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ROMFS: remove default params from configs

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Remove params from airframe configs that are just set again
to the param default value or to the value that is
specified in the mc_default, fw_default or vtol_default.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-10-07 00:12:37 +02:00
committed by Daniel Agar
parent 393f59ae71
commit fb8bf7eaa6
82 changed files with 12 additions and 395 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/px4fmu_common/init.d-posix/airframes/10018_iris_foggy_lidar
-1
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@@ -7,6 +7,5 @@
. ${R}etc/init.d-posix/airframes/10016_iris
param set-default EKF2_RNG_AID 1
param set-default EKF2_RNG_A_HMAX 10
ROMFS/px4fmu_common/init.d-posix/airframes/1020_uuv_generic
-1
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@@ -6,7 +6,6 @@
. ${R}etc/init.d/rc.uuv_defaults
#Set data link loss failsafe mode (0: disabled)
param set-default NAV_DLL_ACT 0
# disable circuit breaker for airspeed sensor
param set-default CBRK_AIRSPD_CHK 162128
ROMFS/px4fmu_common/init.d-posix/airframes/1021_uuv_hippocampus
-1
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@@ -6,7 +6,6 @@
. ${R}etc/init.d/rc.uuv_defaults
#Set data link loss failsafe mode (0: disabled)
param set-default NAV_DLL_ACT 0
# disable circuit breaker for airspeed sensor
param set-default CBRK_AIRSPD_CHK 162128
ROMFS/px4fmu_common/init.d-posix/airframes/1022_uuv_bluerov2_heavy
-1
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@@ -6,7 +6,6 @@
. ${R}etc/init.d/rc.uuv_defaults
#Set data link loss failsafe mode (0: disabled)
param set-default NAV_DLL_ACT 0
# disable circuit breaker for airspeed sensor
param set-default CBRK_AIRSPD_CHK 162128
ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane
-4
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@@ -5,8 +5,6 @@
. ${R}etc/init.d/rc.fw_defaults
param set-default EKF2_ARSP_THR 8
param set-default EKF2_FUSE_BETA 1
param set-default EKF2_MAG_ACCLIM 0
param set-default EKF2_MAG_YAWLIM 0
@@ -18,7 +16,6 @@ param set-default FW_L1_PERIOD 12
param set-default FW_MAN_P_MAX 30
param set-default FW_PR_I 0.4
param set-default FW_PR_P 0.9
param set-default FW_PR_FF 0.2
param set-default FW_PSP_OFF 2
@@ -46,7 +43,6 @@ param set-default MIS_TAKEOFF_ALT 30
param set-default NAV_ACC_RAD 15
param set-default NAV_DLL_ACT 2
param set-default NAV_LOITER_RAD 50
param set-default RWTO_TKOFF 1
ROMFS/px4fmu_common/init.d-posix/airframes/1033_rascal
-5
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@@ -5,9 +5,6 @@
. ${R}etc/init.d/rc.fw_defaults
param set-default EKF2_ARSP_THR 8
param set-default EKF2_FUSE_BETA 1
param set-default FW_LND_AIRSPD_SC 1.1
param set-default FW_LND_ANG 5
param set-default FW_THR_LND_MAX 0
@@ -19,7 +16,6 @@ param set-default FW_LND_TLALT 15
param set-default FW_L1_PERIOD 25
param set-default FW_P_TC 0.4
param set-default FW_PR_FF 0.40
param set-default FW_PR_I 0.05
param set-default FW_PR_P 0.05
@@ -38,7 +34,6 @@ param set-default MIS_DIST_WPS 10000
param set-default NAV_ACC_RAD 15
param set-default NAV_DLL_ACT 2
param set-default NAV_LOITER_RAD 50
param set-default RWTO_TKOFF 1
ROMFS/px4fmu_common/init.d-posix/airframes/1034_rascal-electric
-5
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@@ -5,9 +5,6 @@
. ${R}etc/init.d/rc.fw_defaults
param set-default EKF2_ARSP_THR 8
param set-default EKF2_FUSE_BETA 1
param set-default FW_LND_AIRSPD_SC 1.1
param set-default FW_LND_ANG 5
param set-default FW_THR_LND_MAX 0
@@ -19,7 +16,6 @@ param set-default FW_LND_TLALT 15
param set-default FW_L1_PERIOD 25
param set-default FW_P_TC 0.4
param set-default FW_PR_FF 0.40
param set-default FW_PR_I 0.05
param set-default FW_PR_P 0.05
@@ -38,7 +34,6 @@ param set-default MIS_DIST_WPS 10000
param set-default NAV_ACC_RAD 15
param set-default NAV_DLL_ACT 2
param set-default NAV_LOITER_RAD 50
param set-default RWTO_TKOFF 1
ROMFS/px4fmu_common/init.d-posix/airframes/1035_techpod
-3
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@@ -5,8 +5,6 @@
. ${R}etc/init.d/rc.fw_defaults
param set-default EKF2_ARSP_THR 8
param set-default EKF2_FUSE_BETA 1
param set-default EKF2_MAG_ACCLIM 0
param set-default EKF2_MAG_YAWLIM 0
@@ -35,7 +33,6 @@ param set-default MIS_TAKEOFF_ALT 30
param set-default NAV_ACC_RAD 15
param set-default NAV_DLL_ACT 2
param set-default NAV_LOITER_RAD 50
param set-default RWTO_TKOFF 1
ROMFS/px4fmu_common/init.d-posix/airframes/1036_malolo
-5
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@@ -5,9 +5,6 @@
. ${R}etc/init.d/rc.fw_defaults
param set-default EKF2_ARSP_THR 8
param set-default EKF2_FUSE_BETA 1
param set-default FW_LND_AIRSPD_SC 1.1
param set-default FW_LND_ANG 5
param set-default FW_THR_LND_MAX 0
@@ -19,7 +16,6 @@ param set-default FW_LND_TLALT 15
param set-default FW_L1_PERIOD 25
param set-default FW_P_TC 0.4
param set-default FW_PR_FF 0.40
param set-default FW_PR_I 0.05
param set-default FW_PR_P 0.05
@@ -38,7 +34,6 @@ param set-default MIS_DIST_WPS 10000
param set-default NAV_ACC_RAD 15
param set-default NAV_DLL_ACT 2
param set-default NAV_LOITER_RAD 50
param set-default RWTO_TKOFF 1
param set-default RWTO_MAX_PITCH 20
ROMFS/px4fmu_common/init.d-posix/airframes/1037_believer
-4
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@@ -5,8 +5,6 @@
. ${R}etc/init.d/rc.fw_defaults
param set-default EKF2_ARSP_THR 8
param set-default EKF2_FUSE_BETA 1
param set-default EKF2_MAG_ACCLIM 0
param set-default EKF2_MAG_YAWLIM 0
@@ -18,7 +16,6 @@ param set-default FW_L1_PERIOD 12
param set-default FW_MAN_P_MAX 30
param set-default FW_PR_I 0.4
param set-default FW_PR_P 0.9
param set-default FW_PR_FF 0.2
param set-default FW_PSP_OFF 2
@@ -46,7 +43,6 @@ param set-default MIS_TAKEOFF_ALT 30
param set-default NAV_ACC_RAD 15
param set-default NAV_DLL_ACT 2
param set-default NAV_LOITER_RAD 50
param set-default RWTO_TKOFF 1
ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol
-1
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@@ -10,7 +10,6 @@
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_I 0.4
param set-default FW_PR_P 0.9
param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MAX 32
ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor
-1
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@@ -10,7 +10,6 @@
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_I 0.4
param set-default FW_PR_P 0.9
param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MAX 32
ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop
-1
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@@ -10,7 +10,6 @@
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_I 0.4
param set-default FW_PR_P 0.9
param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MAX 32
ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1
-10
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@@ -12,21 +12,12 @@
