mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Compare commits
1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Daniel Agar
|
2859fc66fa |
+9
-28
@@ -9,25 +9,18 @@ pipeline {
|
||||
script {
|
||||
def build_nodes = [:]
|
||||
def docker_images = [
|
||||
armhf: "px4io/px4-dev-armhf:2021-02-04",
|
||||
arm64: "px4io/px4-dev-aarch64:2021-02-04",
|
||||
base: "px4io/px4-dev-base-bionic:2021-02-04",
|
||||
nuttx: "px4io/px4-dev-nuttx-focal:2021-02-04",
|
||||
armhf: "px4io/px4-dev-armhf:2020-04-01",
|
||||
base: "px4io/px4-dev-base-bionic:2020-04-01",
|
||||
nuttx: "px4io/px4-dev-nuttx-focal:2020-09-14",
|
||||
snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
|
||||
]
|
||||
|
||||
def armhf_builds = [
|
||||
target: ["aerotenna_ocpoc_default", "beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_pilotpi_default"],
|
||||
target: ["aerotenna_ocpoc_default", "beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_airpi2_default"],
|
||||
image: docker_images.armhf,
|
||||
archive: false
|
||||
]
|
||||
|
||||
def arm64_builds = [
|
||||
target: ["scumaker_pilotpi_arm64"],
|
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image: docker_images.arm64,
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||||
archive: false
|
||||
]
|
||||
|
||||
def base_builds = [
|
||||
target: ["px4_sitl_rtps"],
|
||||
image: docker_images.base,
|
||||
@@ -37,11 +30,8 @@ pipeline {
|
||||
def nuttx_builds_archive = [
|
||||
target: [
|
||||
"airmind_mindpx-v2_default",
|
||||
"ark_can-flow_canbootloader",
|
||||
"ark_can-flow_default",
|
||||
"av_x-v1_default",
|
||||
"bitcraze_crazyflie_default",
|
||||
"bitcraze_crazyflie21_default",
|
||||
"cuav_can-gps-v1_canbootloader",
|
||||
"cuav_can-gps-v1_default",
|
||||
"cuav_nora_default",
|
||||
@@ -50,23 +40,20 @@ pipeline {
|
||||
"cubepilot_cubeorange_default",
|
||||
"cubepilot_cubeyellow_console",
|
||||
"cubepilot_cubeyellow_default",
|
||||
"holybro_can-gps-v1_canbootloader",
|
||||
"holybro_can-gps-v1_default",
|
||||
"holybro_durandal-v1_default",
|
||||
"holybro_durandal-v1_stackcheck",
|
||||
"holybro_kakutef7_default",
|
||||
"holybro_pix32v5_default",
|
||||
"intel_aerofc-v1_default",
|
||||
"modalai_fc-v1_default",
|
||||
"mro_ctrl-zero-f7_default",
|
||||
"mro_pixracerpro_default",
|
||||
"mro_x21-777_default",
|
||||
"mro_x21_default",
|
||||
"nxp_fmuk66-e_default",
|
||||
"nxp_fmuk66-v3_default",
|
||||
"nxp_fmuk66-v3_rtps",
|
||||
"nxp_fmuk66-v3_socketcan",
|
||||
"nxp_fmuk66-v3_rtps",
|
||||
"nxp_fmurt1062-v1_default",
|
||||
"nxp_ucans32k146_default",
|
||||
"nxp_rddrone-uavcan146_default",
|
||||
"omnibus_f4sd_default",
|
||||
"px4_fmu-v2_default",
|
||||
"px4_fmu-v2_fixedwing",
|
||||
@@ -74,27 +61,21 @@ pipeline {
|
||||
"px4_fmu-v2_multicopter",
|
||||
"px4_fmu-v2_rover",
|
||||
"px4_fmu-v2_test",
|
||||
"px4_fmu-v3_ctrlalloc",
|
||||
"px4_fmu-v3_default",
|
||||
"px4_fmu-v4_cannode",
|
||||
"px4_fmu-v4_ctrlalloc",
|
||||
"px4_fmu-v4_default",
|
||||
"px4_fmu-v4_optimized",
|
||||
"px4_fmu-v4pro_default",
|
||||
"px4_fmu-v5_ctrlalloc",
|
||||
"px4_fmu-v5_debug",
|
||||
"px4_fmu-v5_default",
|
||||
"px4_fmu-v5_debug",
|
||||
"px4_fmu-v5_fixedwing",
|
||||
"px4_fmu-v5_multicopter",
|
||||
"px4_fmu-v5_optimized",
|
||||
"px4_fmu-v5_rover",
|
||||
"px4_fmu-v5_rtps",
|
||||
"px4_fmu-v5_stackcheck",
|
||||
"px4_fmu-v5_uavcanv0periph",
|
||||
"px4_fmu-v5_uavcanv1",
|
||||
"px4_fmu-v5x_base_phy_DP83848C",
|
||||
"px4_fmu-v5x_default",
|
||||
"px4_fmu-v6u_default",
|
||||
"px4_fmu-v6x_default",
|
||||
"px4_io-v2_default",
|
||||
"spracing_h7extreme_default",
|
||||
@@ -131,7 +112,7 @@ pipeline {
|
||||
// TODO: actually upload artifacts to S3
|
||||
// stage('S3 Upload') {
|
||||
// agent {
|
||||
// docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
|
||||
// docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
|
||||
// }
|
||||
// options {
|
||||
// skipDefaultCheckout()
|
||||
|
||||
+298
-357
File diff suppressed because it is too large
Load Diff
@@ -2,7 +2,7 @@
|
||||
// https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
|
||||
{
|
||||
"name": "px4-dev-nuttx",
|
||||
"image": "px4io/px4-dev-nuttx-focal:2021-02-04",
|
||||
"image": "px4io/px4-dev-nuttx-focal:2020-09-14",
|
||||
|
||||
"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],
|
||||
|
||||
|
||||
@@ -17,7 +17,6 @@ jobs:
|
||||
check: [
|
||||
"check_format",
|
||||
"tests",
|
||||
"tests_coverage",
|
||||
"px4_fmu-v2_default stack_check",
|
||||
"validate_module_configs",
|
||||
"shellcheck_all",
|
||||
@@ -27,9 +26,7 @@ jobs:
|
||||
"module_documentation",
|
||||
"parameters_metadata",
|
||||
]
|
||||
container:
|
||||
image: px4io/px4-dev-nuttx-focal:2021-02-04
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
container: px4io/px4-dev-nuttx-focal:2020-09-14
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -56,16 +53,6 @@ jobs:
|
||||
echo "max_size = 400M" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
- name: check environment
|
||||
run: |
|
||||
export
|
||||
ulimit -a
|
||||
|
||||
- name: ${{matrix.check}}
|
||||
run: make ${{matrix.check}}
|
||||
- name: upload coverage
|
||||
if: contains(matrix.check, 'coverage')
|
||||
uses: codecov/codecov-action@v1
|
||||
with:
|
||||
token: ${{ secrets.CODECOV_TOKEN }}
|
||||
flags: unittests
|
||||
file: coverage/lcov.info
|
||||
|
||||
@@ -11,7 +11,7 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-clang:2021-02-04
|
||||
container: px4io/px4-dev-clang:2020-08-14
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
|
||||
@@ -11,7 +11,7 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-armhf:2021-02-04
|
||||
container: px4io/px4-dev-armhf:2020-08-14
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
@@ -19,7 +19,6 @@ jobs:
|
||||
beaglebone_blue_default,
|
||||
emlid_navio2_default,
|
||||
px4_raspberrypi_default,
|
||||
scumaker_pilotpi_default,
|
||||
]
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
|
||||
@@ -1,50 +0,0 @@
|
||||
name: Linux ARM64 Targets
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'master'
|
||||
pull_request:
|
||||
branches:
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-aarch64:2021-02-04
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
scumaker_pilotpi_arm64,
|
||||
]
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{secrets.ACCESS_TOKEN}}
|
||||
|
||||
- name: Prepare ccache timestamp
|
||||
id: ccache_cache_timestamp
|
||||
shell: cmake -P {0}
|
||||
run: |
|
||||
string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
|
||||
message("::set-output name=timestamp::${current_date}")
|
||||
- name: ccache cache files
|
||||
uses: actions/cache@v2
|
||||
with:
|
||||
path: ~/.ccache
|
||||
key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
|
||||
restore-keys: ${{matrix.config}}-ccache-
|
||||
- name: setup ccache
|
||||
run: |
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 400M" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
- name: make ${{matrix.config}}
|
||||
run: make ${{matrix.config}}
|
||||
- name: ccache post-run
|
||||
run: ccache -s
|
||||
@@ -15,7 +15,7 @@ jobs:
|
||||
matrix:
|
||||
config: [
|
||||
px4_fmu-v5_default,
|
||||
px4_sitl
|
||||
px4_sitl_default,
|
||||
#tests, # includes px4_sitl
|
||||
]
|
||||
steps:
|
||||
@@ -24,7 +24,7 @@ jobs:
|
||||
token: ${{secrets.ACCESS_TOKEN}}
|
||||
|
||||
- name: setup
|
||||
run: ./Tools/setup/macos.sh; ./Tools/setup/macos.sh
|
||||
run: ./Tools/setup/macos.sh
|
||||
|
||||
- name: Prepare ccache timestamp
|
||||
id: ccache_cache_timestamp
|
||||
|
||||
@@ -11,15 +11,12 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-nuttx-focal:2021-02-04
|
||||
container: px4io/px4-dev-nuttx-focal:2020-09-14
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
airmind_mindpx-v2_default,
|
||||
ark_can-flow_canbootloader,
|
||||
ark_can-flow_default,
|
||||
av_x-v1_default,
|
||||
bitcraze_crazyflie21_default,
|
||||
bitcraze_crazyflie_default,
|
||||
cuav_can-gps-v1_canbootloader,
|
||||
cuav_can-gps-v1_default,
|
||||
@@ -29,23 +26,21 @@ jobs:
|
||||
cubepilot_cubeorange_default,
|
||||
cubepilot_cubeyellow_console,
|
||||
cubepilot_cubeyellow_default,
|
||||
holybro_can-gps-v1_canbootloader,
|
||||
holybro_can-gps-v1_default,
|
||||
holybro_durandal-v1_default,
|
||||
holybro_durandal-v1_stackcheck,
|
||||
holybro_kakutef7_default,
|
||||
holybro_pix32v5_default,
|
||||
intel_aerofc-v1_default,
|
||||
modalai_fc-v1_default,
|
||||
mro_ctrl-zero-f7_default,
|
||||
mro_pixracerpro_default,
|
||||
mro_x21-777_default,
|
||||
mro_x21_default,
|
||||
nxp_fmuk66-e_default,
|
||||
nxp_fmuk66-v3_default,
|
||||
nxp_fmuk66-v3_rtps,
|
||||
nxp_fmuk66-e_default,
|
||||
nxp_fmuk66-v3_socketcan,
|
||||
nxp_fmuk66-v3_rtps,
|
||||
nxp_fmurt1062-v1_default,
|
||||
nxp_ucans32k146_default,
|
||||
nxp_rddrone-uavcan146_default,
|
||||
omnibus_f4sd_default,
|
||||
px4_fmu-v2_default,
|
||||
px4_fmu-v2_fixedwing,
|
||||
@@ -53,14 +48,11 @@ jobs:
|
||||
px4_fmu-v2_multicopter,
|
||||
px4_fmu-v2_rover,
|
||||
px4_fmu-v2_test,
|
||||
px4_fmu-v3_ctrlalloc,
|
||||
px4_fmu-v3_default,
|
||||
px4_fmu-v4_cannode,
|
||||
px4_fmu-v4_ctrlalloc,
|
||||
px4_fmu-v4_default,
|
||||
px4_fmu-v4_optimized,
|
||||
px4_fmu-v4pro_default,
|
||||
px4_fmu-v5_ctrlalloc,
|
||||
px4_fmu-v5_default,
|
||||
px4_fmu-v5_fixedwing,
|
||||
px4_fmu-v5_multicopter,
|
||||
@@ -68,11 +60,8 @@ jobs:
|
||||
px4_fmu-v5_rover,
|
||||
px4_fmu-v5_rtps,
|
||||
px4_fmu-v5_stackcheck,
|
||||
px4_fmu-v5_uavcanv0periph,
|
||||
px4_fmu-v5_uavcanv1,
|
||||
px4_fmu-v5x_base_phy_DP83848C,
|
||||
px4_fmu-v5x_default,
|
||||
px4_fmu-v6u_default,
|
||||
px4_fmu-v6x_default,
|
||||
px4_io-v2_default,
|
||||
spracing_h7extreme_default,
|
||||
|
||||
@@ -1,61 +0,0 @@
|
||||
name: NuttX UAVCAN firmware
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'master'
|
||||
pull_request:
|
||||
branches:
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-nuttx-focal:2021-02-04
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
ark_can-flow_default,
|
||||
cuav_can-gps-v1_default,
|
||||
holybro_can-gps-v1_default,
|
||||
#nxp_ucans32k146_default,
|
||||
px4_fmu-v4_cannode
|
||||
]
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{secrets.ACCESS_TOKEN}}
|
||||
|
||||
- name: Prepare ccache timestamp
|
||||
id: ccache_cache_timestamp
|
||||
shell: cmake -P {0}
|
||||
run: |
|
||||
string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
|
||||
message("::set-output name=timestamp::${current_date}")
|
||||
- name: ccache cache files
|
||||
uses: actions/cache@v2
|
||||
with:
|
||||
path: ~/.ccache
|
||||
key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
|
||||
restore-keys: ${{matrix.config}}-ccache-
|
||||
- name: setup ccache
|
||||
run: |
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 400M" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
- name: make ${{matrix.config}}
|
||||
run: make ${{matrix.config}}
|
||||
|
||||
- name: ccache post-run
|
||||
run: ccache -s
|
||||
|
||||
- name: Upload px4 package
|
||||
uses: actions/upload-artifact@v2
|
||||
with:
|
||||
name: px4_cannode_${{matrix.config}}
|
||||
path: build/${{matrix.config}}/*.uavcan.bin
|
||||
@@ -0,0 +1,67 @@
|
||||
name: Coverage
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'master'
|
||||
pull_request:
|
||||
branches:
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2020-09-14
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
tests,
|
||||
#python_coverage,
|
||||
]
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{secrets.ACCESS_TOKEN}}
|
||||
|
||||
- name: Prepare ccache timestamp
|
||||
id: ccache_cache_timestamp
|
||||
shell: cmake -P {0}
|
||||
run: |
|
||||
string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
|
||||
message("::set-output name=timestamp::${current_date}")
|
||||
- name: ccache cache files
|
||||
uses: actions/cache@v2
|
||||
with:
|
||||
path: ~/.ccache
|
||||
key: coverage_${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
|
||||
restore-keys: coverage_${{matrix.config}}-ccache-
|
||||
- name: setup ccache
|
||||
run: |
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
- name: make ${{matrix.config}}
|
||||
env:
|
||||
PX4_CMAKE_BUILD_TYPE: "Coverage"
|
||||
run: make ${{matrix.config}}
|
||||
|
||||
# Report test coverage
|
||||
- name: Upload coverage
|
||||
run: |
|
||||
git config --global credential.helper "" # disable the keychain credential helper
|
||||
git config --global --add credential.helper store # enable the local store credential helper
|
||||
echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
|
||||
