From f0b476bcba940a021a624132e8cc6187a208b223 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Tue, 16 May 2023 11:09:51 +0200 Subject: [PATCH] ROMFS: set default for VT_B_TRANS_DUR for all tailsitter configs to 5s 5s is a more reasobale time for tailsitters, which rely differently on this param than other VTOL types. Tailsitters will ramp the pitch up withing this time, while for other VTOLS types its only the max transitiont time. Signed-off-by: Silvan Fuhrer --- ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert | 1 + .../init.d-posix/airframes/1045_gazebo-classic_quadtailsitter | 1 + ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil | 1 + .../px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter | 1 + 4 files changed, 4 insertions(+) diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert b/ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert index c98cc5c8ed..2782817873 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert @@ -17,6 +17,7 @@ param set-default SENS_EN_GPSSIM 1 param set-default SENS_EN_BAROSIM 1 param set-default SENS_EN_MAGSIM 1 +param set-default VT_B_TRANS_DUR 5 param set-default VT_ELEV_MC_LOCK 0 param set-default VT_TYPE 0 param set-default VT_FW_DIFTHR_EN 1 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1045_gazebo-classic_quadtailsitter b/ROMFS/px4fmu_common/init.d-posix/airframes/1045_gazebo-classic_quadtailsitter index df51ca68be..87afb523b1 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1045_gazebo-classic_quadtailsitter +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1045_gazebo-classic_quadtailsitter @@ -65,6 +65,7 @@ param set-default MC_ROLLRATE_P 0.3 param set-default MC_PITCHRATE_P 0.3 param set-default VT_ARSP_TRANS 15 +param set-default VT_B_TRANS_DUR 5 param set-default VT_FW_DIFTHR_EN 7 param set-default VT_FW_DIFTHR_S_Y 1 param set-default VT_F_TRANS_DUR 1.5 diff --git a/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil b/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil index cbb41cccd5..d47d11545b 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil +++ b/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil @@ -20,6 +20,7 @@ param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters param set UAVCAN_ENABLE 0 +param set-default VT_B_TRANS_DUR 5 param set-default VT_ELEV_MC_LOCK 0 param set-default VT_MOT_COUNT 2 param set-default VT_TYPE 0 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter b/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter index fccaee8cf5..2424a72d0a 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter +++ b/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter @@ -31,3 +31,4 @@ param set-default CA_SV_CS1_TYPE 6 param set-default MAV_TYPE 19 param set-default VT_TYPE 0 param set-default VT_ELEV_MC_LOCK 0 +param set-default VT_B_TRANS_DUR 5