. ${R}etc/init.d/rc.fw_defaults
param set-default EKF2_ARSP_THR 8
param set-default EKF2_FUSE_BETA 1
param set-default FW_AIRSPD_STALL 8
param set-default FW_P_RMAX_NEG 20.0
param set-default FW_P_RMAX_POS 60.0
param set-default FW_W_RMAX 10
param set-default FW_W_EN 1
param set-default FW_PR_IMAX 0.4
param set-default FW_R_TC 0.4
param set-default FW_RR_FF 0.5
param set-default FW_RR_I 0.1
param set-default FW_RR_IMAX 0.2
param set-default FW_RR_P 0.08
param set-default MIS_LTRMIN_ALT 50
@@ -42,7 +33,6 @@ param set-default FW_ARSP_SCALE_EN 0
param set-default FW_AIRSPD_MAX 35
param set-default FW_AIRSPD_MIN 7
param set-default FW_AIRSPD_TRIM 15
param set-default FW_P_LIM_MAX 25
param set-default FW_P_LIM_MIN -5
ROMFS/px4fmu_common/init.d-posix/airframes/3011_hexarotor_x
-1
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@@ -12,7 +12,6 @@
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
ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil
-5
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@@ -30,17 +30,12 @@ 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_HHDIST 15
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_I 0.1
param set-default FW_PR_IMAX 0.4
param set-default FW_PR_P 0.2
param set-default FW_RR_FF 0.6
param set-default FW_RR_I 0.1
param set-default FW_RR_IMAX 0.2
param set-default FW_RR_P 0.3
param set-default RWTO_TKOFF 1
ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery
+1 -6
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@@ -25,19 +25,14 @@
. ${R}etc/init.d/rc.mc_defaults
param set-default MC_ROLL_P 6.5
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_PITCH_P 6.5
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_YAW_P 2.8
param set-default MC_YAWRATE_P 0.28
param set-default MC_YAWRATE_I 0.1
param set-default MC_YAWRATE_D 0
set MIXER quad_w
set PWM_OUT 1234
ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris
-3
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@@ -26,17 +26,14 @@
# TODO tune roll/pitch separately
param set-default MC_ROLL_P 7
param set-default MC_ROLLRATE_P 0.15
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_P 0.15
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 MC_YAWRATE_D 0
param set-default BAT1_V_DIV 12.27559
param set-default BAT1_A_PER_V 15.39103
ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d
-3
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@@ -37,9 +37,6 @@ param set-default MC_PITCHRATE_P 0.19
param set-default MC_PITCHRATE_I 0.05
param set-default MC_PITCHRATE_D 0.004
param set-default MC_YAW_P 4
param set-default MC_YAWRATE_P 0.2
param set-default MC_YAWRATE_I 0.1
param set-default MC_YAWRATE_D 0
set MIXER quad_w
set PWM_OUT 1234
ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance
-5
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@@ -32,15 +32,10 @@ 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_ROLLRATE_D 0.003
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 MC_YAW_P 2.8
param set-default MC_YAWRATE_P 0.2
param set-default MC_YAWRATE_I 0.1
param set-default MC_YAWRATE_D 0
param set-default MPC_XY_VEL_MAX 2
ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
-2
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@@ -18,10 +18,8 @@ param set-default BAT1_N_CELLS 3
param set-default COM_RC_IN_MODE 1
param set-default EKF2_AID_MASK 1
param set-default EKF2_ANGERR_INIT 0.01
param set-default EKF2_GBIAS_INIT 0.01
param set-default EKF2_HGT_MODE 0
param set-default EKF2_MAG_TYPE 1
param set-default FW_AIRSPD_MAX 25
ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik
-3
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@@ -36,9 +36,6 @@ param set-default MC_ROLLRATE_D 0.009
param set-default MC_ROLLRATE_MAX 180
param set-default MC_YAW_P 3
param set-default MC_YAWRATE_P 0.2
param set-default MC_YAWRATE_I 0.1
param set-default MC_YAWRATE_D 0
param set-default MPC_HOLD_MAX_XY 0.25
param set-default MPC_THR_MIN 0.15
ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard
-1
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@@ -25,7 +25,6 @@
param set-default PWM_AUX_DIS5 950
param set-default PWM_MAIN_RATE 400
param set-default VT_TYPE 2
param set-default VT_MOT_ID 1234
ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol
-6
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@@ -24,20 +24,14 @@ 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_ROLLRATE_D 0.003
param set-default MC_ROLLRATE_FF 0
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_PITCHRATE_D 0.003
param set-default MC_PITCHRATE_FF 0
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 MC_YAWRATE_D 0
param set-default MC_YAWRATE_FF 0
param set-default VT_IDLE_PWM_MC 1080
param set-default VT_ELEV_MC_LOCK 0
ROMFS/px4fmu_common/init.d/airframes/13002_firefly6
-6
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@@ -28,19 +28,13 @@ 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_ROLLRATE_FF 0
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_PITCHRATE_FF 0
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 MC_YAWRATE_D 0
param set-default MC_YAWRATE_FF 0
param set-default PWM_MAIN_RATE 400
param set-default VT_FW_MOT_OFFID 34
param set-default VT_IDLE_PWM_MC 1080
ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter
-2
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@@ -15,12 +15,10 @@
param set-default PWM_MAIN_MAX 2000
param set-default PWM_MAIN_RATE 400
param set-default VT_MOT_ID 1234
param set-default VT_IDLE_PWM_MC 1080
param set-default VT_TYPE 0
param set-default VT_ELEV_MC_LOCK 1
set MAV_TYPE 20
set MIXER quad_x_vtol
ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter
-2
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@@ -24,11 +24,9 @@
param set-default PWM_MAIN_MAX 2000
param set-default PWM_MAIN_RATE 400
param set-default VT_IDLE_PWM_MC 1080
param set-default VT_TYPE 0
param set-default VT_ELEV_MC_LOCK 1
set MAV_TYPE 20
set MIXER quad_+_vtol
ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad
-11
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@@ -26,35 +26,24 @@
param set-default PWM_AUX_DIS5 950
param set-default PWM_MAIN_RATE 400
param set-default MC_ROLL_P 6
param set-default MC_ROLLRATE_P 0.17
param set-default MC_ROLLRATE_I 0.002
param set-default MC_ROLLRATE_D 0.004
param set-default MC_ROLLRATE_FF 0
param set-default MC_PITCH_P 6
param set-default MC_PITCHRATE_P 0.19
param set-default MC_PITCHRATE_I 0.002
param set-default MC_PITCHRATE_D 0.004
param set-default MC_PITCHRATE_FF 0
param set-default MC_YAW_P 2.8
param set-default MC_YAWRATE_P 0.22
param set-default MC_YAWRATE_I 0.02
param set-default MC_YAWRATE_D 0
param set-default MC_YAWRATE_FF 0
param set-default MC_YAWRATE_MAX 40
param set-default MPC_YAWRAUTO_MAX 40
param set-default FW_PR_FF 0.5
param set-default FW_PR_I 0.02
param set-default FW_PR_IMAX 0.4
param set-default FW_PR_P 0.08