git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
|
||||
mkdir -p coverage
|
||||
lcov --directory build/px4_sitl_test --base-directory build/px4_sitl_test --gcov-tool gcov --capture -o coverage/lcov.info
|
||||
- name: Upload coverage information to Codecov
|
||||
uses: codecov/codecov-action@v1
|
||||
with:
|
||||
token: ${{ secrets.CODECOV_TOKEN }}
|
||||
flags: ${{matrix.config}}
|
||||
file: coverage/lcov.info
|
||||
@@ -19,7 +19,7 @@ jobs:
|
||||
- {test_file: "mavros_posix_test_safe_landing.test", vehicle: "iris_obs_avoid", mission: "MC_safe_landing", build_type: "RelWithDebInfo"}
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev-ros-melodic:2021-02-04
|
||||
image: px4io/px4-dev-ros-melodic:2020-08-14
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
@@ -49,9 +49,7 @@ jobs:
|
||||
ccache -z
|
||||
|
||||
- name: check environment
|
||||
run: |
|
||||
export
|
||||
ulimit -a
|
||||
run: export
|
||||
- name: Build PX4 and sitl_gazebo
|
||||
env:
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
|
||||
@@ -17,15 +17,15 @@ jobs:
|
||||
config:
|
||||
- {vehicle: "iris", mission: "MC_mission_box", build_type: "RelWithDebInfo"}
|
||||
- {vehicle: "rover", mission: "rover_mission_1", build_type: "RelWithDebInfo"}
|
||||
#- {vehicle: "plane", mission: "FW_mission_1", build_type: "RelWithDebInfo"}
|
||||
#- {vehicle: "plane_catapult",mission: "FW_mission_1", build_type: "RelWithDebInfo"}
|
||||
#- {vehicle: "standard_vtol", mission: "VTOL_mission_1", build_type: "Coverage"}
|
||||
#- {vehicle: "standard_vtol", mission: "VTOL_mission_1", build_type: "AddressSanitizer"}
|
||||
- {vehicle: "plane", mission: "FW_mission_1", build_type: "RelWithDebInfo"}
|
||||
- {vehicle: "plane_catapult",mission: "FW_mission_1", build_type: "RelWithDebInfo"}
|
||||
- {vehicle: "standard_vtol", mission: "VTOL_mission_1", build_type: "Coverage"}
|
||||
- {vehicle: "standard_vtol", mission: "VTOL_mission_1", build_type: "AddressSanitizer"}
|
||||
#- {vehicle: "tailsitter", mission: "VTOL_mission_1", build_type: "RelWithDebInfo"}
|
||||
#- {vehicle: "tiltrotor", mission: "VTOL_mission_1", build_type: "RelWithDebInfo"}
|
||||
- {vehicle: "tiltrotor", mission: "VTOL_mission_1", build_type: "RelWithDebInfo"}
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev-ros-melodic:2021-02-04
|
||||
image: px4io/px4-dev-ros-melodic:2020-08-14
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
@@ -55,9 +55,7 @@ jobs:
|
||||
ccache -z
|
||||
|
||||
- name: check environment
|
||||
run: |
|
||||
export
|
||||
ulimit -a
|
||||
run: export
|
||||
- name: Build PX4 and sitl_gazebo
|
||||
env:
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
|
||||
@@ -20,7 +20,7 @@ jobs:
|
||||
#- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev-ros-melodic:2021-02-04
|
||||
image: px4io/px4-dev-ros-melodic:2020-08-14
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
@@ -50,9 +50,7 @@ jobs:
|
||||
ccache -z
|
||||
|
||||
- name: check environment
|
||||
run: |
|
||||
export
|
||||
ulimit -a
|
||||
run: export
|
||||
- name: Build PX4 and sitl_gazebo
|
||||
env:
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
|
||||
@@ -12,7 +12,7 @@ jobs:
|
||||
|
||||
airframe:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-02-04
|
||||
container: px4io/px4-dev-base-focal:2020-09-14
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -23,11 +23,11 @@ jobs:
|
||||
make airframe_metadata
|
||||
cd build/px4_sitl_default/docs
|
||||
ls -ls *
|
||||
# TODO: deploy to userguide gitbook and s3
|
||||
# TODO: deploy to devguide gitbook and s3
|
||||
|
||||
module:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-02-04
|
||||
container: px4io/px4-dev-base-focal:2020-09-14
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -38,11 +38,11 @@ jobs:
|
||||
make module_documentation
|
||||
cd build/px4_sitl_default/docs
|
||||
ls -ls *
|
||||
# TODO: deploy to userguide gitbook and s3
|
||||
# TODO: deploy to devguide gitbook and s3
|
||||
|
||||
parameter:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-02-04
|
||||
container: px4io/px4-dev-base-focal:2020-09-14
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -57,7 +57,7 @@ jobs:
|
||||
|
||||
uorb_graph:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-nuttx-focal:2021-02-04
|
||||
container: px4io/px4-dev-nuttx-focal:2020-09-14
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -72,7 +72,7 @@ jobs:
|
||||
|
||||
micrortps_agent:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-02-04
|
||||
container: px4io/px4-dev-base-focal:2020-09-14
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -86,7 +86,7 @@ jobs:
|
||||
|
||||
ROS_msgs:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-02-04
|
||||
container: px4io/px4-dev-base-focal:2020-09-14
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -99,7 +99,7 @@ jobs:
|
||||
|
||||
ROS2_bridge:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-02-04
|
||||
container: px4io/px4-dev-base-focal:2020-09-14
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
|
||||
@@ -15,12 +15,12 @@ jobs:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
config:
|
||||
- {latitude: "59.617693", longitude: "-151.145316", altitude: "48", build_type: "RelWithDebInfo", model: "iris" } # Alaska
|
||||
- {latitude: "-38.071235", longitude: "145.281220", altitude: "31", build_type: "RelWithDebInfo", model: "standard_vtol" } # Australia
|
||||
- {latitude: "29.660316", longitude: "-82.316658", altitude: "30", build_type: "RelWithDebInfo", model: "tailsitter" } # Florida
|
||||
- {latitude: "47.397742", longitude: "8.545594", altitude: "488", build_type: "Coverage", model: "standard_vtol" } # Zurich
|
||||
- {latitude: "59.617693", longitude: "-151.145316", altitude: "48", build_type: "RelWithDebInfo"} # Alaska
|
||||
- {latitude: "-38.071235", longitude: "145.281220", altitude: "31", build_type: "RelWithDebInfo"} # Australia
|
||||
- {latitude: "29.660316", longitude: "-82.316658", altitude: "30", build_type: "RelWithDebInfo"} # Florida
|
||||
- {latitude: "47.397742", longitude: "8.545594", altitude: "488", build_type: "Coverage"} # Zurich
|
||||
container:
|
||||
image: px4io/px4-dev-simulation-focal:2021-02-04
|
||||
image: px4io/px4-dev-simulation-focal:2020-08-14
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
@@ -28,9 +28,9 @@ jobs:
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: Download MAVSDK
|
||||
run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.36.0/mavsdk_0.36.0_ubuntu20.04_amd64.deb
|
||||
run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.30.1/mavsdk_0.30.1_ubuntu18.04_amd64.deb
|
||||
- name: Install MAVSDK
|
||||
run: dpkg -i mavsdk_0.36.0_ubuntu20.04_amd64.deb
|
||||
run: dpkg -i mavsdk_0.30.1_ubuntu18.04_amd64.deb
|
||||
|
||||
- name: Prepare ccache timestamp
|
||||
id: ccache_cache_timestamp
|
||||
@@ -60,9 +60,7 @@ jobs:
|
||||
PX4_HOME_LON: ${{matrix.config.longitude}}
|
||||
PX4_HOME_ALT: ${{matrix.config.altitude}}
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
run: |
|
||||
export
|
||||
ulimit -a
|
||||
run: export
|
||||
- name: Build PX4
|
||||
env:
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
@@ -94,7 +92,7 @@ jobs:
|
||||
PX4_HOME_LON: ${{matrix.config.longitude}}
|
||||
PX4_HOME_ALT: ${{matrix.config.altitude}}
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json
|
||||
run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early test/mavsdk_tests/configs/sitl.json
|
||||
|
||||
- name: Look at core files
|
||||
if: failure()
|
||||
@@ -106,6 +104,10 @@ jobs:
|
||||
name: coredump
|
||||
path: px4.core
|
||||
|
||||
- name: Upload logs to flight review
|
||||
if: failure()
|
||||
run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ${GITHUB_WORKSPACE}/build/px4_sitl_default/tmp_mavsdk_tests/rootfs/log/*/*.ulg
|
||||
|
||||
- name: Upload px4 binary
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v2-preview
|
||||
|
||||
@@ -101,6 +101,11 @@ msg/tmp/
|
||||
msg/topics_sources/
|
||||
platforms/posix/apps.cpp
|
||||
platforms/posix/apps.h
|
||||
src/lib/flight_tasks/FlightTasks_generated.cpp
|
||||
src/lib/flight_tasks/FlightTasks_generated.hpp
|
||||
src/lib/parameters/px4_parameters.c
|
||||
src/lib/parameters/px4_parameters.h
|
||||
src/lib/parameters/px4_parameters_public.h
|
||||
src/lib/version/build_git_version.h
|
||||
src/modules/simulator/simulator_config.h
|
||||
src/systemcmds/topic_listener/listener_generated.cpp
|
||||
|
||||
+8
-20
@@ -4,7 +4,7 @@
|
||||
branch = master
|
||||
[submodule "src/drivers/uavcan/libuavcan"]
|
||||
path = src/drivers/uavcan/libuavcan
|
||||
url = https://github.com/PX4/libuavcan.git
|
||||
url = https://github.com/PX4/uavcan.git
|
||||
branch = px4
|
||||
[submodule "Tools/jMAVSim"]
|
||||
path = Tools/jMAVSim
|
||||
@@ -12,15 +12,15 @@
|
||||
branch = master
|
||||
[submodule "Tools/sitl_gazebo"]
|
||||
path = Tools/sitl_gazebo
|
||||
url = https://github.com/PX4/PX4-SITL_gazebo.git
|
||||
url = https://github.com/PX4/sitl_gazebo.git
|
||||
branch = master
|
||||
[submodule "src/lib/matrix"]
|
||||
path = src/lib/matrix
|
||||
url = https://github.com/PX4/PX4-Matrix.git
|
||||
url = https://github.com/PX4/Matrix.git
|
||||
branch = master
|
||||
[submodule "src/lib/ecl"]
|
||||
path = src/lib/ecl
|
||||
url = https://github.com/PX4/PX4-ECL.git
|
||||
url = https://github.com/PX4/ecl.git
|
||||
branch = master
|
||||
[submodule "boards/atlflight/cmake_hexagon"]
|
||||
path = boards/atlflight/cmake_hexagon
|
||||
@@ -28,20 +28,20 @@
|
||||
branch = px4
|
||||
[submodule "src/drivers/gps/devices"]
|
||||
path = src/drivers/gps/devices
|
||||
url = https://github.com/PX4/PX4-GPSDrivers.git
|
||||
url = https://github.com/PX4/GpsDrivers.git
|
||||
branch = master
|
||||
[submodule "src/modules/micrortps_bridge/micro-CDR"]
|
||||
path = src/modules/micrortps_bridge/micro-CDR
|
||||
url = https://github.com/PX4/Micro-CDR.git
|
||||
url = https://github.com/PX4/micro-CDR.git
|
||||
branch = px4
|
||||
[submodule "platforms/nuttx/NuttX/nuttx"]
|
||||
path = platforms/nuttx/NuttX/nuttx
|
||||
url = https://github.com/PX4/NuttX.git
|
||||
branch = px4_firmware_nuttx-10.0.0+
|
||||
branch = px4_firmware_nuttx-9.1.0+
|
||||
[submodule "platforms/nuttx/NuttX/apps"]
|
||||
path = platforms/nuttx/NuttX/apps
|
||||
url = https://github.com/PX4/NuttX-apps.git
|
||||
branch = px4_firmware_nuttx-10.0.0+
|
||||
branch = px4_firmware_nuttx-9.1.0+
|
||||
[submodule "platforms/qurt/dspal"]
|
||||
path = platforms/qurt/dspal
|
||||
url = https://github.com/ATLFlight/dspal.git
|
||||
@@ -54,15 +54,3 @@
|
||||
[submodule "src/examples/gyro_fft/CMSIS_5"]
|
||||
path = src/examples/gyro_fft/CMSIS_5
|
||||
url = https://github.com/ARM-software/CMSIS_5.git
|
||||
[submodule "src/drivers/uavcan_v1/libcanard"]
|
||||
path = src/drivers/uavcan_v1/libcanard
|
||||
url = https://github.com/UAVCAN/libcanard.git
|
||||
[submodule "src/drivers/uavcan_v1/public_regulated_data_types"]
|
||||
path = src/drivers/uavcan_v1/public_regulated_data_types
|
||||
url = https://github.com/UAVCAN/public_regulated_data_types.git
|
||||
[submodule "src/drivers/uavcannode_gps_demo/public_regulated_data_types"]
|
||||
path = src/drivers/uavcannode_gps_demo/public_regulated_data_types
|
||||
url = https://github.com/UAVCAN/public_regulated_data_types
|
||||
[submodule "src/drivers/uavcannode_gps_demo/libcanard"]
|
||||
path = src/drivers/uavcannode_gps_demo/libcanard
|
||||
url = https://github.com/UAVCAN/libcanard
|
||||
|
||||
Vendored
-35
@@ -56,36 +56,16 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: airmind_mindpx-v2_default
|
||||
ark_can-flow_default:
|
||||
short: ark_can-flow_default
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_can-flow_default
|
||||
ark_can-flow_canbootloader:
|
||||
short: ark_can-flow_canbootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_can-flow_canbootloader
|
||||
av_x-v1_default:
|
||||
short: av_x-v1
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: av_x-v1_default
|
||||
bitcraze_crazyflie_default:
|
||||
short: bitcraze_crazyflie
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: bitcraze_crazyflie_default
|
||||
cuav_can-gps-v1_default:
|
||||
short: cuav_can-gps-v1_default
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: cuav_can-gps-v1_default
|
||||
cuav_can-gps-v1_canbootloader:
|
||||
short: cuav_can-gps-v1_canbootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: cuav_can-gps-v1_canbootloader
|
||||
cuav_nora_default:
|
||||
short: cuav_nora
|
||||
buildType: MinSizeRel
|
||||
@@ -106,11 +86,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: cubepilot_cubeyellow_default
