s PD_GRIPPER_EN 1
then
payload_deliverer start
fi
#
# Optional board supplied extras: rc.board_extras
#
ROMFS/px4fmu_common/mixers-sitl/CMakeLists.txt
+1
View File
@@ -39,5 +39,6 @@ px4_add_romfs_files(
quad_x_vtol.main.mix
standard_vtol_sitl.main.mix
tiltrotor_sitl.main.mix
tiltrotor_tri_sitl.main.mix
uuv_x_sitl.main.mix
)
ROMFS/px4fmu_common/mixers-sitl/tiltrotor_tri_sitl.main.mix
+38
View File
@@ -0,0 +1,38 @@
Mixer for quad tiltrotor (x motor configuration)
================================================
This file defines a single mixer for a tiltrotor (SITL gazebo) with motors in X configuration. The plane has two ailerons and one elevator.
R: 3y 10000 10000 10000 0
# tilt servo motor 1 (right)
M: 2
O: 10000 10000 0 -10000 10000
S: 1 8 0 20000 -10000 -10000 10000
S: 0 2 -10000 -10000 0 -10000 10000
# tilt servo motor 2 (left)
M: 2
O: 10000 10000 0 -10000 10000
S: 1 8 0 20000 -10000 -10000 10000
S: 0 2 10000 10000 0 -10000 10000
# tilt servo motor 3 (rear)
-------------
M: 1
S: 1 8 0 20000 -10000 -10000 10000
# mixer for the left aileron
M: 1
O: 10000 10000 0 -10000 10000
S: 1 0 -10000 -10000 0 -10000 10000
# mixer for the right aileron
M: 1
O: 10000 10000 0 -10000 10000
S: 1 0 10000 10000 0 -10000 10000
# mixer for the elevator
M: 1
O: 10000 10000 0 -10000 10000
S: 1 1 10000 10000 0 -10000 10000
ROMFS/px4fmu_common/mixers/CCPM.main.mix
-48
View File
@@ -1,48 +0,0 @@
Helicopter 120 degree Cyclic-Collective-Pitch Mixing (CCPM) for PX4FMU
==================================================
Output 0 - Rear Servo Mixer
----------------
Rear Servo = Collective (Thrust - 3) + Elevator (Pitch - 1)
M: 2
S: 0 3 10000 10000 0 -10000 10000
S: 0 1 10000 10000 0 -10000 10000
Output 1 - Left Servo Mixer
-----------------
Left Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) + 0.866 * Aileron (Roll - 0)
M: 3
S: 0 3 -10000 -10000 0 -10000 10000
S: 0 1 -5000 -5000 0 -10000 10000
S: 0 0 8660 8660 0 -10000 10000
Output 2 - Right Servo Mixer
----------------
Right Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) - 0.866 * Aileron (Roll - 0)
M: 3
S: 0 3 -10000 -10000 0 -10000 10000
S: 0 1 -5000 -5000 0 -10000 10000
S: 0 0 -8660 -8660 0 -10000 10000
Output 3 - Tail Servo Mixer
----------------
Tail Servo = Yaw (control index = 2)
M: 1
S: 0 2 10000 10000 0 -10000 10000
Output 4 - Motor speed mixer
-----------------
This would be the motor speed control output from governor power demand- not sure what index to use here?
M: 1
S: 0 4 0 20000 -10000 -10000 10000
ROMFS/px4fmu_common/mixers/CMakeLists.txt
-8
View File
@@ -38,16 +38,11 @@ px4_add_romfs_files(
AERT.main.mix
AETRFG.main.mix
babyshark.main.mix
blade130.main.mix
CCPM.main.mix
cloudship.main.mix
coax.main.mix
delta.main.mix
deltaquad.main.mix
dodeca_bottom_cox.aux.mix
dodeca_top_cox.main.mix
firefly6.aux.mix
firefly6.main.mix
fw_generic_wing.main.mix
generic_diff_rover.main.mix
hexa_cox.main.mix
@@ -74,7 +69,6 @@ px4_add_romfs_files(
rover_diff_and_servo.main.mix
rover_generic.main.mix
standard_vtol_hitl.main.mix
TF-AutoG2.main.mix
tilt_quad.aux.mix
tilt_quad.main.mix
tri_y_yaw+.main.mix
@@ -84,8 +78,6 @@ px4_add_romfs_files(
vtol_AAERT.aux.mix
vtol_AAVVT.aux.mix
vtol_TTTTAAER.aux.mix
vtol_convergence.main.mix
vtol_delta.aux.mix
vtol_tailsitter_duo.main.mix
vtol_tailsitter_duo_sat.main.mix
)
ROMFS/px4fmu_common/mixers/TF-AutoG2.main.mix
-56
View File
@@ -1,56 +0,0 @@
Aileron/rudder/elevator/throttle mixer for PX4FMU
==================================================
# @board px4_fmu-v2 exclude
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
(roll), 1 (pitch) and 3 (thrust).