param set-default FW_RR_FF 0.6
param set-default FW_RR_I 0.01
param set-default FW_RR_IMAX 0.2
param set-default FW_RR_P 0.05
param set-default FW_THR_CRUISE 0.75
param set-default VT_ARSP_BLEND 6
ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta
+2 -13
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@@ -22,21 +22,11 @@
. ${R}etc/init.d/rc.vtol_defaults
param set-default MC_ROLL_P 6.5
param set-default MC_ROLLRATE_P 0.15
param set-default MC_ROLLRATE_I 0.01
param set-default MC_ROLLRATE_D 0.003
param set-default MC_ROLLRATE_FF 0
param set-default MC_PITCH_P 6.5
param set-default MC_PITCHRATE_P 0.15
param set-default MC_PITCHRATE_I 0.01
param set-default MC_PITCHRATE_D 0.003
param set-default MC_PITCHRATE_FF 0
param set-default MC_YAW_P 3.5
param set-default MC_YAWRATE_P 0.2
param set-default MC_YAWRATE_I 0.1
param set-default MC_YAWRATE_D 0
param set-default MC_YAWRATE_FF 0
param set-default MC_YAWRATE_MAX 50
param set-default MPC_XY_P 0.8
@@ -45,7 +35,6 @@ param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_YAWRAUTO_MAX 20
param set-default PWM_AUX_DIS3 950
param set-default PWM_MAIN_RATE 400
param set-default VT_MOT_ID 1234
param set-default VT_FW_MOT_OFFID 1234
ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad
-9
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@@ -15,26 +15,17 @@
param set-default MC_ROLL_P 7
param set-default MC_ROLLRATE_P 0.15
param set-default MC_ROLLRATE_I 0.002
param set-default MC_ROLLRATE_D 0.003
param set-default MC_ROLLRATE_FF 0
param set-default MC_PITCH_P 7
param set-default MC_PITCHRATE_P 0.12
param set-default MC_PITCHRATE_I 0.002
param set-default MC_PITCHRATE_D 0.003
param set-default MC_PITCHRATE_FF 0
param set-default MC_YAW_P 2.8
param set-default MC_YAWRATE_P 0.22
param set-default MC_YAWRATE_I 0.02
param set-default MC_YAWRATE_D 0
param set-default MC_YAWRATE_FF 0
param set-default MC_YAWRATE_MAX 40
param set-default MPC_YAWRAUTO_MAX 40
param set-default PWM_AUX_DIS5 950
param set-default PWM_MAIN_RATE 400
param set-default VT_F_TRANS_THR 0.75
param set-default VT_MOT_ID 1234
ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger
-12
View File
@@ -15,44 +15,32 @@
param set-default FW_THR_CRUISE 65
param set-default FW_PR_P 0.08
param set-default FW_PR_FF 0.5
param set-default FW_RR_P 0.05
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_P 0.15
param set-default MC_ROLLRATE_I 0.1
param set-default MC_ROLLRATE_D 0.004
param set-default MC_ROLLRATE_FF 0
param set-default MC_PITCH_P 7
param set-default MC_PITCHRATE_P 0.15
param set-default MC_PITCHRATE_I 0.1
param set-default MC_PITCHRATE_D 0.004
param set-default MC_PITCHRATE_FF 0
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_D 0
param set-default MC_YAWRATE_FF 0
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_TKO_SPEED 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 PWM_MAIN_RATE 400
param set-default VT_ARSP_TRANS 15
param set-default VT_ARSP_BLEND 8
param set-default VT_B_TRANS_DUR 4
param set-default VT_F_TRANS_THR 0.75
param set-default VT_IDLE_PWM_MC 1080
param set-default VT_MOT_ID 1234
ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger
-2
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@@ -68,10 +68,8 @@ param set-default PWM_AUX_REV4 1
param set-default PWM_AUX_DIS5 950
param set-default PWM_MAIN_RATE 400
param set-default VT_ARSP_TRANS 15
param set-default VT_B_TRANS_DUR 4
param set-default VT_F_TRANS_THR 0.6
param set-default VT_IDLE_PWM_MC 1180
param set-default VT_MOT_ID 1234
ROMFS/px4fmu_common/init.d/airframes/13010_claire
-1
View File
@@ -20,7 +20,6 @@ param set-default PWM_AUX_MIN 1000
param set-default PWM_AUX_RATE 50
param set-default PWM_MAIN_MAX 2000
param set-default PWM_MAIN_RATE 400
param set-default VT_MOT_ID 1234
param set-default VT_FW_MOT_OFFID 13
ROMFS/px4fmu_common/init.d/airframes/13012_convergence
-14
View File
@@ -32,22 +32,14 @@ param set-default FW_MAN_R_MAX 50
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_PR_FF 0.5
param set-default FW_PR_P 0.08
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_P_RMAX_NEG 60
param set-default FW_P_RMAX_POS 60
param set-default FW_RR_FF 0.33
param set-default FW_RR_P 0.11
param set-default FW_YR_FF 0.3
param set-default FW_YR_P 0.05
param set-default MC_PITCHRATE_D 0.003
param set-default MC_PITCHRATE_P 0.15
param set-default MC_PITCH_P 6
param set-default MC_ROLLRATE_D 0.003
param set-default MC_ROLLRATE_P 0.15
param set-default MC_ROLL_P 6
param set-default MC_YAWRATE_MAX 120
@@ -57,9 +49,6 @@ param set-default MC_YAW_P 2.5
param set-default MC_YAWRATE_P 0.3
param set-default MPC_LAND_SPEED 1.2
param set-default MPC_TKO_SPEED 2.5
param set-default MPC_Z_VEL_MAX_UP 3
param set-default PWM_MAIN_RATE 400
param set-default SENS_BOARD_ROT 8
@@ -69,11 +58,8 @@ param set-default VT_F_TR_OL_TM 4
param set-default VT_FW_DIFTHR_EN 1
param set-default VT_FW_DIFTHR_SC 0.17
param set-default VT_FW_MOT_OFFID 3
param set-default VT_FW_PERM_STAB 0
param set-default VT_IDLE_PWM_MC 1200
param set-default VT_MOT_ID 123
param set-default VT_TILT_FW 1
param set-default VT_TILT_MC 0
param set-default VT_TILT_TRANS 0.45
param set-default VT_TRANS_MIN_TM 1.2
param set-default VT_TRANS_P2_DUR 1.3
ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
+2 -16
View File
@@ -69,23 +69,13 @@ param set-default LNDMC_ALT_MAX 9999
param set-default LNDMC_XY_VEL_MAX 1
param set-default LNDMC_Z_VEL_MAX 0.7
param set-default MC_ROLL_P 6.5
param set-default MC_ROLLRATE_P 0.16
param set-default MC_ROLLRATE_I 0.01
param set-default MC_ROLLRATE_D 0.003
param set-default MC_ROLLRATE_FF 0
param set-default MC_ROLLRATE_MAX 80
param set-default MC_PITCH_P 6.5
param set-default MC_PITCHRATE_P 0.15
param set-default MC_PITCHRATE_I 0.05
param set-default MC_PITCHRATE_D 0.003
param set-default MC_PITCHRATE_FF 0
param set-default MC_PITCHRATE_MAX 80
param set-default MC_YAW_P 3.5
param set-default MC_YAWRATE_P 0.2
param set-default MC_YAWRATE_I 0.1
param set-default MC_YAWRATE_D 0
param set-default MC_YAWRATE_FF 0
param set-default MC_YAWRATE_MAX 20
param set-default MC_AIRMODE 1
@@ -109,7 +99,6 @@ param set-default MPC_TILTMAX_AIR 25
param set-default MPC_TILTMAX_LND 25
param set-default MPC_YAWRAUTO_MAX 20
param set-default NAV_DLL_ACT 0
param set-default NAV_LOITER_RAD 100
param set-default PWM_AUX_DISARM 950
@@ -119,7 +108,6 @@ param set-default PWM_MAIN_DIS6 1500
param set-default PWM_MAIN_DIS7 900
param set-default PWM_MAIN_DIS8 900
param set-default PWM_MAIN_RATE 400
param set-default SENS_BOARD_ROT 18
@@ -133,13 +121,11 @@ param set-default VT_TYPE 2
param set-default VT_MOT_ID 1234
param set-default VT_FW_MOT_OFFID 1234
param set-default VT_F_TRANS_THR 1
param set-default VT_DWN_PITCH_MAX 8
param set-default VT_PITCH_MIN 8
param set-default VT_FW_QC_P 55
param set-default VT_FW_QC_R 55
param set-default VT_TRANS_MIN_TM 15
param set-default VT_B_TRANS_DUR 8