|
||||
emlid_navio2_default:
|
||||
short: emlid_navio2
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: emlid_navio2_default
|
||||
holybro_durandal-v1_default:
|
||||
short: holybro_durandal-v1
|
||||
buildType: MinSizeRel
|
||||
@@ -131,16 +106,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: mro_ctrl-zero-f7_default
|
||||
mro_pixracerpro_bootloader:
|
||||
short: mro_pixracerpro_bootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: mro_pixracerpro_bootloader
|
||||
mro_pixracerpro_default:
|
||||
short: mro_pixracerpro_default
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: mro_pixracerpro_default
|
||||
mro_x21-777_default:
|
||||
short: mro_x2.1-777
|
||||
buildType: MinSizeRel
|
||||
|
||||
Vendored
+1
@@ -128,6 +128,7 @@
|
||||
"${workspaceFolder}/build": true
|
||||
},
|
||||
"search.showLineNumbers": true,
|
||||
"search.smartCase": true,
|
||||
"telemetry.enableTelemetry": false,
|
||||
"terminal.integrated.copyOnSelection": true,
|
||||
"terminal.integrated.rightClickBehavior": "paste",
|
||||
|
||||
@@ -406,6 +406,7 @@ add_subdirectory(src/lib EXCLUDE_FROM_ALL)
|
||||
|
||||
add_subdirectory(platforms/${PX4_PLATFORM}/src/px4)
|
||||
add_subdirectory(platforms EXCLUDE_FROM_ALL)
|
||||
add_subdirectory(src/modules/uORB EXCLUDE_FROM_ALL) # TODO: platform layer
|
||||
|
||||
if(EXISTS "${PX4_BOARD_DIR}/CMakeLists.txt")
|
||||
add_subdirectory(${PX4_BOARD_DIR})
|
||||
|
||||
Vendored
+48
-19
@@ -15,7 +15,7 @@ pipeline {
|
||||
// stage('Catkin build on ROS workspace') {
|
||||
// agent {
|
||||
// docker {
|
||||
// image 'px4io/px4-dev-ros-melodic:2021-02-04'
|
||||
// image 'px4io/px4-dev-ros-melodic:2020-08-20'
|
||||
// args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
|
||||
// }
|
||||
// }
|
||||
@@ -56,7 +56,7 @@ pipeline {
|
||||
stage('Colcon build on ROS2 workspace') {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-ros2-foxy:2021-02-04'
|
||||
image 'px4io/px4-dev-ros2-foxy:2020-08-20'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
|
||||
}
|
||||
}
|
||||
@@ -67,9 +67,11 @@ pipeline {
|
||||
unset ROS_DISTRO;
|
||||
mkdir -p colcon_ws/src;
|
||||
cd colcon_ws;
|
||||
git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo;
|
||||
git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo
|
||||
git clone --recursive ${WORKSPACE}/colcon_ws/src/Firmware/Tools/sitl_gazebo src/mavlink_sitl_gazebo;
|
||||
git -C ${WORKSPACE}/colcon_ws/src/Firmware fetch --tags;
|
||||
source /opt/ros/foxy/setup.sh;
|
||||
source /opt/ros/bouncy/setup.sh;
|
||||
source /opt/ros/melodic/setup.sh;
|
||||
colcon build --event-handlers console_direct+ --symlink-install;
|
||||
'''
|
||||
}
|
||||
@@ -85,7 +87,7 @@ pipeline {
|
||||
|
||||
stage('Airframe') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean'
|
||||
@@ -104,14 +106,14 @@ pipeline {
|
||||
|
||||
stage('Parameter') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean'
|
||||
sh 'make parameters_metadata'
|
||||
dir('build/px4_sitl_default/docs') {
|
||||
archiveArtifacts(artifacts: 'parameters.md, parameters.xml, params.json.xz')
|
||||
stash includes: 'parameters.md, parameters.xml, params.json.xz', name: 'metadata_parameters'
|
||||
archiveArtifacts(artifacts: 'parameters.md, parameters.xml')
|
||||
stash includes: 'parameters.md, parameters.xml', name: 'metadata_parameters'
|
||||
}
|
||||
}
|
||||
post {
|
||||
@@ -123,7 +125,7 @@ pipeline {
|
||||
|
||||
stage('Module') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean'
|
||||
@@ -143,7 +145,7 @@ pipeline {
|
||||
stage('uORB graphs') {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-02-04'
|
||||
image 'px4io/px4-dev-nuttx-focal:2020-09-14'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
@@ -170,20 +172,48 @@ pipeline {
|
||||
|
||||
parallel {
|
||||
|
||||
stage('Userguide') {
|
||||
stage('Devguide') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
unstash 'metadata_airframes'
|
||||
unstash 'metadata_parameters'
|
||||
unstash 'metadata_module_documentation'
|
||||
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
|
||||
sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/Devguide.git')
|
||||
sh('cp airframes.md Devguide/en/airframes/airframe_reference.md')
|
||||
sh('cp parameters.md Devguide/en/advanced/parameter_reference.md')
|
||||
sh('cp -R modules/*.md Devguide/en/middleware/')
|
||||
sh('cd Devguide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
|
||||
sh('cd Devguide; git push origin master || true')
|
||||
sh('rm -rf Devguide')
|
||||
}
|
||||
}
|
||||
when {
|
||||
anyOf {
|
||||
branch 'master'
|
||||
branch 'pr-jenkins' // for testing
|
||||
}
|
||||
}
|
||||
options {
|
||||
skipDefaultCheckout()
|
||||
}
|
||||
}
|
||||
|
||||
stage('Userguide') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
unstash 'metadata_airframes'
|
||||
unstash 'metadata_parameters'
|
||||
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
|
||||
sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_user_guide.git')
|
||||
sh('cp airframes.md px4_user_guide/en/airframes/airframe_reference.md')
|
||||
sh('cp parameters.md px4_user_guide/en/advanced_config/parameter_reference.md')
|
||||
sh('cp -R modules/*.md px4_user_guide/en/modules/')
|
||||
sh('cd px4_user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
|
||||
sh('cd px4_user_guide; git push origin master || true')
|
||||
sh('rm -rf px4_user_guide')
|
||||
@@ -202,7 +232,7 @@ pipeline {
|
||||
|
||||
stage('QGroundControl') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
@@ -230,7 +260,7 @@ pipeline {
|
||||
|
||||
stage('microRTPS agent') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
@@ -260,7 +290,7 @@ pipeline {
|
||||
|
||||
stage('PX4 ROS msgs') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
@@ -289,7 +319,7 @@ pipeline {
|
||||
|
||||
stage('PX4 ROS2 bridge') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
@@ -332,7 +362,7 @@ pipeline {
|
||||
|
||||
stage('S3') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
@@ -342,7 +372,6 @@ pipeline {
|
||||
withAWS(credentials: 'px4_aws_s3_key', region: 'us-east-1') {
|
||||
s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'airframes.xml', path: 'Firmware/master/')
|
||||
s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.xml', path: 'Firmware/master/')
|
||||
s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'params.json.xz', path: 'Firmware/master/')
|
||||
}
|
||||
}
|
||||
when {
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
BSD 3-Clause License
|
||||
|
||||
Copyright (c) 2012 - 2021, PX4 Development Team
|
||||
Copyright (c) 2012 - 2020, PX4 Development Team
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
|
||||
@@ -271,7 +271,6 @@ misc_qgc_extra_firmware: \
|
||||
check_intel_aerofc-v1_default \
|
||||
check_mro_x21_default \
|
||||
check_bitcraze_crazyflie_default \
|
||||
check_bitcraze_crazyflie21_default \
|
||||
check_airmind_mindpx-v2_default \
|
||||
check_px4_fmu-v2_lpe \
|
||||
sizes
|
||||
@@ -362,10 +361,8 @@ tests:
|
||||
|
||||
tests_coverage:
|
||||
@$(MAKE) clean
|
||||
@$(MAKE) --no-print-directory tests PX4_CMAKE_BUILD_TYPE=Coverage
|
||||
@mkdir -p coverage
|
||||
@lcov --directory build/px4_sitl_test --base-directory build/px4_sitl_test --gcov-tool gcov --capture -o coverage/lcov.info
|
||||
|
||||
@$(MAKE) --no-print-directory px4_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage
|
||||
@echo "Open "$(SRC_DIR)"/build/px4_sitl_default/coverage-html/index.html to see coverage"
|
||||
|
||||
rostest: px4_sitl_default
|
||||
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
|
||||
|
||||
@@ -1,20 +1,20 @@
|
||||
# PX4 Drone Autopilot
|
||||
|
||||
[](https://github.com/PX4/PX4-Autopilot/releases) [](https://zenodo.org/badge/latestdoi/22634/PX4/PX4-Autopilot)
|
||||
[](https://github.com/PX4/Firmware/releases) [](https://zenodo.org/badge/latestdoi/22634/PX4/Firmware)
|
||||
|
||||
[](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22Nuttx+Targets%22?branch=master) [](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22SITL+Tests%22)
|
||||
[](https://github.com/PX4/Firmware/actions?query=workflow%3A%22Nuttx+Targets%22?branch=master) [](https://github.com/PX4/Firmware/actions?query=workflow%3A%22SITL+Tests%22)
|
||||
|
||||
[](http://slack.px4.io)
|
||||
|
||||
This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
|
||||
This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/Firmware/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
|
||||
|
||||
* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/master/LICENSE))
|
||||
* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/Firmware/blob/master/LICENSE))
|
||||
* [Supported airframes](https://docs.px4.io/master/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
|
||||
* [Multicopters](https://docs.px4.io/master/en/airframes/airframe_reference.html#copter)
|
||||
* [Fixed wing](https://docs.px4.io/master/en/airframes/airframe_reference.html#plane)
|
||||
* [VTOL](https://docs.px4.io/master/en/airframes/airframe_reference.html#vtol)
|
||||
* many more experimental types (Rovers, Blimps, Boats, Submarines, Autogyros, etc)
|
||||
* Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)
|
||||
* Releases: [Downloads](https://github.com/PX4/Firmware/releases)
|
||||
|
||||
|
||||
## PX4 Users
|
||||
@@ -40,43 +40,32 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/co
|
||||
|
||||
## Maintenance Team
|
||||
|
||||
* Project: Founder
|
||||
* [Lorenz Meier](https://github.com/LorenzMeier)
|
||||
* Architecture
|
||||
* [Daniel Agar](https://github.com/dagar)
|
||||
* [Dev Call](https://github.com/PX4/PX4-Autopilot/labels/devcall)
|
||||
* [Ramon Roche](https://github.com/mrpollo)
|
||||
* Project: Founder - [Lorenz Meier](https://github.com/LorenzMeier), Architecture: [Daniel Agar](https://github.com/dagar)
|
||||
* [Dev Call](https://github.com/PX4/Firmware/labels/devcall) - [Ramon Roche](https://github.com/mrpollo)
|
||||
* Communication Architecture
|
||||
* [Beat Kueng](https://github.com/bkueng)
|
||||
* [Julian Oes](https://github.com/JulianOes)
|
||||
* UI in QGroundControl
|
||||
* [Gus Grubba](https://github.com/dogmaphobic)
|
||||
* [Multicopter Flight Control](https://github.com/PX4/PX4-Autopilot/labels/multicopter)
|
||||
* [Multicopter Flight Control](https://github.com/PX4/Firmware/labels/multicopter)
|
||||
* [Mathieu Bresciani](https://github.com/bresch)
|
||||
* [Multicopter Software Architecture](https://github.com/PX4/PX4-Autopilot/labels/multicopter)
|
||||
* [Multicopter Software Architecture](https://github.com/PX4/Firmware/labels/multicopter)
|
||||
* [Matthias Grob](https://github.com/MaEtUgR)
|
||||
* [VTOL Flight Control](https://github.com/PX4/PX4-Autopilot/labels/vtol)
|
||||
* [VTOL Flight Control](https://github.com/PX4/Firmware/labels/vtol)
|
||||
* [Roman Bapst](https://github.com/RomanBapst)
|
||||
* [Fixed Wing Flight Control](https://github.com/PX4/PX4-Autopilot/labels/fixedwing)
|
||||
* [Fixed Wing Flight Control](https://github.com/PX4/Firmware/labels/fixedwing)
|
||||
* [Roman Bapst](https://github.com/RomanBapst)
|
||||
* OS / NuttX
|
||||
* [David Sidrane](https://github.com/davids5)
|
||||
* Driver Architecture
|
||||
* [Daniel Agar](https://github.com/dagar)
|
||||
* Commander Architecture
|
||||
* [Julian Oes](https://github.com/julianoes)
|
||||
* [UAVCAN](https://github.com/PX4/PX4-Autopilot/labels/uavcan)
|
||||
* [Daniel Agar](https://github.com/dagar)
|
||||
* [State Estimation](https://github.com/PX4/PX4-Autopilot/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22)
|
||||
* [Paul Riseborough](https://github.com/priseborough)
|
||||
* OS / NuttX [David Sidrane](https://github.com/davids5)
|
||||
* Driver Architecture [Daniel Agar](https://github.com/dagar)
|
||||
* Commander Architecture [Julian Oes](https://github.com/julianoes)
|
||||
* [UAVCAN](https://github.com/PX4/Firmware/labels/uavcan) [Daniel Agar](https://github.com/dagar)
|
||||
* [State Estimation](https://github.com/PX4/Firmware/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22) - [Paul Riseborough](https://github.com/priseborough)
|
||||
* Vision based navigation
|
||||
* [Julian Kent](https://github.com/jkflying)
|
||||
* Obstacle Avoidance
|
||||
* [Martina Rivizzigno](https://github.com/mrivi)
|
||||
* RTPS/ROS2 Interface
|
||||
* [Nuno Marques](https://github.com/TSC21)
|
||||
* Obstacle Avoidance - [Martina Rivizzigno](https://github.com/mrivi)
|
||||
* RTPS/ROS2 Interface - [Nuno Marques](https://github.com/TSC21)
|
||||
|
||||
See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github).