CH1, 2: rotor-head mixer
-------------
Two scalers total (output, roll).
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 -10000 -10000 0 -10000 10000
S: 0 1 10000 10000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 -10000 -10000 0 -10000 10000
S: 0 1 -10000 -10000 0 -10000 10000
CH3: Elevator, prerotator mixer
------------
Two scalers total (output, roll).
M: 1
O: 7500 7500 0 -10000 10000
S: 3 6 10000 10000 0 -10000 10000
CH4, 5: Rudder mixer
------------
Two scalers total (output, yaw).
M: 1
S: 0 2 10000 10000 0 -10000 10000
M: 1
S: 0 2 -10000 -10000 0 -10000 10000
CH4: Motor speed mixer
-----------------
Two scalers total (output, thrust).
M: 1
S: 0 3 0 20000 -10000 -10000 10000
CH3: Wheel mixer
------------
Two scalers total (output, yaw).
M: 1
S: 0 2 10000 10000 0 -10000 10000
ROMFS/px4fmu_common/mixers/TF-G2.main.mix
-40
View File
@@ -1,40 +0,0 @@
TF-G2 autogyro mixer
==================================================
# @board px4_fmu-v2 exclude
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
(roll), 1 (pitch) and 3 (thrust).
CH1: empty - fixing cuav nano jittering of 1st output.
Z:
CH2, 3: rotor-head mixer
-------------
Two scalers total (output, roll).
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 -10000 -10000 0 -10000 10000
S: 0 1 10000 10000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 -10000 -10000 0 -10000 10000
S: 0 1 -10000 -10000 0 -10000 10000
CH4: Rudder mixer
------------
Two scalers total (output, yaw).
M: 1
S: 0 2 10000 10000 0 -10000 10000
CH5: Motor speed mixer
-----------------
Two scalers total (output, thrust).
M: 1
S: 0 3 0 20000 -10000 -10000 10000
ROMFS/px4fmu_common/mixers/blade130.main.mix
-15
View File
@@ -1,15 +0,0 @@
Helicopter Cyclic-Collective-Pitch Mixing (CCPM) for PX4FMU
Blade 130x helicopter has longer servo arms left and right. The front servo arm is shortest and has normalized length 10000.
==================================================
H: 3
T: 0 3000 6000 8000 10000
P: 500 1500 2500 3500 4500
# Swash plate servos:
S: 0 10000 10000 0 -8000 8000
S: 140 13054 10000 0 -8000 8000
S: 220 13054 10000 0 -8000 8000
# Tail servo:
M: 1
S: 0 2 10000 10000 0 -10000 10000
ROMFS/px4fmu_common/mixers/coax.main.mix
-29
View File
@@ -1,29 +0,0 @@
Coaxial helicopter mixer
- Two servomotors act on the swashplate (90 degree angle on the swashplate, decoupled effect on roll and pitch).
- No collective pitch.
- One motor per rotor.