param set-default VT_WV_LND_EN 1
param set-default VT_WV_LTR_EN 1
param set-default VT_FWD_THRUST_SC 4
param set-default VT_F_TRANS_DUR 1
param set-default VT_IDLE_PWM_MC 1025
ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
-10
View File
@@ -29,14 +29,11 @@ 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_LND_EARLYCFG 1
param set-default FW_MAN_P_MAX 30
param set-default FW_PR_I 0.1
param set-default FW_PSP_OFF 3
param set-default FW_P_LIM_MAX 18
param set-default FW_P_LIM_MIN -25
param set-default FW_RLL_TO_YAW_FF 0.1
param set-default FW_RR_I 0.1
param set-default FW_RR_P 0.08
param set-default FW_R_LIM 45
param set-default FW_R_RMAX 50
@@ -46,22 +43,15 @@ param set-default FW_THR_SLEW_MAX 0.6
param set-default FW_T_HRATE_FF 0
param set-default FW_T_SINK_MAX 15
param set-default FW_T_SINK_MIN 3
param set-default FW_YR_I 0.1
param set-default FW_YR_P 0.15
param set-default IMU_GYRO_CUTOFF 40
param set-default IMU_DGYRO_CUTOFF 15
param set-default MC_PITCHRATE_I 0.2
param set-default MC_PITCHRATE_MAX 60
param set-default MC_ROLLRATE_I 0.2
param set-default MC_ROLLRATE_MAX 60
param set-default MC_YAWRATE_I 0.15
param set-default MC_YAWRATE_MAX 40
param set-default MC_YAWRATE_P 0.3
param set-default MIS_TAKEOFF_ALT 30
param set-default MPC_ACC_DOWN_MAX 2
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_ACC_UP_MAX 3
ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor
-1
View File
@@ -27,7 +27,6 @@
. ${R}etc/init.d/rc.vtol_defaults
param set-default PWM_MAIN_RATE 400
param set-default VT_IDLE_PWM_MC 1100
param set-default VT_TYPE 1
ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo
-1
View File
@@ -27,7 +27,6 @@
param set-default PWM_AUX_DIS5 950
param set-default PWM_MAIN_RATE 400
param set-default VT_TYPE 2
param set-default VT_MOT_ID 12345678
ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli
-9
View File
@@ -20,28 +20,19 @@
set MIXER coax
param set-default MC_ROLL_P 6.5
param set-default MC_ROLLRATE_P 0.17
param set-default MC_ROLLRATE_I 0.05
param set-default MC_ROLLRATE_D 0.005
param set-default MC_ROLLRATE_FF 0
param set-default MC_PITCH_P 6.5
param set-default MC_PITCHRATE_P 0.17
param set-default MC_PITCHRATE_I 0.05
param set-default MC_PITCHRATE_D 0.005
param set-default MC_PITCHRATE_FF 0
param set-default MC_YAW_P 2
param set-default MC_YAWRATE_P 0.1
param set-default MC_YAWRATE_I 0.1
param set-default MC_YAWRATE_D 0
param set-default MC_YAWRATE_FF 0
param set-default NAV_ACC_RAD 2
param set-default PWM_AUX_RATE 50
param set-default PWM_MAIN_DISARM 900
param set-default PWM_MAIN_MIN 1075
param set-default PWM_MAIN_MAX 1950
param set-default PWM_MAIN_RATE 400
param set-default RTL_RETURN_ALT 30
ROMFS/px4fmu_common/init.d/airframes/16001_helicopter
-2
View File
@@ -36,7 +36,6 @@ 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_PITCH_P 6.5
param set-default MC_PITCHRATE_P 0
param set-default MC_PITCHRATE_I 0
param set-default MC_PITCHRATE_D 0
@@ -44,7 +43,6 @@ 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_YAWRATE_D 0
param set-default MC_ROLLRATE_MAX 720
param set-default MC_PITCHRATE_MAX 720
param set-default MC_YAWRATE_MAX 400
ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1
-1
View File
@@ -25,7 +25,6 @@ param set-default MAV_0_CONFIG 102
param set-default GPS_UBX_DYNMODEL 8
param set-default SER_TEL2_BAUD 9600
param set-default SENS_BOARD_ROT 0
set MAV_TYPE 8
param set MAV_TYPE ${MAV_TYPE}
ROMFS/px4fmu_common/init.d/airframes/2105_maja
-4
View File
@@ -25,10 +25,6 @@
. ${R}etc/init.d/rc.fw_defaults
param set-default FW_AIRSPD_MIN 10
param set-default FW_AIRSPD_TRIM 15
param set-default FW_AIRSPD_MAX 20
param set-default FW_MAN_P_MAX 55
param set-default FW_MAN_R_MAX 55
param set-default FW_R_LIM 55
ROMFS/px4fmu_common/init.d/airframes/2106_albatross
-4
View File
@@ -25,10 +25,6 @@
. ${R}etc/init.d/rc.fw_defaults
param set-default FW_AIRSPD_MIN 10
param set-default FW_AIRSPD_TRIM 15
param set-default FW_AIRSPD_MAX 20
param set-default FW_MAN_P_MAX 55
param set-default FW_MAN_R_MAX 55
param set-default FW_R_LIM 55
ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon
-4
View File
@@ -26,10 +26,6 @@
. ${R}etc/init.d/rc.fw_defaults
param set-default FW_AIRSPD_MIN 10
param set-default FW_AIRSPD_TRIM 15
param set-default FW_AIRSPD_MAX 20
param set-default FW_MAN_P_MAX 55
param set-default FW_MAN_R_MAX 55
param set-default FW_R_LIM 55
ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox
-2
View File
@@ -36,8 +36,6 @@ param set-default PWM_AUX_DISARM 900
param set-default PWM_AUX_MIN 1075
param set-default PWM_AUX_MAX 1950
param set-default PWM_MAIN_MIN 1075
param set-default PWM_MAIN_MAX 1950
param set-default PWM_MAIN_RATE 400
param set-default RTL_DESCEND_ALT 10
ROMFS/px4fmu_common/init.d/airframes/3030_io_camflyer
-5
View File
@@ -22,7 +22,6 @@
. ${R}etc/init.d/rc.fw_defaults
param set-default FW_AIRSPD_MAX 15
param set-default FW_AIRSPD_MIN 10
param set-default FW_AIRSPD_TRIM 13
param set-default FW_R_TC 0.3
param set-default FW_P_TC 0.3
@@ -30,15 +29,11 @@ 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_HHDIST 15
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_IMAX 0.4
param set-default FW_PR_P 0.08
param set-default FW_RR_FF 0.6
param set-default FW_RR_IMAX 0.2
param set-default FW_RR_P 0.04
param set-default PWM_MAIN_DISARM 1000
ROMFS/px4fmu_common/init.d/airframes/3031_phantom
-5
View File
@@ -24,20 +24,15 @@
. ${R}etc/init.d/rc.fw_defaults
param set-default FW_AIRSPD_MIN 13
param set-default FW_AIRSPD_TRIM 15
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_DAMPING 0.75
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_P_ROLLFF 1
param set-default FW_RR_FF 0.5
param set-default FW_RR_IMAX 0.2
param set-default FW_RR_P 0.08
param set-default FW_R_LIM 50
param set-default FW_R_RMAX 50
ROMFS/px4fmu_common/init.d/airframes/3032_skywalker_x5
-1
View File
@@ -30,7 +30,6 @@ 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_HHDIST 15
param set-default FW_LND_HVIRT 13
param set-default FW_LND_TLALT 5
param set-default FW_THR_LND_MAX 0
ROMFS/px4fmu_common/init.d/airframes/3033_wingwing
-2
View File
@@ -25,7 +25,6 @@
param set-default BAT1_N_CELLS 2
param set-default FW_AIRSPD_MAX 15
param set-default FW_AIRSPD_MIN 10
param set-default FW_AIRSPD_TRIM 13
param set-default FW_R_TC 0.3
param set-default FW_P_TC 0.3
@@ -33,7 +32,6 @@ 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_HHDIST 15
param set-default FW_LND_HVIRT 13
param set-default FW_LND_TLALT 5
param set-default FW_THR_LND_MAX 0
ROMFS/px4fmu_common/init.d/airframes/3034_fx79
-1
View File
@@ -23,7 +23,6 @@
param set-default FW_AIRSPD_MAX 30
param set-default FW_AIRSPD_MIN 13
param set-default FW_AIRSPD_TRIM 15
param set-default NAV_LOITER_RAD 150
ROMFS/px4fmu_common/init.d/airframes/3036_pigeon
-6
View File
@@ -27,17 +27,11 @@ 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_L1_DAMPING 0.75