|
||||
See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/Firmware/graphs/contributors) (Github).
|
||||
|
||||
## Supported Hardware
|
||||
|
||||
@@ -108,4 +97,4 @@ Additional information about supported hardware can be found in [PX4 user Guide
|
||||
|
||||
## Project Roadmap
|
||||
|
||||
A high level project roadmap is available [here](https://github.com/orgs/PX4/projects/25).
|
||||
A high level project roadmap is available [here](https://www.dronecode.org/roadmap/).
|
||||
|
||||
@@ -187,46 +187,6 @@ foreach(board_rc_file ${OPTIONAL_BOARD_RC})
|
||||
|
||||
endforeach()
|
||||
|
||||
|
||||
if(config_uavcan_peripheral_firmware)
|
||||
|
||||
include(ExternalProject)
|
||||
|
||||
foreach(uavcan_peripheral_config ${config_uavcan_peripheral_firmware})
|
||||
# include the px4io binary in ROMFS
|
||||
message(STATUS "ROMFS: Building and including UAVCAN peripheral ${uavcan_peripheral_config}")
|
||||
ExternalProject_Add(build_${uavcan_peripheral_config}
|
||||
SOURCE_DIR ${CMAKE_SOURCE_DIR}
|
||||
DOWNLOAD_COMMAND ""
|
||||
UPDATE_COMMAND ""
|
||||
CMAKE_ARGS -DCONFIG=${uavcan_peripheral_config}
|
||||
INSTALL_COMMAND ""
|
||||
USES_TERMINAL_BUILD true
|
||||
DEPENDS git_nuttx git_nuttx_apps
|
||||
BUILD_ALWAYS 1
|
||||
)
|
||||
|
||||
ExternalProject_Get_Property(build_${uavcan_peripheral_config} BINARY_DIR)
|
||||
|
||||
add_custom_command(
|
||||
OUTPUT
|
||||
${romfs_gen_root_dir}/uavcan/fw/_${uavcan_board_id}.bin
|
||||
${uavcan_peripheral_config}.stamp
|
||||
COMMAND ${CMAKE_COMMAND} -E make_directory ${romfs_gen_root_dir}/uavcan/fw/
|
||||
COMMAND ${CMAKE_COMMAND} -E copy ${BINARY_DIR}/deploy/*.bin ${romfs_gen_root_dir}/uavcan/fw/
|
||||
COMMAND ls -lsa ${romfs_gen_root_dir}/uavcan/fw/
|
||||
COMMAND ${CMAKE_COMMAND} -E touch ${uavcan_peripheral_config}.stamp
|
||||
DEPENDS
|
||||
build_${uavcan_peripheral_config}
|
||||
COMMENT "ROMFS: copying ${uavcan_peripheral_config}"
|
||||
)
|
||||
|
||||
list(APPEND extras_dependencies
|
||||
${uavcan_peripheral_config}.stamp
|
||||
)
|
||||
endforeach()
|
||||
endif()
|
||||
|
||||
list(APPEND extras_dependencies
|
||||
${config_romfs_extra_dependencies}
|
||||
)
|
||||
|
||||
@@ -30,6 +30,13 @@ sercon
|
||||
#
|
||||
ver all
|
||||
|
||||
#
|
||||
# Start the ORB (first app to start)
|
||||
# tone_alarm and tune_control
|
||||
# is dependent.
|
||||
#
|
||||
uorb start
|
||||
|
||||
#
|
||||
# Set the parameter file if mtd starts successfully.
|
||||
#
|
||||
@@ -65,7 +72,7 @@ rgbled start -X -q
|
||||
rgbled_ncp5623c start -X -q
|
||||
rgbled_pwm start
|
||||
|
||||
if param greater -s LIGHT_EN_BLINKM 0
|
||||
if param greater LIGHT_EN_BLINKM 0
|
||||
then
|
||||
if blinkm start -X
|
||||
then
|
||||
|
||||
@@ -1,52 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
# @maintainer Julian Oes <julian@oes.ch>
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
. ${R}etc/init.d/rc.ctrlalloc
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set MPC_USE_HTE 0
|
||||
|
||||
param set VM_MASS 1.5
|
||||
param set VM_INERTIA_XX 0.03
|
||||
param set VM_INERTIA_YY 0.03
|
||||
param set VM_INERTIA_ZZ 0.05
|
||||
|
||||
param set CA_AIRFRAME 0
|
||||
param set CA_METHOD 1
|
||||
param set CA_ACT0_MIN 0.0
|
||||
param set CA_ACT1_MIN 0.0
|
||||
param set CA_ACT2_MIN 0.0
|
||||
param set CA_ACT3_MIN 0.0
|
||||
param set CA_ACT0_MAX 1.0
|
||||
param set CA_ACT1_MAX 1.0
|
||||
param set CA_ACT2_MAX 1.0
|
||||
param set CA_ACT3_MAX 1.0
|
||||
|
||||
param set CA_MC_R0_PX 0.1515
|
||||
param set CA_MC_R0_PY 0.245
|
||||
param set CA_MC_R0_CT 6.5
|
||||
param set CA_MC_R0_KM 0.05
|
||||
param set CA_MC_R1_PX -0.1515
|
||||
param set CA_MC_R1_PY -0.1875
|
||||
param set CA_MC_R1_CT 6.5
|
||||
param set CA_MC_R1_KM 0.05
|
||||
param set CA_MC_R2_PX 0.1515
|
||||
param set CA_MC_R2_PY -0.245
|
||||
param set CA_MC_R2_CT 6.5
|
||||
param set CA_MC_R2_KM -0.05
|
||||
param set CA_MC_R3_PX -0.1515
|
||||
param set CA_MC_R3_PY 0.1875
|
||||
param set CA_MC_R3_CT 6.5
|
||||
param set CA_MC_R3_KM -0.05
|
||||
|
||||
fi
|
||||
|
||||
set MIXER direct
|
||||
@@ -12,11 +12,6 @@ if [ $AUTOCNF = yes ]
|
||||
then
|
||||
# EKF2: Multi GPS blending (as the model has 2 GPS's)
|
||||
param set EKF2_GPS_MASK 7 # Uses speed, hpos and vpos accuracy
|
||||
param set TRIG_INTERFACE 3
|
||||
param set TRIG_MODE 4
|
||||
param set MNT_MODE_IN 4
|
||||
param set MNT_MODE_OUT 2
|
||||
param set MNT_DO_STAB 2
|
||||
fi
|
||||
|
||||
set MIXER quad_x
|
||||
|
||||
@@ -1,20 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name BlueROV2 Heavy Configuration
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.uuv_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
param set NAV_DLL_ACT 0
|
||||
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set CBRK_AIRSPD_CHK 162128
|
||||
|
||||
fi
|
||||
|
||||
set PWM_OUT 12345678
|
||||
set MIXER_FILE etc/mixers-sitl/vectored6dof_sitl.main.mix
|
||||
set MIXER custom
|
||||
@@ -16,31 +16,20 @@ then
|
||||
param set FW_LND_ANG 8
|
||||
param set FW_THR_LND_MAX 0
|
||||
|
||||
param set FW_L1_PERIOD 15
|
||||
|
||||
param set FW_P_TC 0.5
|
||||
param set FW_PR_FF 0.40
|
||||
param set FW_PR_I 0.05
|
||||
param set FW_PR_P 0.05
|
||||
|
||||
param set FW_R_TC 0.7
|
||||
param set FW_RR_FF 0.20
|
||||
param set FW_RR_I 0.02
|
||||
param set FW_RR_P 0.22
|
||||
|
||||
param set FW_L1_PERIOD 12
|
||||
|
||||
param set FW_MAN_P_MAX 30
|
||||
|
||||
param set FW_PR_I 0.4
|
||||
param set FW_PR_P 0.9
|
||||
param set FW_PR_FF 0.2
|
||||
param set FW_PSP_OFF 2
|
||||
param set FW_P_LIM_MAX 32
|
||||
param set FW_P_LIM_MIN -15
|
||||
|
||||
param set FW_RR_FF 0.1
|
||||
param set FW_RR_P 0.3
|
||||
|
||||
param set FW_THR_MAX 0.6
|
||||
param set FW_THR_MIN 0.05
|
||||
param set FW_THR_CRUISE 0.25
|
||||
|
||||
param set FW_T_ALT_TC 2
|
||||
param set FW_T_CLMB_MAX 8
|
||||
param set FW_T_HRATE_FF 0.5
|
||||
param set FW_T_SINK_MAX 2.7
|
||||
param set FW_T_SINK_MIN 2.2
|
||||
param set FW_T_TAS_TC 2
|
||||
|
||||
param set FW_W_EN 1
|
||||
|
||||
param set MIS_LTRMIN_ALT 30
|
||||
|
||||
@@ -9,46 +9,40 @@
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set FW_AIRSPD_MAX 25
|
||||
param set FW_AIRSPD_MIN 14
|
||||
param set FW_AIRSPD_TRIM 16
|
||||
param set FW_L1_PERIOD 12
|
||||
param set FW_MAN_P_MAX 30
|
||||
param set FW_PR_FF 0.2
|
||||
param set FW_PR_I 0.4
|
||||
param set FW_PR_P 0.9
|
||||
param set FW_PSP_OFF 2
|
||||
param set FW_P_LIM_MAX 32
|
||||
param set FW_P_LIM_MIN -15
|
||||
|
||||
param set FW_RR_FF 0.1
|
||||
param set FW_RR_P 0.3
|
||||
param set FW_THR_CRUISE 0.25
|
||||
param set FW_THR_MAX 0.6
|
||||
param set FW_THR_MIN 0.05
|
||||
param set FW_T_ALT_TC 2
|
||||
param set FW_T_CLMB_MAX 8
|
||||
param set FW_T_HRATE_FF 0.5
|
||||
param set FW_T_SINK_MAX 2.7
|
||||
param set FW_T_SINK_MIN 2.2
|
||||
param set FW_T_TAS_TC 2
|
||||
param set FW_RR_P 0.01
|
||||
|
||||
param set MC_ROLLRATE_P 0.3
|
||||
param set MC_YAW_P 1.6
|
||||
|
||||
param set MIS_LTRMIN_ALT 10
|
||||
param set MIS_TAKEOFF_ALT 10
|
||||
param set MIS_YAW_TMT 10
|
||||
|
||||
param set MPC_ACC_HOR_MAX 2
|
||||
param set MPC_ACC_HOR_MAX 2
|
||||
param set MPC_THR_HOVER 0.58
|
||||
param set MPC_TKO_SPEED 1
|
||||
param set MPC_XY_P 0.8
|
||||
param set MPC_XY_VEL_P_ACC 3
|
||||
param set MPC_XY_VEL_I_ACC 4
|
||||
param set MPC_XY_VEL_D_ACC 0.1
|
||||
param set MPC_Z_VEL_MAX_DN 1.5
|
||||
|
||||
param set NAV_ACC_RAD 5
|
||||
param set NAV_LOITER_RAD 80
|
||||
|
||||
param set VT_FWD_THRUST_EN 4
|
||||
param set VT_F_TRANS_DUR 5
|
||||
param set VT_F_TRANS_THR 0.75
|
||||
param set VT_ARSP_TRANS 16
|
||||
param set VT_MOT_ID 1234
|
||||
param set VT_FW_MOT_OFFID 1234
|
||||
param set VT_B_TRANS_DUR 8
|
||||
param set VT_TYPE 2
|
||||
param set VT_B_TRANS_DUR 8
|
||||
|
||||
fi
|
||||
|
||||
|
||||
@@ -9,31 +9,27 @@
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set FW_AIRSPD_MAX 25
|
||||
param set FW_AIRSPD_MIN 14
|
||||
param set FW_AIRSPD_TRIM 16
|
||||
param set FW_L1_PERIOD 12
|
||||
param set FW_MAN_P_MAX 30
|
||||
param set FW_PR_I 0.2
|
||||
param set FW_PR_P 0.3
|
||||
param set FW_PSP_OFF 2
|
||||
param set FW_P_LIM_MAX 32
|
||||
param set FW_P_LIM_MIN -15
|
||||
param set FW_RR_P 0.3
|
||||
param set FW_THR_CRUISE 0.33
|
||||
param set FW_THR_MAX 0.6
|
||||
param set FW_THR_MIN 0.05
|
||||
param set FW_T_ALT_TC 2
|
||||
param set FW_T_CLMB_MAX 8
|
||||
param set FW_T_HRATE_FF 0.5
|
||||
param set FW_T_SINK_MAX 2.7
|
||||
param set FW_T_SINK_MIN 2.2
|
||||
param set FW_T_TAS_TC 2
|
||||
|
||||
param set MC_ROLLRATE_P 0.3
|
||||
|
||||
param set MIS_LTRMIN_ALT 10
|
||||
param set MIS_TAKEOFF_ALT 10
|
||||
param set MIS_YAW_TMT 10
|
||||
|
||||
param set MPC_ACC_HOR_MAX 2
|
||||
param set MPC_XY_P 0.8
|
||||
param set MPC_XY_VEL_P_ACC 3
|
||||
param set MPC_XY_VEL_I_ACC 4
|
||||
param set MPC_ACC_HOR_MAX 2
|
||||
param set MPC_THR_MIN 0.1
|
||||
param set MPC_TKO_SPEED 1
|
||||
param set MPC_XY_P 0.15
|
||||
param set MPC_XY_VEL_D_ACC 0.1
|
||||
param set MPC_XY_VEL_I_ACC 4
|
||||
param set MPC_XY_VEL_P_ACC 1
|
||||
param set MPC_Z_VEL_MAX_DN 1.5
|
||||
param set MPC_Z_VEL_P_ACC 16
|
||||
|
||||
param set NAV_ACC_RAD 5
|
||||
param set NAV_LOITER_RAD 80
|
||||
@@ -42,8 +38,6 @@ then
|
||||
param set VT_F_TRANS_THR 0.7
|
||||
param set VT_TYPE 0
|
||||
|
||||
param set WV_EN 0
|
||||
|
||||
fi
|
||||
|
||||
set MAV_TYPE 20
|
||||
|
||||
@@ -9,44 +9,40 @@
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set FW_ARSP_MODE 1
|
||||
param set FW_AIRSPD_MAX 25
|
||||
