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wip: squashed patch

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This commit is contained in:
Thomas Stastny
2022-12-19 13:12:42 +01:00
parent 283aad01fd
commit ebe0a4095c
659 changed files with 23727 additions and 8530 deletions
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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
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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/1035_techpod
-1
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@@ -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
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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
@@ -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
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@@ -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
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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/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
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@@ -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
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@@ -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