param set-default FW_L1_PERIOD 20
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_LIM_MAX 45
param set-default FW_P_LIM_MIN -45
param set-default FW_P_ROLLFF 1
param set-default FW_P_TC 0.3
param set-default FW_RR_FF 0.3
param set-default FW_RR_IMAX 0.2
param set-default FW_RR_P 0.03
param set-default FW_R_LIM 40
param set-default FW_R_RMAX 50
ROMFS/px4fmu_common/init.d/airframes/3037_parrot_disco_mod
-36
View File
@@ -26,38 +26,15 @@
####################################
# Airspeed
####################################
param set-default FW_AIRSPD_MIN 15 # = 29 knots
param set-default FW_AIRSPD_TRIM 20 # = 39 knots
param set-default FW_AIRSPD_MAX 27 # = 52 knots
####################################
# The Main L1 Controller
####################################
param set-default FW_L1_PERIOD 20 #units of meters
# Damping factor for L1 control (def = 0.75)
param set-default FW_L1_DAMPING 0.75
####################################
# Pitch
####################################
# Basic limits (def = +/- 45 deg)
param set-default FW_P_LIM_MAX 45
param set-default FW_P_LIM_MIN -45
# Time Constant (def = 0.4s)
param set-default FW_P_TC 0.4
# Pitch rate feed forward (def = 0.5 %/rad/sec)
param set-default FW_PR_FF 0.35
# Pitch rate integrator limit (def = 0.4)
param set-default FW_PR_IMAX 0.4
# Pitch rate proportional gain (def = 0.08 %/rad/sec)
param set-default FW_PR_P 0.08
####################################
# Roll
####################################
@@ -68,21 +45,8 @@ param set-default FW_R_LIM 40
# Roll rate upper limit (def = 70 deg/s)
param set-default FW_R_RMAX 50
# Roll Time Constant (def = 0.4 s)
param set-default FW_R_TC 0.4
# Roll rate feed forward (def = 0.5 %/rad/sec)
param set-default FW_RR_FF 0.5
# Roll rate proportional Gain (def = 0.05 %/rad/sec)
param set-default FW_RR_P 0.05
# Roll Integrator Anti-Windup
param set-default FW_RR_IMAX 0.2
param set-default PWM_MAIN_DISARM 1000
set MIXER fw_generic_wing.main.mix
# Provide ESC a constant 1000 us pulse
ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha
-6
View File
@@ -25,24 +25,18 @@
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_DAMPING 0.75
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_HHDIST 15
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_R_TC 0.4
param set-default FW_P_TC 0.4
param set-default FW_PR_FF 0.45
param set-default FW_PR_IMAX 0.4
param set-default FW_PR_P 0.005
param set-default FW_RR_FF 0.45
param set-default FW_RR_IMAX 0.2
param set-default FW_RR_P 0.013
param set-default FW_P_RMAX_NEG 70
param set-default FW_P_RMAX_POS 70
ROMFS/px4fmu_common/init.d/airframes/4003_qavr5
-6
View File
@@ -20,15 +20,9 @@ set PWM_OUT 1234
param set-default MC_ROLL_P 8
param set-default MC_ROLLRATE_P 0.08
param set-default MC_ROLLRATE_I 0.16
param set-default MC_ROLLRATE_D 0.003
param set-default MC_PITCH_P 8
param set-default MC_PITCHRATE_P 0.1
param set-default MC_PITCHRATE_I 0.2
param set-default MC_PITCHRATE_D 0.003
param set-default MC_YAW_P 2.8
param set-default MC_YAWRATE_P 0.15
param set-default MC_YAWRATE_I 0.1
param set-default MC_YAWRATE_D 0
param set-default MPC_THR_MIN 0.06
param set-default MPC_MANTHR_MIN 0.06
ROMFS/px4fmu_common/init.d/airframes/4009_qav250
-1
View File
@@ -33,7 +33,6 @@ param set-default MC_PITCHRATE_D 0.004
param set-default MC_YAW_P 4
param set-default MC_YAWRATE_P 0.3
param set-default MC_YAWRATE_I 0.2
param set-default MC_YAWRATE_D 0
param set-default MPC_THR_MIN 0.06
param set-default PWM_MAIN_MIN 1075
ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330
+1 -8
View File
@@ -15,17 +15,10 @@ set MIXER quad_x
set PWM_OUT 1234
param set-default MC_ROLL_P 7
param set-default MC_ROLLRATE_P 0.15
param set-default MC_ROLLRATE_I 0.05
param set-default MC_ROLLRATE_D 0.003
param set-default MC_PITCH_P 7
param set-default MC_PITCHRATE_P 0.15
param set-default MC_PITCHRATE_I 0.05
param set-default MC_PITCHRATE_D 0.003
param set-default MC_YAW_P 2.8
param set-default MC_YAWRATE_P 0.2
param set-default MC_YAWRATE_I 0.1
param set-default MC_YAWRATE_D 0
# DJI ESCs do not support calibration and need a higher min
param set-default PWM_MAIN_MIN 1230
ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450
-7
View File
@@ -14,17 +14,10 @@ set MIXER quad_x
set PWM_OUT 1234
param set-default MC_ROLL_P 7
param set-default MC_ROLLRATE_P 0.15
param set-default MC_ROLLRATE_I 0.05
param set-default MC_ROLLRATE_D 0.003
param set-default MC_PITCH_P 7
param set-default MC_PITCHRATE_P 0.15
param set-default MC_PITCHRATE_I 0.05
param set-default MC_PITCHRATE_D 0.003
param set-default MC_YAW_P 2.8
param set-default MC_YAWRATE_P 0.3
param set-default MC_YAWRATE_I 0.1
param set-default MC_YAWRATE_D 0
# DJI ESCs do not support calibration and need a higher min
param set-default PWM_MAIN_MIN 1230
ROMFS/px4fmu_common/init.d/airframes/4014_s500
-2
View File
@@ -21,5 +21,3 @@ param set-default MC_ROLLRATE_P 0.18
param set-default MC_PITCHRATE_P 0.18
param set-default MC_ROLLRATE_I 0.15
param set-default MC_PITCHRATE_I 0.15
param set-default MC_ROLLRATE_D 0.003
param set-default MC_PITCHRATE_D 0.003
ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500
-1
View File