param set FW_AIRSPD_MIN 14
|
||||
param set FW_AIRSPD_TRIM 16
|
||||
param set FW_L1_PERIOD 12
|
||||
param set FW_MAN_P_MAX 30
|
||||
param set FW_PR_FF 0.2
|
||||
param set FW_PR_I 0.4
|
||||
param set FW_PR_P 0.9
|
||||
param set FW_PSP_OFF 2
|
||||
param set FW_P_LIM_MAX 32
|
||||
param set FW_P_LIM_MIN -15
|
||||
param set FW_RR_FF 0.1
|
||||
param set FW_RR_P 0.3
|
||||
param set FW_THR_CRUISE 0.38
|
||||
param set FW_THR_MAX 0.6
|
||||
param set FW_THR_MIN 0.05
|
||||
param set FW_T_ALT_TC 2
|
||||
param set FW_T_CLMB_MAX 8
|
||||
param set FW_T_HRATE_FF 0.5
|
||||
param set FW_T_SINK_MAX 2.7
|
||||
param set FW_T_SINK_MIN 2.2
|
||||
param set FW_T_TAS_TC 2
|
||||
|
||||
param set MC_YAW_P 1.6
|
||||
param set MC_ROLLRATE_P 0.3
|
||||
|
||||
param set MIS_LTRMIN_ALT 10
|
||||
param set MIS_TAKEOFF_ALT 10
|
||||
param set MIS_YAW_TMT 10
|
||||
|
||||
param set MPC_ACC_HOR_MAX 2
|
||||
param set MPC_XY_P 0.8
|
||||
param set MPC_XY_VEL_P_ACC 3
|
||||
param set MPC_XY_VEL_I_ACC 4
|
||||
param set MPC_ACC_HOR_MAX 2
|
||||
param set MPC_THR_MIN 0.1
|
||||
param set MPC_TKO_SPEED 1
|
||||
param set MPC_XY_P 0.15
|
||||
param set MPC_XY_VEL_D_ACC 0.1
|
||||
param set MPC_XY_VEL_I_ACC 4
|
||||
param set MPC_XY_VEL_P_ACC 1
|
||||
param set MPC_Z_VEL_MAX_DN 1.5
|
||||
param set MPC_Z_VEL_P_ACC 16
|
||||
|
||||
param set NAV_ACC_RAD 5
|
||||
param set NAV_LOITER_RAD 80
|
||||
|
||||
param set VT_B_TRANS_DUR 8
|
||||
param set VT_FWD_THRUST_EN 4
|
||||
param set VT_MOT_ID 1234
|
||||
param set VT_F_TRANS_DUR 5.0
|
||||
param set VT_F_TRANS_THR 0.75
|
||||
param set VT_FWD_THRUST_SC 1.1
|
||||
param set VT_TILT_FW 1
|
||||
param set VT_TILT_TRANS 0.6
|
||||
param set VT_ELEV_MC_LOCK 0
|
||||
param set VT_TYPE 1
|
||||
param set VT_B_TRANS_DUR 8
|
||||
|
||||
fi
|
||||
|
||||
|
||||
@@ -8,7 +8,6 @@
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set GND_L1_DIST 5
|
||||
param set GND_L1_PERIOD 10
|
||||
param set GND_SP_CTRL_MODE 1
|
||||
param set GND_SPEED_D 0.001
|
||||
param set GND_SPEED_I 3
|
||||
@@ -17,6 +16,7 @@ then
|
||||
param set GND_SPEED_THR_SC 1
|
||||
param set GND_SPEED_TRIM 4
|
||||
param set GND_THR_CRUISE 0.3
|
||||
param set GND_THR_IDLE 0
|
||||
param set GND_THR_MAX 0.5
|
||||
param set GND_THR_MIN 0
|
||||
|
||||
|
||||
@@ -17,6 +17,7 @@ then
|
||||
param set GND_SPEED_THR_SC 1
|
||||
param set GND_SPEED_TRIM 4
|
||||
param set GND_THR_CRUISE 0.3
|
||||
param set GND_THR_IDLE 0
|
||||
param set GND_THR_MAX 0.5
|
||||
param set GND_THR_MIN 0
|
||||
|
||||
|
||||
@@ -22,6 +22,7 @@ then
|
||||
param set GND_SPEED_TRIM 15
|
||||
param set GND_SPEED_MAX 25
|
||||
param set GND_THR_CRUISE 0.3
|
||||
param set GND_THR_IDLE 0
|
||||
param set GND_THR_MAX 0.5
|
||||
param set GND_THR_MIN 0
|
||||
|
||||
|
||||
@@ -8,16 +8,16 @@
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set GND_L1_DIST 5
|
||||
param set GND_L1_PERIOD 100
|
||||
param set GND_SP_CTRL_MODE 1
|
||||
param set GND_SPEED_D 0.001
|
||||
param set GND_SPEED_I 8
|
||||
param set GND_SPEED_I 3
|
||||
param set GND_SPEED_IMAX 0.125
|
||||
param set GND_SPEED_P 2
|
||||
param set GND_SPEED_P 0.25
|
||||
param set GND_SPEED_THR_SC 1
|
||||
param set GND_SPEED_TRIM 1
|
||||
param set GND_THR_CRUISE 0.85
|
||||
param set GND_THR_MAX 1
|
||||
param set GND_SPEED_TRIM 4
|
||||
param set GND_THR_CRUISE 0.3
|
||||
param set GND_THR_IDLE 0
|
||||
param set GND_THR_MAX 0.5
|
||||
param set GND_THR_MIN 0
|
||||
|
||||
param set MIS_LTRMIN_ALT 0.01
|
||||
|
||||
@@ -21,11 +21,13 @@ then
|
||||
param set MPC_XY_VEL_P_ACC 3
|
||||
|
||||
param set RTL_DESCEND_ALT 10
|
||||
param set RTL_LAND_DELAY 0
|
||||
|
||||
param set TRIG_INTERFACE 3
|
||||
param set TRIG_MODE 4
|
||||
param set MNT_MODE_IN 4
|
||||
param set MNT_DO_STAB 2
|
||||
param set MAV_PROTO_VER 2
|
||||
fi
|
||||
|
||||
set MAV_TYPE 13
|
||||
|
||||
@@ -9,23 +9,21 @@
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set MC_PITCHRATE_P 0.1000
|
||||
param set MC_PITCHRATE_I 0.0400
|
||||
param set MC_PITCHRATE_D 0.0010
|
||||
param set MC_PITCH_P 9.0
|
||||
param set MC_ROLLRATE_P 0.1000
|
||||
param set MC_ROLLRATE_I 0.0400
|
||||
param set MC_ROLLRATE_D 0.0010
|
||||
param set MC_ROLL_P 9.0
|
||||
param set MC_PITCHRATE_P 0.1
|
||||
param set MC_PITCHRATE_I 0.05
|
||||
param set MC_PITCH_P 6.0
|
||||
param set MC_ROLLRATE_P 0.15
|
||||
param set MC_ROLLRATE_I 0.1
|
||||
param set MC_ROLL_P 6.0
|
||||
param set MPC_XY_VEL_I_ACC 4
|
||||
param set MPC_XY_VEL_P_ACC 3
|
||||
|
||||
param set RTL_DESCEND_ALT 10
|
||||
param set RTL_LAND_DELAY 0
|
||||
|
||||
param set TRIG_INTERFACE 3
|
||||
param set TRIG_MODE 4
|
||||
param set MNT_MODE_IN 4
|
||||
param set MNT_MODE_OUT 2
|
||||
param set MNT_MODE_IN 0
|
||||
param set MAV_PROTO_VER 2
|
||||
fi
|
||||
|
||||
|
||||
@@ -1,75 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Typhoon H480 SITL
|
||||
#
|
||||
# @type Hexarotor x
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
. ${R}etc/init.d/rc.ctrlalloc
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set MPC_XY_VEL_I_ACC 4
|
||||
param set MPC_XY_VEL_P_ACC 3
|
||||
|
||||
param set RTL_DESCEND_ALT 10
|
||||
param set RTL_LAND_DELAY 0
|
||||
|
||||
param set TRIG_INTERFACE 3
|
||||
param set TRIG_MODE 4
|
||||
param set MNT_MODE_IN 0
|
||||
param set MAV_PROTO_VER 2
|
||||
|
||||
param set MPC_USE_HTE 0
|
||||
|
||||
param set VM_MASS 2.66
|
||||
param set VM_INERTIA_XX 0.06
|
||||
param set VM_INERTIA_YY 0.06
|
||||
param set VM_INERTIA_ZZ 0.10
|
||||
|
||||
param set CA_AIRFRAME 0
|
||||
param set CA_METHOD 1
|
||||
param set CA_ACT0_MIN 0.0
|
||||
param set CA_ACT1_MIN 0.0
|
||||
param set CA_ACT2_MIN 0.0
|
||||
param set CA_ACT3_MIN 0.0
|
||||
param set CA_ACT4_MIN 0.0
|
||||
param set CA_ACT5_MIN 0.0
|
||||
param set CA_ACT0_MAX 1.0
|
||||
param set CA_ACT1_MAX 1.0
|
||||
param set CA_ACT2_MAX 1.0
|
||||
param set CA_ACT3_MAX 1.0
|
||||
param set CA_ACT4_MAX 1.0
|
||||
param set CA_ACT5_MAX 1.0
|
||||
|
||||
param set CA_MC_R0_PX 0.0
|
||||
param set CA_MC_R0_PY 1.0
|
||||
param set CA_MC_R0_CT 9.5
|
||||
param set CA_MC_R0_KM -0.05
|
||||
param set CA_MC_R1_PX 0.0
|
||||
param set CA_MC_R1_PY -1.0
|
||||
param set CA_MC_R1_CT 9.5
|
||||
param set CA_MC_R1_KM 0.05
|
||||
param set CA_MC_R2_PX 0.866025
|
||||
param set CA_MC_R2_PY -0.5
|
||||
param set CA_MC_R2_CT 9.5
|
||||
param set CA_MC_R2_KM -0.05
|
||||
param set CA_MC_R3_PX -0.866025
|
||||
param set CA_MC_R3_PY 0.5
|
||||
param set CA_MC_R3_CT 9.5
|
||||
param set CA_MC_R3_KM 0.05
|
||||
param set CA_MC_R4_PX 0.866025
|
||||
param set CA_MC_R4_PY 0.5
|
||||
param set CA_MC_R4_CT 9.5
|
||||
param set CA_MC_R4_KM 0.05
|
||||
param set CA_MC_R5_PX -0.866025
|
||||
param set CA_MC_R5_PY -0.5
|
||||
param set CA_MC_R5_CT 9.5
|
||||
param set CA_MC_R5_KM -0.05
|
||||
fi
|
||||
|
||||
set MAV_TYPE 13
|
||||
|
||||
# set MIXER hexa_x
|
||||
set MIXER direct
|
||||
@@ -1,10 +0,0 @@
|
||||
|
||||
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
|
||||
@@ -33,7 +33,6 @@
|
||||
|
||||
px4_add_romfs_files(
|
||||
10016_iris
|
||||
10017_iris_ctrlalloc
|
||||
10020_if750a
|
||||
10030_px4vision
|
||||
1010_iris_opt_flow
|
||||
@@ -52,7 +51,6 @@ px4_add_romfs_files(
|
||||
1019_iris_dual_gps
|
||||
1020_uuv_generic
|
||||
1021_uuv_hippocampus
|
||||
1022_uuv_bluerov2_heavy
|
||||
1030_plane
|
||||
1031_plane_cam
|
||||
1032_plane_catapult
|
||||
@@ -74,6 +72,4 @@ px4_add_romfs_files(
|
||||
2507_cloudship
|
||||
6011_typhoon_h480
|
||||
6011_typhoon_h480.post
|
||||
6012_typhoon_ctrlalloc
|
||||
6012_typhoon_ctrlalloc.post
|
||||
)
|
||||
|
||||
@@ -2,17 +2,6 @@
|
||||
|
||||
# EKF2 replay script
|
||||
|
||||
# shellcheck disable=SC2154
|
||||
if [ ! -f ${replay} ]; then
|
||||
echo "Invalid replay log file ${replay}"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
if [ ! -f replay_params.txt ]; then
|
||||
echo "Creating $(pwd)/replay_params.txt"
|
||||
ulog_params -i "${replay}" -d ' ' | grep -e '^EKF2' > replay_params.txt
|
||||
fi
|
||||
|
||||
publisher_rules_file="orb_publisher.rules"
|
||||
cat <<EOF > "$publisher_rules_file"
|
||||
restrict_topics: sensor_combined, vehicle_gps_position, vehicle_land_detected
|
||||
@@ -20,6 +9,7 @@ module: replay
|
||||
ignore_others: false
|
||||
EOF
|
||||
|
||||
uorb start
|
||||
param set SDLOG_DIRS_MAX 7
|
||||
|
||||
# apply all params before ekf starts, as some params cannot be changed after startup
|
||||
|
||||
@@ -22,12 +22,12 @@ fi
|
||||
# initialize script variables
|
||||
set AUX_MODE none
|
||||
set IO_PRESENT no
|
||||
set LOG_FILE bootlog.txt
|
||||
set MAV_TYPE none
|
||||
set MIXER none
|
||||
set MIXER_AUX none
|
||||
set MIXER_FILE none
|
||||
set OUTPUT_MODE sim
|
||||
set EXTRA_MIXER_MODE none
|
||||
set PWM_OUT none
|
||||
set SDCARD_MIXERS_PATH etc/mixers
|
||||
set USE_IO no
|
||||
@@ -53,6 +53,12 @@ else
|
||||
fi
|
||||
fi
|
||||
|
||||
# clear bootlog
|
||||
[ -f $LOG_FILE ] && rm $LOG_FILE
|
||||
|
||||
|
||||
uorb start
|
||||
|
||||
# Load parameters
|
||||
set PARAM_FILE eeprom/parameters_"$REQUESTED_AUTOSTART"
|
||||
param select $PARAM_FILE
|
||||
@@ -109,8 +115,6 @@ udp_offboard_port_remote=$((14540+px4_instance))
|
||||
[ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
|
||||
udp_onboard_payload_port_local=$((14280+px4_instance))
|
||||
udp_onboard_payload_port_remote=$((14030+px4_instance))
|
||||
udp_onboard_gimbal_port_local=$((13030+px4_instance))
|
||||
udp_onboard_gimbal_port_remote=$((13280+px4_instance))
|
||||
udp_gcs_port_local=$((18570+px4_instance))