===========================
Left swashplate servomotor, pitch axis
-------------
M: 1
S: 0 1 -10000 -10000 0 -10000 10000
Right swashplate servomotor, roll axis
-------------
M: 1
S: 0 0 10000 10000 0 -10000 10000
Upper rotor (CCW)
Mixing between yaw and thrust
-------------
M: 2
S: 0 2 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
Lower rotor (CW)
Mixing between yaw and thrust
-------------
M: 2
S: 0 2 -10000 -10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
ROMFS/px4fmu_common/mixers/firefly6.aux.mix
-24
View File
@@ -1,24 +0,0 @@
# mixer for the FireFly6 tilt mechansim servo, elevons and landing gear
=======================================================================
# @board px4_fmu-v2 exclude
Tilt mechanism servo mixer
---------------------------
M: 1
S: 1 8 0 20000 -10000 -10000 10000
Elevon mixers
-------------
M: 2
S: 1 0 7500 7500 0 -10000 10000
S: 1 1 8000 8000 0 -10000 10000
M: 2
S: 1 0 7500 7500 0 -10000 10000
S: 1 1 -8000 -8000 0 -10000 10000
Landing gear mixer
------------------
M: 1
S: 3 6 10000 10000 0 -10000 10000
ROMFS/px4fmu_common/mixers/firefly6.main.mix
-6
View File
@@ -1,6 +0,0 @@
# FireFly6 mixer for PX4FMU
#
#===========================
# @board px4_fmu-v2 exclude
R: 6c
ROMFS/px4fmu_common/mixers/vtol_tailsitter_duo_sat.main.mix
-39
View File
@@ -1,39 +0,0 @@
Tailsitter duo mixer
============================
This file defines a mixer for a generic duo tailsitter VTOL (eg TBS Caipirinha tailsitter edition). This vehicle
has two motors in total, one attached to each wing. It also has two elevons which
are located in the slipstream of the propellers. This mixer generates 4 PWM outputs
on the main PWM ouput port, two at 400Hz for the motors, and two at 50Hz for the
elevon servos. Channels 1-4 are configured to run at 400Hz, while channels 5-8 run
at the default rate of 50Hz. Note that channels 3 and 4 are assigned but not used.
Motor mixer
------------
Channel 1 connects to the right (starboard) motor.
Channel 2 connects to the left (port) motor.
R: 2-
Zero mixer (2x)
---------------
Channels 3,4 are unused.
Z:
Z:
Elevons mixer
--------------
Channel 5 connects to the right (starboard) elevon.
Channel 6 connects to the left (port) elevon.
Here we saturate the elevons before their full range
to avoid roll-pitch-yaw coupling during faster maneuvers
M: 2
S: 1 0 10000 10000 0 -6000 6000
S: 1 1 10000 10000 0 -6000 6000
M: 2
S: 1 0 10000 10000 0 -6000 6000
S: 1 1 -10000 -10000 0 -6000 6000
ROMFS/recovery/CMakeLists.txt
+34
View File
@@ -0,0 +1,34 @@
############################################################################
#
# Copyright (c) 2020 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
add_subdirectory(init.d)
ROMFS/recovery/init.d/CMakeLists.txt
+36
View File
@@ -0,0 +1,36 @@
############################################################################
#
# Copyright (c) 2020 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_romfs_files(
rcS
)
ROMFS/recovery/init.d/rcS
+75
View File
@@ -0,0 +1,75 @@
#!/bin/sh
# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
set +e
# Un comment the line below to help debug scripts by printing a trace of the script commands
#set -x
# PX4FMU startup script.
#
# NOTE: environment variable references:
# If the dollar sign ('$') is followed by a left bracket ('{') then the
# variable name is terminated with the right bracket character ('}').
# Otherwise, the variable name goes to the end of the argument.
#
#
# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
#
#------------------------------------------------------------------------------
set R /
#
# Start CDC/ACM serial driver.
#
sercon
#
# Print full system version.
#
ver all
#
# Set the parameter file the board supports params on
# MTD device.
#
if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
then
set PARAM_FILE /fs/mtd_params
fi
#
# Load parameters.
#
# if the board has a storage for (factory) calibration data
if mft query -q -k MTD -s MTD_CALDATA -v /fs/mtd_caldata
then
param load /fs/mtd_caldata
fi
#
# Load parameters.
#
param select $PARAM_FILE
if ! param load
then
param reset_all
fi
#
# board mavlink: rc.mavlink
#
set BOARD_RC_MAVLINK ${R}etc/init.d/rc.board_mavlink
if [ -f $BOARD_RC_MAVLINK ]
then
echo "Board sensors: ${BOARD_RC_MAVLINK}"
. $BOARD_RC_MAVLINK
fi
unset BOARD_RC_MAVLINK
unset R
mavlink boot_complete
echo ""
echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"
echo "!!!!!! This is the RECOVERY firmware! WARNs and ERRORs are expected! !!!!!"
echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"
echo ""