@@ -18,7 +18,6 @@ set PWM_OUT 1234
param set-default IMU_GYRO_CUTOFF 30
param set-default IMU_DGYRO_CUTOFF 30
param set-default MC_ROLLRATE_P 0.14
param set-default MC_PITCHRATE_P 0.14
ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
-16
View File
@@ -33,7 +33,6 @@ param set-default EKF2_AID_MASK 35
param set-default EKF2_IMU_POS_X 0.02
param set-default EKF2_GPS_POS_X 0.055
param set-default EKF2_GPS_POS_Z -0.15
param set-default EKF2_HGT_MODE 0
param set-default EKF2_MIN_RNG 0.03
param set-default EKF2_OF_POS_X 0.055
param set-default EKF2_OF_POS_Y 0.02
@@ -41,7 +40,6 @@ param set-default EKF2_OF_POS_Z 0.065
param set-default EKF2_REQ_HDRIFT 0.3
param set-default EKF2_REQ_SACC 1
param set-default EKF2_REQ_VDRIFT 0.3
param set-default EKF2_RNG_AID 1
param set-default EKF2_RNG_A_HMAX 8
param set-default EKF2_RNG_A_VMAX 2
param set-default EKF2_RNG_POS_X 0.055
@@ -66,15 +64,8 @@ param set-default MC_ACRO_R_MAX 200
param set-default MC_ACRO_SUPEXPO 0
param set-default MC_ACRO_SUPEXPOY 0
param set-default MC_ACRO_Y_MAX 150
param set-default IMU_DGYRO_CUTOFF 30
param set-default MC_PITCHRATE_D 0.0015
param set-default MC_PITCHRATE_I 0.2
param set-default MC_PITCHRATE_K 1
param set-default MC_PITCHRATE_P 0.15
param set-default MC_ROLLRATE_D 0.0015
param set-default MC_ROLLRATE_I 0.2
param set-default MC_ROLLRATE_K 1
param set-default MC_ROLLRATE_P 0.15
param set-default MC_YAWRATE_P 0.3
# Position Control Tuning
@@ -86,7 +77,6 @@ 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
param set-default MPC_THR_MIN 0.12
param set-default MPC_TKO_SPEED 1
param set-default MPC_VEL_MANUAL 5
param set-default MPC_XY_CRUISE 5
@@ -102,23 +92,17 @@ param set-default MPC_LAND_ALT2 1
# Navigator Parameters
param set-default NAV_ACC_RAD 2
# PWM and RC Parameters
param set-default PWM_MAIN_MAX 1950
param set-default PWM_MAIN_MIN 1075
# use oneshot motor output protocol
param set-default PWM_MAIN_RATE 0
# RTL Parameters
param set-default RTL_DESCEND_ALT 5
param set-default RTL_RETURN_ALT 5
param set-default RTL_CONE_ANG 45
# Logging Parameters
param set-default SDLOG_PROFILE 131
# Sensors Parameters
param set-default SENS_BOARD_ROT 0
param set-default SENS_CM8JL65_CFG 104
param set-default SENS_FLOW_MAXHGT 25
param set-default SENS_FLOW_MINHGT 0.5
ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames
-3
View File
@@ -21,13 +21,10 @@
set MIXER quad_x
set PWM_OUT 1234
param set-default IMU_GYRO_CUTOFF 40
param set-default IMU_DGYRO_CUTOFF 20
param set-default MC_ROLLRATE_P 0.18
param set-default MC_ROLLRATE_I 0.15
param set-default MC_ROLLRATE_D 0.003
param set-default MC_PITCHRATE_P 0.18
param set-default MC_PITCHRATE_I 0.15
param set-default MC_PITCHRATE_D 0.003
ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad
-2
View File
@@ -16,8 +16,6 @@
set MIXER quad_x
set PWM_OUT 1234
param set-default MC_ROLL_P 6.5
param set-default MC_ROLLRATE_P 0.14
param set-default MC_ROLLRATE_I 0.1
param set-default MC_ROLLRATE_D 0.004
ROMFS/px4fmu_common/init.d/airframes/4040_reaper
-2
View File
@@ -20,8 +20,6 @@
. ${R}etc/init.d/rc.mc_defaults
param set-default MC_ROLL_P 6.5
param set-default MC_ROLLRATE_P 0.14
param set-default MC_ROLLRATE_I 0.1
param set-default MC_ROLLRATE_D 0.004
ROMFS/px4fmu_common/init.d/airframes/4050_generic_250
+1 -4
View File
@@ -22,12 +22,9 @@ param set-default MC_ROLLRATE_I 0.25
param set-default MC_ROLLRATE_D 0.001
param set-default MC_PITCH_P 8
param set-default MC_PITCHRATE_P 0.08
param set-default MC_PITCHRATE_I 0.25
param set-default MC_PITCHRATE_D 0.001
param set-default MC_YAW_P 4
param set-default MC_YAWRATE_P 0.2
param set-default MC_YAWRATE_I 0.1
param set-default MC_YAWRATE_D 0
param set-default MC_ROLLRATE_MAX 1600
param set-default MC_PITCHRATE_MAX 1600
ROMFS/px4fmu_common/init.d/airframes/4051_s250aq
+2 -3
View File
@@ -41,9 +41,8 @@ param set-default MC_PITCHRATE_P 0.19
param set-default MC_PITCHRATE_I 0.1
param set-default MC_PITCHRATE_D 0.0055
param set-default MC_YAW_P 4
param set-default MC_YAWRATE_P 0.2
param set-default MC_YAWRATE_I 0.1
param set-default MC_YAWRATE_D 0
param set-default MC_ROLLRATE_MAX 720
param set-default MC_PITCHRATE_MAX 720
param set-default MC_YAWRATE_MAX 400
ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250
-1
View File
@@ -48,7 +48,6 @@ param set-default MPC_THR_HOVER 0.25
param set-default MPC_THR_MIN 0.05
param set-default MPC_Z_VEL_I_ACC 1.7
param set-default PWM_MAIN_MAX 1950
param set-default PWM_MAIN_MIN 1050
param set-default PWM_MAIN_RATE 0
ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100
+1 -4
View File
@@ -19,16 +19,13 @@ set PWM_OUT 1234
param set-default BAT1_N_CELLS 6
param set-default MC_ROLL_P 6.5
param set-default MC_ROLLRATE_P 0.05
param set-default MC_ROLLRATE_I 0.05
param set-default MC_ROLLRATE_D 0.001
param set-default MC_PITCH_P 6.5
param set-default MC_PITCHRATE_P 0.05
param set-default MC_PITCHRATE_I 0.05
param set-default MC_PITCHRATE_D 0.001
param set-default MC_YAWRATE_P 0.2
param set-default MC_YAWRATE_I 0
param set-default MC_YAWRATE_D 0
param set-default PWM_MAIN_MIN 1200
ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu
-8
View File
@@ -22,7 +22,6 @@ set MIXER_AUX none