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
@@ -137,12 +141,6 @@ then
|
||||
# Speedup SITL startup
|
||||
param set EKF2_REQ_GPS_H 0.5
|
||||
|
||||
# Multi-EKF
|
||||
param set EKF2_MULTI_IMU 3
|
||||
param set SENS_IMU_MODE 0
|
||||
param set EKF2_MULTI_MAG 2
|
||||
param set SENS_MAG_MODE 0
|
||||
|
||||
# By default log from boot until first disarm.
|
||||
param set SDLOG_MODE 1
|
||||
# enable default, estimator replay and vision/avoidance logging profiles
|
||||
@@ -212,7 +210,6 @@ if ! replay tryapplyparams
|
||||
then
|
||||
simulator start -c $simulator_tcp_port
|
||||
fi
|
||||
load_mon start
|
||||
battery_simulator start
|
||||
tone_alarm start
|
||||
rc_update start
|
||||
@@ -221,7 +218,7 @@ commander start
|
||||
navigator start
|
||||
|
||||
|
||||
if param greater -s MNT_MODE_IN -1
|
||||
if ! param compare -s MNT_MODE_IN -1
|
||||
then
|
||||
vmount start
|
||||
fi
|
||||
@@ -238,32 +235,23 @@ fi
|
||||
#
|
||||
. ${R}etc/init.d/rc.vehicle_setup
|
||||
|
||||
if [ -e etc/init.d-posix/rc.mavlink_override ]
|
||||
then
|
||||
echo "Running non-default mavlink config rc.mavlink_override"
|
||||
sh etc/init.d-posix/rc.mavlink_override
|
||||
else
|
||||
# GCS link
|
||||
mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
|
||||
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
|
||||
mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
|
||||
mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
|
||||
mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
|
||||
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
|
||||
mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
|
||||
mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
|
||||
mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
|
||||
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
|
||||
# GCS link
|
||||
mavlink start -x -u $udp_gcs_port_local -r 4000000
|
||||
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
|
||||
mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
|
||||
mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
|
||||
mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
|
||||
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
|
||||
mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
|
||||
mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
|
||||
mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
|
||||
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
|
||||
# API/Offboard link
|
||||
mavlink start -x -u $udp_offboard_port_local -r 4000000 -m onboard -o $udp_offboard_port_remote
|
||||
|
||||
# Onboard link to camera
|
||||
mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
|
||||
|
||||
# Onboard link to gimbal
|
||||
mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
|
||||
fi
|
||||
# Onboard link to camera
|
||||
mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
|
||||
|
||||
# execute autostart post script if any
|
||||
[ -e "$autostart_file".post ] && . "$autostart_file".post
|
||||
|
||||
@@ -36,12 +36,11 @@ add_subdirectory(airframes)
|
||||
px4_add_romfs_files(
|
||||
rc.airship_apps
|
||||
rc.airship_defaults
|
||||
rc.balloon_apps
|
||||
rc.balloon_defaults
|
||||
rc.boat_defaults
|
||||
rc.fw_apps
|
||||
rc.fw_defaults
|
||||
rc.interface
|
||||
rc.io
|
||||
rc.logging
|
||||
rc.mc_apps
|
||||
rc.mc_defaults
|
||||
@@ -55,5 +54,4 @@ px4_add_romfs_files(
|
||||
rc.vehicle_setup
|
||||
rc.vtol_apps
|
||||
rc.vtol_defaults
|
||||
rc.ctrlalloc
|
||||
)
|
||||
|
||||
@@ -17,33 +17,34 @@
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set BAT_N_CELLS 3
|
||||
|
||||
param set-default BAT_N_CELLS 3
|
||||
|
||||
param set-default FW_AIRSPD_MAX 20
|
||||
param set-default FW_AIRSPD_MIN 12
|
||||
param set-default FW_AIRSPD_TRIM 14
|
||||
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_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
|
||||
param set FW_AIRSPD_MAX 20
|
||||
param set FW_AIRSPD_MIN 12
|
||||
param set FW_AIRSPD_TRIM 14
|
||||
param set FW_R_TC 0.3
|
||||
param set FW_P_TC 0.3
|
||||
param set FW_L1_DAMPING 0.74
|
||||
param set FW_L1_PERIOD 16
|
||||
param set FW_LND_ANG 15
|
||||
param set FW_LND_FLALT 5
|
||||
param set FW_LND_HHDIST 15
|
||||
param set FW_LND_HVIRT 13
|
||||
param set FW_LND_TLALT 5
|
||||
param set FW_THR_LND_MAX 0
|
||||
param set FW_PR_FF 0.35
|
||||
param set FW_PR_I 0.1
|
||||
param set FW_PR_IMAX 0.4
|
||||
param set FW_PR_P 0.2
|
||||
param set FW_RR_FF 0.6
|
||||
param set FW_RR_I 0.1
|
||||
param set FW_RR_IMAX 0.2
|
||||
param set FW_RR_P 0.3
|
||||
|
||||
param set RWTO_TKOFF 1
|
||||
fi
|
||||
|
||||
param set SYS_HITL 1
|
||||
|
||||
|
||||
@@ -19,26 +19,28 @@
|
||||
#
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set MC_ROLL_P 6.5
|
||||
param set MC_ROLLRATE_P 0.1
|
||||
param set MC_ROLLRATE_I 0.05
|
||||
param set MC_ROLLRATE_D 0.0017
|
||||
param set MC_PITCH_P 6.5
|
||||
param set MC_PITCHRATE_P 0.14
|
||||
param set MC_PITCHRATE_I 0.1
|
||||
param set MC_PITCHRATE_D 0.0025
|
||||
param set MC_YAW_P 2.8
|
||||
param set MC_YAWRATE_P 0.28
|
||||
param set MC_YAWRATE_I 0.1
|
||||
param set MC_YAWRATE_D 0
|
||||
fi
|
||||
|
||||
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
|
||||
|
||||
@@ -17,30 +17,32 @@
|
||||
#
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
# TODO tune roll/pitch separately
|
||||
param set MC_ROLL_P 7
|
||||
param set MC_ROLLRATE_P 0.15
|
||||
param set MC_ROLLRATE_I 0.05
|
||||
param set MC_ROLLRATE_D 0.004
|
||||
param set MC_PITCH_P 7
|
||||
param set MC_PITCHRATE_P 0.15
|
||||
param set MC_PITCHRATE_I 0.05
|
||||
param set MC_PITCHRATE_D 0.004
|
||||
param set MC_YAW_P 2.5
|
||||
param set MC_YAWRATE_P 0.25
|
||||
param set MC_YAWRATE_I 0.25
|
||||
param set MC_YAWRATE_D 0
|
||||
|
||||
# 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 BAT_V_DIV 12.27559
|
||||
param set BAT_A_PER_V 15.39103
|
||||
fi
|
||||
|
||||
param set-default BAT_V_DIV 12.27559
|
||||
param set-default BAT_A_PER_V 15.39103
|
||||
set MIXER quad_w
|
||||
|
||||
set PWM_OUT 1234
|
||||
|
||||
@@ -19,28 +19,30 @@
|
||||
#
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set BAT_N_CELLS 4
|
||||
|
||||
param set-default BAT_N_CELLS 4
|
||||
param set MC_ROLL_P 7
|
||||
param set MC_ROLLRATE_P 0.13
|
||||
param set MC_ROLLRATE_I 0.05
|
||||
param set MC_ROLLRATE_D 0.004
|
||||
param set MC_PITCH_P 7
|
||||
param set MC_PITCHRATE_P 0.19
|
||||
param set MC_PITCHRATE_I 0.05
|
||||
param set MC_PITCHRATE_D 0.004
|
||||
param set MC_YAW_P 4
|
||||
param set MC_YAWRATE_P 0.2
|
||||
param set MC_YAWRATE_I 0.1
|
||||
param set MC_YAWRATE_D 0
|
||||
fi
|
||||
|
||||
param set-default MC_ROLL_P 7
|
||||
param set-default MC_ROLLRATE_P 0.13
|
||||
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 0.19
|
||||
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
|
||||
|
||||
@@ -19,33 +19,35 @@
|
||||
#
|
||||
# @maintainer Simon Wilks <simon@uaventure.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set BAT_N_CELLS 6
|
||||
param set BAT_V_EMPTY 3.5
|
||||
|
||||
param set-default BAT_N_CELLS 6
|
||||
param set-default BAT_V_EMPTY 3.5
|
||||
param set MC_ROLL_P 7
|
||||
param set MC_ROLLRATE_P 0.08
|
||||
param set MC_ROLLRATE_I 0.02
|
||||
param set MC_ROLLRATE_D 0.003
|
||||
param set MC_PITCH_P 7
|
||||
param set MC_PITCHRATE_P 0.13
|
||||
param set MC_PITCHRATE_I 0.02
|
||||
param set MC_PITCHRATE_D 0.005
|
||||
param set MC_YAW_P 2.8
|
||||
param set MC_YAWRATE_P 0.2
|
||||
param set MC_YAWRATE_I 0.1
|
||||
param set MC_YAWRATE_D 0
|
||||
|
||||
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 MPC_XY_VEL_MAX 2
|
||||
|
||||
param set-default MPC_XY_VEL_MAX 2
|
||||
param set PWM_MIN 1080
|
||||
fi
|
||||
|
||||
param set-default PWM_MAIN_MIN 1080
|
||||
set MIXER quad_w
|
||||
|
||||
set PWM_OUT 1234
|
||||
|
||||
@@ -7,63 +7,61 @@
|
||||
#
|
||||
# @maintainer Roman Bapst <roman@auterion.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set BAT_N_CELLS 3
|
||||
|
||||
param set-default BAT_N_CELLS 3
|
||||
param set COM_RC_IN_MODE 1
|
||||
|
||||
param set-default COM_RC_IN_MODE 1
|
||||
param set EKF2_AID_MASK 1
|
||||
param set EKF2_ANGERR_INIT 0.01
|
||||
param set EKF2_GBIAS_INIT 0.01
|
||||
param set EKF2_HGT_MODE 0
|
||||
param set EKF2_MAG_TYPE 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 FW_AIRSPD_MAX 25
|
||||
param set FW_AIRSPD_MIN 14
|
||||
param set FW_AIRSPD_TRIM 16
|
||||
|
||||
param set-default FW_AIRSPD_MAX 25
|
||||
param set-default FW_AIRSPD_MIN 14
|
||||
param set-default FW_AIRSPD_TRIM 16
|
||||
param set MC_PITCH_P 6
|
||||
param set MC_PITCHRATE_P 0.2
|
||||
param set MC_ROLL_P 6
|
||||
param set MC_ROLLRATE_P 0.3
|
||||
param set MIS_LTRMIN_ALT 10
|
||||
param set MIS_TAKEOFF_ALT 10
|
||||
param set MIS_YAW_TMT 10
|
||||
|
||||
param set-default MC_PITCH_P 6
|
||||
param set-default MC_PITCHRATE_P 0.2
|
||||
param set-default MC_ROLL_P 6
|
||||
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 MPC_ACC_HOR_MAX 2
|
||||
param set MPC_ACC_HOR_MAX 2
|
||||
param set MPC_THR_MIN 0.1
|
||||
param set MPC_TKO_SPEED 1
|
||||
param set MPC_XY_P 0.8
|
||||
param set MPC_XY_VEL_D_ACC 0.1
|
||||
param set MPC_XY_VEL_I_ACC 4
|
||||
param set MPC_XY_VEL_P_ACC 3
|
||||
param set MPC_Z_VEL_P_ACC 12
|
||||
param set MPC_Z_VEL_I_ACC 3
|
||||
param set MPC_Z_VEL_MAX_DN 1.5
|
||||
|
||||
param set-default MPC_ACC_HOR_MAX 2
|
||||
param set-default MPC_ACC_HOR_MAX 2
|
||||
param set-default MPC_THR_MIN 0.1
|
||||
param set-default MPC_TKO_SPEED 1
|
||||
param set-default MPC_XY_P 0.8
|
||||
param set-default MPC_XY_VEL_D_ACC 0.1
|
||||
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 NAV_ACC_RAD 5
|
||||
param set NAV_DLL_ACT 2
|
||||
param set NAV_LOITER_RAD 80
|
||||
|
||||
param set-default NAV_ACC_RAD 5
|
||||
param set-default NAV_DLL_ACT 2
|
||||
param set-default NAV_LOITER_RAD 80
|
||||
param set RTL_DESCEND_ALT 10
|
||||
param set RTL_LAND_DELAY 0
|
||||
param set RTL_RETURN_ALT 30
|
||||
|
||||
param set-default RTL_DESCEND_ALT 10
|
||||
param set-default RTL_RETURN_ALT 30
|
||||
|
||||
param set-default SDLOG_DIRS_MAX 7
|
||||
param set-default SYS_RESTART_TYPE 2
|
||||
|
||||
param set-default VT_F_TRANS_THR 0.75
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_FW_MOT_OFFID 1234
|
||||
param set-default VT_TYPE 2
|
||||
param set SDLOG_DIRS_MAX 7
|
||||
param set SYS_RESTART_TYPE 2
|
||||
|
||||
param set VT_F_TRANS_THR 0.75
|
||||
param set VT_MOT_ID 1234
|
||||
param set VT_FW_MOT_OFFID 1234
|
||||
param set VT_TYPE 2
|
||||
fi
|
||||
|
||||
param set SYS_HITL 1
|
||||
|
||||
|
||||
@@ -7,8 +7,6 @@
|
||||
#
|
||||
# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
|
||||
@@ -16,36 +16,38 @@
|
||||
#
|
||||
# @maintainer Simon Wilks <simon@uaventure.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set MC_PITCH_P 4
|
||||
param set MC_PITCHRATE_P 0.24
|
||||
param set MC_PITCHRATE_I 0.09
|
||||
param set MC_PITCHRATE_D 0.013
|
||||
param set MC_PITCHRATE_MAX 180
|
||||
|
||||
param set-default MC_PITCH_P 4
|
||||
param set-default MC_PITCHRATE_P 0.24
|
||||
param set-default MC_PITCHRATE_I 0.09
|
||||
param set-default MC_PITCHRATE_D 0.013
|
||||
param set-default MC_PITCHRATE_MAX 180
|
||||
param set MC_ROLL_P 4
|
||||
param set MC_ROLLRATE_P 0.16
|
||||
param set MC_ROLLRATE_I 0.07
|
||||
param set MC_ROLLRATE_D 0.009
|
||||
param set MC_ROLLRATE_MAX 180
|
||||
|
||||
param set-default MC_ROLL_P 4
|
||||
param set-default MC_ROLLRATE_P 0.16
|
||||
param set-default MC_ROLLRATE_I 0.07
|
||||
param set-default MC_ROLLRATE_D 0.009
|
||||
param set-default MC_ROLLRATE_MAX 180
|
||||
param set MC_YAW_P 3
|
||||
param set MC_YAWRATE_P 0.2
|
||||
param set MC_YAWRATE_I 0.1
|
||||
param set MC_YAWRATE_D 0
|
||||
|
||||
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 MPC_HOLD_MAX_XY 0.25
|
||||
param set MPC_THR_MIN 0.15
|
||||
param set MPC_Z_VEL_MAX_DN 2
|
||||
|
||||
param set-default MPC_HOLD_MAX_XY 0.25
|
||||
param set-default MPC_THR_MIN 0.15
|
||||
param set-default MPC_Z_VEL_MAX_DN 2
|
||||
param set BAT_N_CELLS 4
|
||||
fi
|
||||
|
||||
param set-default BAT_N_CELLS 4
|
||||
set MIXER octo_cox_w
|
||||
|
||||
set PWM_OUT 12345678
|
||||
|
||||
@@ -17,20 +17,19 @@
|
||||
# @output AUX4 Rudder
|
||||
# @output AUX5 Throttle
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set PWM_AUX_DIS5 950
|
||||
param set PWM_RATE 400
|
||||
|
||||
param set-default PWM_AUX_DIS5 950
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
param set VT_TYPE 2
|
||||
param set VT_MOT_ID 1234
|
||||
param set VT_FW_MOT_OFFID 1234
|
||||
fi
|
||||
|
||||
param set-default VT_TYPE 2
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_FW_MOT_OFFID 1234
|
||||
set MAV_TYPE 22
|
||||
|
||||
set MIXER quad_x
|
||||
|
||||
@@ -12,40 +12,39 @@
|
||||
#
|
||||
# @maintainer Roman Bapst <roman@px4.io>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set MAV_TYPE 19
|
||||
|
||||
param set-default MAV_TYPE 19
|
||||
param set MC_ROLL_P 6
|
||||
param set MC_ROLLRATE_P 0.12
|
||||
param set MC_ROLLRATE_I 0.002
|
||||
param set MC_ROLLRATE_D 0.003
|
||||
param set MC_ROLLRATE_FF 0
|
||||
|
||||
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 MC_PITCH_P 4.5
|
||||
param set MC_PITCHRATE_P 0.3
|
||||
param set MC_PITCHRATE_I 0.002
|
||||
param set MC_PITCHRATE_D 0.003
|
||||
param set MC_PITCHRATE_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 MC_YAW_P 3.8
|
||||
param set MC_YAWRATE_P 0.22
|
||||
param set MC_YAWRATE_I 0.02
|
||||
param set MC_YAWRATE_D 0
|
||||
param set MC_YAWRATE_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 VT_IDLE_PWM_MC 1080
|
||||
param set VT_ELEV_MC_LOCK 0
|
||||
param set VT_MOT_ID 12
|
||||
param set VT_TYPE 0
|
||||
fi
|
||||
|
||||
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 MAV_TYPE 19
|
||||
|
||||
set MIXER vtol_tailsitter_duo
|
||||
|
||||
set PWM_OUT 123456
|
||||
set PWM_OUT 1234
|
||||
|
||||
@@ -24,34 +24,37 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set MC_ROLL_P 7
|
||||
param set MC_ROLLRATE_P 0.19
|
||||
param set MC_ROLLRATE_I 0.002
|
||||
param set MC_ROLLRATE_D 0.005
|
||||
param set MC_ROLLRATE_FF 0
|
||||
param set MC_PITCH_P 7
|
||||
param set MC_PITCHRATE_P 0.14
|
||||
param set MC_PITCHRATE_I 0.002
|
||||
param set MC_PITCHRATE_D 0.004
|
||||
param set MC_PITCHRATE_FF 0
|
||||
param set MC_YAW_P 4
|
||||
param set MC_YAWRATE_P 0.22
|
||||
param set MC_YAWRATE_I 0.02
|
||||
param set MC_YAWRATE_D 0
|
||||
param set MC_YAWRATE_FF 0
|
||||
|
||||
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 PWM_RATE 400
|
||||
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
param set VT_FW_MOT_OFFID 34
|
||||
param set VT_IDLE_PWM_MC 1080
|
||||
param set VT_MOT_ID 123456
|
||||
param set VT_FW_MOT_OFFID 56
|
||||
param set VT_TILT_MC 0.08
|
||||
param set VT_TILT_TRANS 0.5
|
||||
param set VT_TILT_FW 0.9
|
||||
param set VT_ELEV_MC_LOCK 0
|
||||
param set VT_TYPE 1
|
||||
fi
|
||||
|
||||
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 MAV_TYPE 21
|
||||
|
||||
set MIXER firefly6
|
||||
|
||||
@@ -7,23 +7,22 @@
|
||||
#
|
||||
# @maintainer Roman Bapst <roman@px4.io>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set PWM_MAX 2000
|
||||
param set PWM_RATE 400
|
||||
|
||||
param set-default PWM_MAIN_MAX 2000
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
param set VT_MOT_ID 1234
|
||||
param set VT_IDLE_PWM_MC 1080
|
||||
param set VT_TYPE 0
|
||||
param set VT_ELEV_MC_LOCK 1
|
||||
fi
|
||||
|
||||
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
|
||||
|
||||
set PWM_OUT 1234
|
||||
set PWM_OUT 1234
|
||||
@@ -23,13 +23,16 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set PWM_MAX 2000
|
||||
param set PWM_RATE 400
|
||||
|
||||
param set-default PWM_MAIN_MAX 2000
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
param set VT_IDLE_PWM_MC 1080
|
||||
param set VT_TYPE 0
|
||||
param set VT_ELEV_MC_LOCK 1
|
||||
fi
|
||||
|
||||
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
|
||||
|
||||
@@ -17,54 +17,56 @@
|
||||
# @output AUX4 Rudder
|
||||
# @output AUX5 Throttle
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set PWM_AUX_DIS5 950
|
||||
|
||||
param set-default PWM_AUX_DIS5 950
|
||||
param set PWM_RATE 400
|
||||
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
param set MC_ROLL_P 6
|
||||
param set MC_ROLLRATE_P 0.17
|
||||
param set MC_ROLLRATE_I 0.002
|
||||
param set MC_ROLLRATE_D 0.004
|
||||
param set MC_ROLLRATE_FF 0
|
||||
param set MC_PITCH_P 6
|
||||
param set MC_PITCHRATE_P 0.19
|
||||
param set MC_PITCHRATE_I 0.002
|
||||
param set MC_PITCHRATE_D 0.004
|
||||
param set MC_PITCHRATE_FF 0
|
||||
param set MC_YAW_P 2.8
|
||||
param set MC_YAWRATE_P 0.22
|
||||
param set MC_YAWRATE_I 0.02
|
||||
param set MC_YAWRATE_D 0
|
||||
param set MC_YAWRATE_FF 0
|
||||
param set MC_YAWRATE_MAX 40
|
||||
|
||||
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 MPC_YAWRAUTO_MAX 40
|
||||
|
||||
param set-default MPC_YAWRAUTO_MAX 40
|
||||
param set FW_PR_FF 0.5
|
||||
param set FW_PR_I 0.02
|
||||
param set FW_PR_IMAX 0.4
|
||||
param set FW_PR_P 0.08
|
||||
param set FW_RR_FF 0.6
|
||||
param set FW_RR_I 0.01
|
||||
param set FW_RR_IMAX 0.2
|
||||
param set FW_RR_P 0.05
|
||||
param set FW_THR_CRUISE 0.75
|
||||
|
||||
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 VT_ARSP_BLEND 6
|
||||
param set VT_ARSP_TRANS 12
|
||||
param set VT_F_TRANS_THR 0.75
|
||||
param set VT_MOT_ID 1234
|
||||
param set VT_FW_MOT_OFFID 1234
|
||||
param set VT_IDLE_PWM_MC 1080
|
||||
param set VT_TYPE 2
|
||||
fi
|
||||
|
||||
param set-default VT_ARSP_BLEND 6
|
||||
param set-default VT_ARSP_TRANS 12
|
||||
param set-default VT_F_TRANS_THR 0.75
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_FW_MOT_OFFID 1234
|
||||
param set-default VT_IDLE_PWM_MC 1080
|
||||
param set-default VT_TYPE 2
|
||||
set MAV_TYPE 22
|
||||
|
||||
set MIXER quad_x
|
||||
|
||||
@@ -15,44 +15,46 @@
|
||||
# @output AUX2 Left elevon
|
||||
# @output AUX3 Motor
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set MC_ROLL_P 6.5
|
||||
param set MC_ROLLRATE_P 0.15
|
||||
param set MC_ROLLRATE_I 0.01
|
||||
param set MC_ROLLRATE_D 0.003
|
||||
param set MC_ROLLRATE_FF 0
|
||||
param set MC_PITCH_P 6.5
|
||||
param set MC_PITCHRATE_P 0.15
|
||||
param set MC_PITCHRATE_I 0.01
|
||||
param set MC_PITCHRATE_D 0.003
|
||||
param set MC_PITCHRATE_FF 0
|
||||
param set MC_YAW_P 3.5
|
||||
param set MC_YAWRATE_P 0.2
|
||||
param set MC_YAWRATE_I 0.1
|
||||
param set MC_YAWRATE_D 0
|
||||
param set MC_YAWRATE_FF 0
|
||||
param set MC_YAWRATE_MAX 50
|
||||
|
||||
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 MPC_XY_P 0.8
|
||||
param set MPC_XY_VEL_P_ACC 2
|
||||
param set MPC_ACC_HOR_MAX 2
|
||||
param set MPC_YAWRAUTO_MAX 20
|
||||
|
||||
param set-default MPC_XY_P 0.8
|
||||
param set-default MPC_XY_VEL_P_ACC 2
|
||||
param set-default MPC_ACC_HOR_MAX 2
|
||||
param set-default MPC_YAWRAUTO_MAX 20
|
||||
param set PWM_AUX_DIS3 950
|
||||
param set PWM_RATE 400
|
||||
|
||||
param set-default PWM_AUX_DIS3 950
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
param set VT_MOT_ID 1234
|
||||
param set VT_FW_MOT_OFFID 1234
|
||||
param set VT_F_TRANS_THR 0.75
|
||||
param set VT_IDLE_PWM_MC 1080
|
||||
param set VT_TYPE 2
|
||||
fi
|
||||
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_FW_MOT_OFFID 1234
|
||||
param set-default VT_F_TRANS_THR 0.75
|
||||
param set-default VT_IDLE_PWM_MC 1080
|
||||
param set-default VT_TYPE 2
|
||||
set MAV_TYPE 22
|
||||
|
||||
set MIXER quad_x
|
||||
|
||||
@@ -7,41 +7,43 @@
|
||||
#
|
||||
# @maintainer Sander Smeets <sander@droneslab.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set MC_ROLL_P 7
|
||||
param set MC_ROLLRATE_P 0.15
|
||||
param set MC_ROLLRATE_I 0.002
|
||||
param set MC_ROLLRATE_D 0.003
|
||||
param set MC_ROLLRATE_FF 0
|
||||
param set MC_PITCH_P 7
|
||||
param set MC_PITCHRATE_P 0.12
|
||||
param set MC_PITCHRATE_I 0.002
|
||||
param set MC_PITCHRATE_D 0.003
|
||||
param set MC_PITCHRATE_FF 0
|
||||
param set MC_YAW_P 2.8
|
||||
param set MC_YAWRATE_P 0.22
|
||||
param set MC_YAWRATE_I 0.02
|
||||
param set MC_YAWRATE_D 0
|
||||
param set MC_YAWRATE_FF 0
|
||||
param set MC_YAWRATE_MAX 40
|
||||
|
||||
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 MPC_YAWRAUTO_MAX 40
|
||||
|
||||