# Battery settings
param set-default BAT_CRIT_THR 0.20
param set-default BAT_EMERGEN_THR 0.05
param set-default BAT_LOW_THR 0.25
param set-default BAT1_CAPACITY 2800.0
@@ -35,7 +34,6 @@ param set-default CBRK_SUPPLY_CHK 894281
param set-default COM_DISARM_LAND 0.1
param set-default COM_DISARM_PRFLT 3
param set-default COM_DL_LOSS_T 10
param set-default COM_FLTMODE1 -1
param set-default COM_FLTMODE2 -1
param set-default COM_FLTMODE3 -1
@@ -43,7 +41,6 @@ param set-default COM_FLTMODE4 2
param set-default COM_FLTMODE5 -1
param set-default COM_FLTMODE6 6
param set-default COM_RC_LOSS_T 3
param set-default COM_RC_OVERRIDE 1
# ekf2
@@ -61,8 +58,6 @@ param set-default EKF2_GPS_POS_Z 0.0
param set-default EKF2_GPS_V_NOISE 0.5
param set-default EKF2_IMU_POS_X 0.06
param set-default EKF2_IMU_POS_Y 0.0
param set-default EKF2_IMU_POS_Z 0.0
param set-default EKF2_MAG_DELAY 0
param set-default EKF2_MAG_NOISE 0.1
@@ -79,7 +74,6 @@ param set-default EKF2_PCOEF_XN -0.3
param set-default EKF2_PCOEF_XP -0.4
param set-default EKF2_PCOEF_YN -0.4
param set-default EKF2_PCOEF_YP -0.4
param set-default EKF2_PCOEF_Z 0.0
param set-default EKF2_RNG_A_VMAX 1.0
param set-default EKF2_RNG_AID 0
@@ -119,7 +113,6 @@ param set-default MC_ROLL_P 8.0
# Yaw angle & rate setting
param set-default MC_YAWRATE_P 0.1
param set-default MC_YAWRATE_I 0.1
param set-default MC_YAWRATE_MAX 120.0
param set-default MC_YAW_P 2.5
@@ -145,7 +138,6 @@ param set-default MPC_Z_P 2.0
param set-default MPC_Z_VEL_D 0.0
param set-default MPC_Z_VEL_I 0.02
param set-default MPC_Z_VEL_MAX_DN 2.0
param set-default MPC_Z_VEL_MAX_UP 3.0
param set-default MPC_Z_VEL_P 0.27
ROMFS/px4fmu_common/init.d/airframes/4071_ifo
+1 -6
View File
@@ -27,15 +27,11 @@ set PWM_OUT 1234
# Attitude & rate gains
param set-default MC_ROLLRATE_P 0.15
param set-default MC_ROLLRATE_D 0.0013
param set-default MC_PITCHRATE_P 0.15
param set-default MC_PITCHRATE_D 0.0016
param set-default MC_YAW_P 2.8
param set-default MC_YAWRATE_P 0.2
param set-default MC_YAWRATE_D 0
param set-default MC_YAW_FF 0.5
param set-default MPC_MANTHR_MAX 0.9
@@ -46,7 +42,6 @@ param set-default IMU_DGYRO_CUTOFF 90
param set-default IMU_GYRO_CUTOFF 100
# System
param set-default PWM_MAIN_MAX 1950
param set-default PWM_MAIN_MIN 1100
param set-default PWM_MAIN_RATE 0
ROMFS/px4fmu_common/init.d/airframes/4072_draco
-1
View File
@@ -65,7 +65,6 @@ param set-default MPC_THR_HOVER 0.25
param set-default THR_MDL_FAC 0.3
# System
param set-default PWM_MAIN_MAX 1950
param set-default PWM_MAIN_MIN 1180
# enable one-shot
ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s
-6
View File
@@ -27,15 +27,10 @@ set PWM_OUT 1234
# Attitude & rate gains
param set-default MC_ROLLRATE_P 0.15
param set-default MC_ROLLRATE_D 0.0013
param set-default MC_PITCHRATE_P 0.15
param set-default MC_PITCHRATE_D 0.0016
param set-default MC_YAW_P 2.8
param set-default MC_YAWRATE_P 0.2
param set-default MC_YAWRATE_D 0
param set-default MPC_MANTHR_MIN 0.08
@@ -57,7 +52,6 @@ param set-default EKF2_AID_MASK 3
param set-default EKF2_GND_EFF_DZ 6
param set-default EKF2_HGT_MODE 1
param set-default EKF2_MIN_RNG 0.3
param set-default EKF2_RNG_AID 1
# Flow
param set-default EKF2_OF_QMIN 70
ROMFS/px4fmu_common/init.d/airframes/4080_zmr250
-5
View File
@@ -21,23 +21,18 @@ param set-default CBRK_IO_SAFETY 22027
param set-default MC_ROLL_P 2.2
param set-default MC_ROLLRATE_P 0.06
param set-default MC_ROLLRATE_I 0.2
param set-default MC_ROLLRATE_D 0.0017
param set-default MC_PITCH_P 2.2
param set-default MC_PITCHRATE_P 0.06
param set-default MC_PITCHRATE_I 0.2
param set-default MC_PITCHRATE_D 0.0017
param set-default MC_YAW_P 1
param set-default MC_YAWRATE_P 0.15
param set-default MC_YAWRATE_I 0.2
param set-default MC_YAWRATE_D 0
param set-default MC_ACRO_R_MAX 1000
param set-default MC_ACRO_P_MAX 1000
param set-default MC_ACRO_Y_MAX 1000
param set-default PWM_MAIN_MIN 1075
param set-default PWM_MAIN_RATE 400
param set-default PWM_MAIN_DISARM 900
ROMFS/px4fmu_common/init.d/airframes/4090_nanomind
-3
View File
@@ -32,9 +32,6 @@ param set-default MC_PITCHRATE_P 0.19
param set-default MC_PITCHRATE_I 0.1
param set-default MC_PITCHRATE_D 0.0055
param set-default MC_YAW_P 4
param set-default MC_YAWRATE_P 0.2
param set-default MC_YAWRATE_I 0.1
param set-default MC_YAWRATE_D 0
param set-default PWM_MAIN_DISARM 0
param set-default PWM_MAIN_MIN 500
ROMFS/px4fmu_common/init.d/airframes/4250_teal
+1 -10
View File
@@ -47,7 +47,6 @@ param set-default BAT1_V_OFFS_CURR -0.0045
# sensor calibration
param set-default CAL_MAG_SIDES 63
param set-default SENS_BOARD_ROT 0
# circuit breakers
param set-default CBRK_IO_SAFETY 22027
@@ -59,21 +58,16 @@ param set-default COM_DISARM_LAND 0.1
param set-default COM_LOW_BAT_ACT 3
# ekf2
param set-default EKF2_AID_MASK 1
param set-default EKF2_MAG_TYPE 1
param set-default EKF2_GPS_CHECK 511
param set-default EKF2_GPS_POS_X -0.04
param set-default EKF2_IMU_POS_X -0.06
param set-default EKF2_PCOEF_XN 0.1
param set-default EKF2_PCOEF_XP -0.5
param set-default EKF2_RNG_AID 1
param set-default EKF2_RNG_A_VMAX 20
param set-default EKF2_RNG_NOISE 0.2
param set-default EKF2_MIN_RNG 0.07
# gps
param set-default GPS_UBX_DYNMODEL 7
# geofence
# Geofence violation action -- Warning.
param set-default GF_ACTION 1
@@ -103,20 +97,17 @@ param set-default MC_ACRO_Y_MAX 360
param set-default MC_ROLL_P 6
param set-default MC_ROLLRATE_P 0.055
param set-default MC_ROLLRATE_I 0.2
param set-default MC_ROLLRATE_D 0.0012
param set-default MC_ROLLRATE_MAX 180
param set-default MC_PITCH_P 6.5
param set-default MC_PITCHRATE_P 0.06
param set-default MC_PITCHRATE_I 0.2
param set-default MC_PITCHRATE_D 0.0012
param set-default MC_PITCHRATE_MAX 180
param set-default MC_YAW_P 1
param set-default MC_YAWRATE_P 0.08
param set-default MC_YAWRATE_I 0.08
param set-default MC_YAWRATE_D 0
param set-default MC_YAWRATE_MAX 180
# Set to reduce voltage transients as seen by battery management system.
ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie
-6
View File
@@ -39,13 +39,9 @@ param set-default IMU_ACCEL_CUTOFF 30
param set-default MC_AIRMODE 1
param set-default IMU_DGYRO_CUTOFF 70
param set-default MC_PITCHRATE_D 0.002
param set-default MC_PITCHRATE_I 0.2
param set-default MC_PITCHRATE_P 0.07
param set-default MC_PITCH_P 6.5
param set-default MC_ROLLRATE_D 0.002
param set-default MC_ROLLRATE_I 0.2
param set-default MC_ROLLRATE_P 0.07
param set-default MC_ROLL_P 6.5
param set-default MC_YAW_P 3
param set-default MPC_THR_HOVER 0.7
@@ -65,8 +61,6 @@ param set-default PWM_MAIN_MAX 255
# Run the motors at 328.125 kHz (recommended)
param set-default PWM_MAIN_RATE 3921
param set-default SDLOG_PROFILE 1
param set-default SENS_FLOW_MINRNG 0.05
set PWM_MAIN_DISARM none
ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21
-6
View File
@@ -37,13 +37,9 @@ param set-default IMU_ACCEL_CUTOFF 30
param set-default MC_AIRMODE 1
param set-default IMU_DGYRO_CUTOFF 70
param set-default MC_PITCHRATE_D 0.002
param set-default MC_PITCHRATE_I 0.2
param set-default MC_PITCHRATE_P 0.07
param set-default MC_PITCH_P 6.5
param set-default MC_ROLLRATE_D 0.002
param set-default MC_ROLLRATE_I 0.2
param set-default MC_ROLLRATE_P 0.07
param set-default MC_ROLL_P 6.5
param set-default MC_YAW_P 3
param set-default MPC_THR_HOVER 0.7
@@ -63,8 +59,6 @@ param set-default PWM_MAIN_MAX 255
# Run the motors at 328.125 kHz (recommended)
param set-default PWM_MAIN_RATE 3921
param set-default SDLOG_PROFILE 1
param set-default SENS_FLOW_MINRNG 0.05
ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic
-1
View File
@@ -15,7 +15,6 @@
#Set data link loss failsafe mode (0: disabled)
param set-default NAV_DLL_ACT 0
# disable circuit breaker for airspeed sensor
param set-default CBRK_AIRSPD_CHK 162128
ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus
-1
View File
@@ -15,7 +15,6 @@
#Set data link loss failsafe mode (0: disabled)
param set-default NAV_DLL_ACT 0
# disable circuit breaker for airspeed sensor
param set-default CBRK_AIRSPD_CHK 162128
ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy
-1
View File
@@ -24,7 +24,6 @@
#Set data link loss failsafe mode (0: disabled)
param set-default NAV_DLL_ACT 0
# disable circuit breaker for airspeed sensor
param set-default CBRK_AIRSPD_CHK 162128
ROMFS/px4fmu_common/init.d/airframes/6002_draco_r
-13
View File
@@ -34,23 +34,14 @@ set PWM_OUT 12345678
# Attitude & rate gains
###############################################
# Roll
param set-default MC_ROLL_P 6.5
param set-default MC_ROLLRATE_P 0.15
param set-default MC_ROLLRATE_I 0.05
param set-default MC_ROLLRATE_D 0.0013
param set-default MC_ROLLRATE_MAX 800
# Pitch
param set-default MC_PITCH_P 6.5
param set-default MC_PITCHRATE_P 0.15
param set-default MC_PITCHRATE_I 0.05
param set-default MC_PITCHRATE_D 0.0016
param set-default MC_PITCHRATE_MAX 800
# Yaw
param set-default MC_YAW_P 2.8
param set-default MC_YAWRATE_P 0.2
param set-default MC_YAWRATE_I 0.1
param set-default MC_YAWRATE_D 0
param set-default MC_YAW_FF 0
param set-default MC_YAWRATE_MAX 700
###############################################
@@ -70,7 +61,6 @@ param set-default MPC_XY_VEL_I_ACC 0.4
param set-default MPC_XY_VEL_D_ACC 0.2
# etc gains
param set-default MPC_TKO_RAMP_T 0.4
param set-default MPC_TKO_SPEED 1.5
param set-default MPC_VEL_MANUAL 5
# Filter settings
@@ -81,7 +71,6 @@ param set-default IMU_GYRO_CUTOFF 100
param set-default THR_MDL_FAC 0.25
# System
param set-default PWM_MAIN_MAX 1950
param set-default PWM_MAIN_MIN 1100
param set-default PWM_MAIN_DIS5 980
param set-default PWM_MAIN_DIS6 980
@@ -97,8 +86,6 @@ param set-default MIS_TAKEOFF_ALT 1.1
# Height mode as GPS
param set-default EKF2_HGT_MODE 1
# Enable optical flow and GPS
param set-default EKF2_AID_MASK 1
param set-default EKF2_RNG_AID 1
param set-default EKF2_MAG_TYPE 1
param set-default EKF2_OF_QMIN 80
ROMFS/px4fmu_common/init.d/rc.boat_defaults
-1
View File
@@ -13,7 +13,6 @@ set VEHICLE_TYPE rover
param set-default MIS_LTRMIN_ALT 0.01
param set-default MIS_TAKEOFF_ALT 0.01
param set-default NAV_DLL_ACT 0
param set-default NAV_ACC_RAD 2
# Temporary.
ROMFS/px4fmu_common/init.d/rc.rover_defaults
-1
View File
@@ -13,7 +13,6 @@ set VEHICLE_TYPE rover
param set-default MIS_LTRMIN_ALT 0.01
param set-default MIS_TAKEOFF_ALT 0.01
param set-default NAV_DLL_ACT 0
param set-default NAV_ACC_RAD 2
param set-default NAV_LOITER_RAD 2