param set-default MPC_YAWRAUTO_MAX 40
|
||||
param set PWM_AUX_DIS5 950
|
||||
param set PWM_RATE 400
|
||||
|
||||
param set-default PWM_AUX_DIS5 950
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
param set VT_F_TRANS_THR 0.75
|
||||
param set VT_MOT_ID 1234
|
||||
param set VT_FW_MOT_OFFID 1234
|
||||
param set VT_IDLE_PWM_MC 1080
|
||||
param set VT_TYPE 2
|
||||
fi
|
||||
|
||||
param set-default VT_F_TRANS_THR 0.75
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_FW_MOT_OFFID 1234
|
||||
param set-default VT_IDLE_PWM_MC 1080
|
||||
param set-default VT_TYPE 2
|
||||
set MAV_TYPE 22
|
||||
|
||||
set MIXER quad_x
|
||||
|
||||
@@ -7,58 +7,60 @@
|
||||
#
|
||||
# @maintainer Sander Smeets <sander@droneslab.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set FW_THR_CRUISE 65
|
||||
param set FW_PR_P 0.08
|
||||
param set FW_PR_FF 0.5
|
||||
param set FW_RR_P 0.05
|
||||
param set FW_RR_FF 0.6
|
||||
|
||||
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 MIS_YAW_TMT 10
|
||||
|
||||
param set-default MIS_YAW_TMT 10
|
||||
param set MC_ROLL_P 7
|
||||
param set MC_ROLLRATE_P 0.15
|
||||
param set MC_ROLLRATE_I 0.1
|
||||
param set MC_ROLLRATE_D 0.004
|
||||
param set MC_ROLLRATE_FF 0
|
||||
param set MC_PITCH_P 7
|
||||
param set MC_PITCHRATE_P 0.15
|
||||
param set MC_PITCHRATE_I 0.1
|
||||
param set MC_PITCHRATE_D 0.004
|
||||
param set MC_PITCHRATE_FF 0
|
||||
param set MC_YAW_P 3.5
|
||||
param set MC_YAWRATE_P 0.6
|
||||
param set MC_YAWRATE_I 0.04
|
||||
param set MC_YAWRATE_D 0
|
||||
param set MC_YAWRATE_FF 0
|
||||
param set MC_YAWRATE_MAX 40
|
||||
|
||||
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 MPC_ACC_HOR_MAX 2
|
||||
param set MPC_Z_VEL_MAX_DN 1.5
|
||||
param set MPC_TKO_SPEED 1.5
|
||||
param set MPC_LAND_SPEED 0.8
|
||||
param set MPC_YAWRAUTO_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 PWM_AUX_DIS5 950
|
||||
param set PWM_AUX_REV1 1
|
||||
param set PWM_AUX_REV2 1
|
||||
param set PWM_RATE 400
|
||||
|
||||
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 VT_ARSP_TRANS 15
|
||||
param set VT_ARSP_BLEND 8
|
||||
param set VT_B_TRANS_DUR 4
|
||||
param set VT_F_TRANS_THR 0.75
|
||||
param set VT_IDLE_PWM_MC 1080
|
||||
param set VT_MOT_ID 1234
|
||||
param set VT_FW_MOT_OFFID 1234
|
||||
param set VT_TYPE 2
|
||||
fi
|
||||
|
||||
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
|
||||
param set-default VT_FW_MOT_OFFID 1234
|
||||
param set-default VT_TYPE 2
|
||||
set MAV_TYPE 22
|
||||
|
||||
set MIXER quad_x
|
||||
|
||||
@@ -7,79 +7,81 @@
|
||||
#
|
||||
# @maintainer Andreas Antener <andreas@uaventure.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set FW_AIRSPD_MAX 22
|
||||
param set FW_AIRSPD_MIN 14
|
||||
param set FW_AIRSPD_TRIM 16
|
||||
param set FW_L1_PERIOD 25
|
||||
param set FW_PR_P 0.060
|
||||
param set FW_P_RMAX_NEG 40
|
||||
param set FW_P_RMAX_POS 40
|
||||
param set FW_RR_FF 0.4
|
||||
param set FW_RR_P 0.04
|
||||
param set FW_R_RMAX 40
|
||||
|
||||
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 MC_PITCHRATE_D 0.004
|
||||
param set MC_PITCHRATE_I 0
|
||||
param set MC_PITCHRATE_MAX 60
|
||||
param set MC_PITCHRATE_P 0.21
|
||||
param set MC_PITCH_P 4
|
||||
param set MC_ROLLRATE_D 0.004
|
||||
param set MC_ROLLRATE_I 0.002
|
||||
param set MC_ROLLRATE_MAX 60
|
||||
param set MC_ROLLRATE_P 0.24
|
||||
param set MC_ROLL_P 4
|
||||
param set MC_YAWRATE_I 0.02
|
||||
param set MC_YAWRATE_MAX 40
|
||||
param set MC_YAWRATE_P 0.18
|
||||
|
||||
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 MIS_TAKEOFF_ALT 2.5
|
||||
param set MIS_YAW_TMT 20
|
||||
|
||||
param set-default MIS_TAKEOFF_ALT 2.5
|
||||
param set-default MIS_YAW_TMT 20
|
||||
param set MPC_ACC_HOR_MAX 1
|
||||
param set MPC_HOLD_MAX_XY 0.5
|
||||
param set MPC_HOLD_MAX_Z 0.5
|
||||
param set MPC_LAND_SPEED 1
|
||||
param set MPC_MANTHR_MIN 0.05
|
||||
param set MPC_MAN_Y_MAX 120
|
||||
param set MPC_THR_MIN 0.07
|
||||
param set MPC_TILTMAX_AIR 35
|
||||
param set MPC_TILTMAX_LND 20
|
||||
param set MPC_TKO_SPEED 1
|
||||
param set MPC_XY_P 0.3
|
||||
param set MPC_XY_VEL_MAX 3
|
||||
param set MPC_XY_VEL_P_ACC 1
|
||||
param set MPC_Z_P 0.5
|
||||
param set MPC_Z_VEL_P_ACC 2
|
||||
param set MPC_YAWRAUTO_MAX 40
|
||||
|
||||
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 NAV_ACC_RAD 3
|
||||
|
||||
param set-default NAV_ACC_RAD 3
|
||||
param set PWM_AUX_REV1 1
|
||||
param set PWM_AUX_REV2 1
|
||||
param set PWM_AUX_REV3 1
|
||||
param set PWM_AUX_REV4 1
|
||||
|
||||
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 PWM_AUX_DIS5 950
|
||||
|
||||
param set-default PWM_AUX_DIS5 950
|
||||
param set PWM_RATE 400
|
||||
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
param set VT_ARSP_TRANS 15
|
||||
param set VT_B_TRANS_DUR 4
|
||||
param set VT_F_TRANS_THR 0.6
|
||||
param set VT_IDLE_PWM_MC 1180
|
||||
param set VT_MOT_ID 1234
|
||||
param set VT_FW_MOT_OFFID 1234
|
||||
param set VT_TRANS_MIN_TM 5
|
||||
param set VT_TRANS_TIMEOUT 30
|
||||
param set VT_TYPE 2
|
||||
|
||||
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
|
||||
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
|
||||
fi
|
||||
|
||||
set MAV_TYPE 22
|
||||
|
||||
|
||||
@@ -14,23 +14,26 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set PWM_AUX_DISARMED 1000
|
||||
param set PWM_AUX_MAX 2000
|
||||
param set PWM_AUX_MIN 1000
|
||||
param set PWM_AUX_RATE 50
|
||||
|
||||
param set-default PWM_AUX_DISARMED 1000
|
||||
param set-default PWM_AUX_MAX 2000
|
||||
param set-default PWM_AUX_MIN 1000
|
||||
param set-default PWM_AUX_RATE 50
|
||||
param set PWM_MAX 2000
|
||||
param set PWM_RATE 400
|
||||
|
||||
param set-default PWM_MAIN_MAX 2000
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
param set VT_MOT_ID 1234
|
||||
param set VT_FW_MOT_OFFID 13
|
||||
param set VT_IDLE_PWM_MC 1080
|
||||
param set VT_TILT_FW 0.9
|
||||
param set VT_TILT_MC 0.08
|
||||
param set VT_TILT_TRANS 0.5
|
||||
param set VT_ELEV_MC_LOCK 0
|
||||
param set VT_TYPE 1
|
||||
fi
|
||||
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_FW_MOT_OFFID 13
|
||||
param set-default VT_IDLE_PWM_MC 1080
|
||||
param set-default VT_TILT_FW 0.9
|
||||
param set-default VT_TILT_MC 0.08
|
||||
param set-default VT_TILT_TRANS 0.5
|
||||
param set-default VT_ELEV_MC_LOCK 0
|
||||
param set-default VT_TYPE 1
|
||||
set MAV_TYPE 21
|
||||
|
||||
set MIXER claire
|
||||
|
||||
@@ -16,70 +16,72 @@
|
||||
# @output MAIN7 Elevon right
|
||||
# @output MAIN8 Elevon left
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set CBRK_AIRSPD_CHK 162128
|
||||
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
param set FW_ARSP_MODE 1
|
||||
|
||||
param set-default FW_ARSP_MODE 1
|
||||
param set FW_L1_PERIOD 17
|
||||
param set FW_MAN_R_MAX 50
|
||||
param set FW_ACRO_X_MAX 270
|
||||
param set FW_ACRO_Y_MAX 270
|
||||
param set FW_ACRO_Z_MAX 180
|
||||
param set FW_PR_FF 0.5
|
||||
param set FW_PR_P 0.08
|
||||
param set FW_PSP_OFF 5
|
||||
param set FW_P_LIM_MAX 30
|
||||
param set FW_P_LIM_MIN -30
|
||||
param set FW_P_RMAX_NEG 60
|
||||
param set FW_P_RMAX_POS 60
|
||||
param set FW_RR_FF 0.33
|
||||
param set FW_RR_P 0.11
|
||||
param set FW_YR_FF 0.3
|
||||
param set FW_YR_P 0.05
|
||||
|
||||
param set-default FW_L1_PERIOD 17
|
||||
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 MC_PITCHRATE_D 0.003
|
||||
param set MC_PITCHRATE_P 0.15
|
||||
param set MC_PITCH_P 6
|
||||
param set MC_ROLLRATE_D 0.003
|
||||
param set MC_ROLLRATE_P 0.15
|
||||
param set MC_ROLL_P 6
|
||||
param set MC_YAWRATE_MAX 120
|
||||
param set MC_YAWRATE_P 0.27
|
||||
param set MC_YAW_P 2.5
|
||||
|
||||
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
|
||||
param set-default MC_YAWRATE_P 0.27
|
||||
param set-default MC_YAW_P 2.5
|
||||
param set MC_YAWRATE_P 0.3
|
||||
param set MPC_LAND_SPEED 1.2
|
||||
param set MPC_TKO_SPEED 2.5
|
||||
param set MPC_Z_VEL_MAX_UP 3
|
||||
|
||||
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 PWM_RATE 400
|
||||
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
param set SENS_BOARD_ROT 8
|
||||
|
||||
param set-default SENS_BOARD_ROT 8
|
||||
param set VT_B_TRANS_DUR 1
|
||||
param set VT_F_TRANS_DUR 1.2
|
||||
param set VT_F_TR_OL_TM 4
|
||||
param set VT_FW_DIFTHR_EN 1
|
||||
param set VT_FW_DIFTHR_SC 0.17
|
||||
param set VT_FW_MOT_OFFID 3
|
||||
param set VT_FW_PERM_STAB 0
|
||||
param set VT_IDLE_PWM_MC 1200
|
||||
param set VT_MOT_ID 123
|
||||
param set VT_TILT_FW 1
|
||||
param set VT_TILT_MC 0
|
||||
param set VT_TILT_TRANS 0.45
|
||||
param set VT_TRANS_MIN_TM 1.2
|
||||
param set VT_TRANS_P2_DUR 1.3
|
||||
param set VT_ELEV_MC_LOCK 0
|
||||
param set VT_TYPE 1
|
||||
fi
|
||||
|
||||
param set-default VT_B_TRANS_DUR 1
|
||||
param set-default VT_F_TRANS_DUR 1.2
|
||||
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
|
||||
param set-default VT_ELEV_MC_LOCK 0
|
||||
param set-default VT_TYPE 1
|
||||
set MAV_TYPE 21
|
||||
|
||||
set MIXER vtol_convergence
|
||||
|
||||
@@ -16,141 +16,142 @@
|
||||
# @output MAIN7 Pusher motor
|
||||
# @output MAIN8 Pusher reverse channel
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set BAT_CAPACITY 23000
|
||||
param set BAT_N_CELLS 4
|
||||
param set BAT_R_INTERNAL 0.0025
|
||||
|
||||
param set-default BAT_CAPACITY 23000
|
||||
param set-default BAT_N_CELLS 4
|
||||
param set-default BAT_R_INTERNAL 0.0025
|
||||
param set CBRK_AIRSPD_CHK 162128
|
||||
param set CBRK_IO_SAFETY 22027
|
||||
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
param set EKF2_GPS_POS_X -0.12
|
||||
param set EKF2_IMU_POS_X -0.12
|
||||
param set EKF2_TAU_VEL 0.5
|
||||
param set EKF2_GPS_P_GATE 10
|
||||
param set EKF2_GPS_V_GATE 10
|
||||
|
||||
param set-default EKF2_GPS_POS_X -0.12
|
||||
param set-default EKF2_IMU_POS_X -0.12
|
||||
param set-default EKF2_TAU_VEL 0.5
|
||||
param set-default EKF2_GPS_P_GATE 10
|
||||
param set-default EKF2_GPS_V_GATE 10
|
||||
param set FW_ARSP_MODE 1
|
||||
param set FW_L1_PERIOD 25
|
||||
param set FW_PR_FF 0.7
|
||||
param set FW_PR_I 0.18
|
||||
param set FW_PR_P 0.15
|
||||
param set FW_P_TC 0.5
|
||||
param set FW_PSP_OFF 5
|
||||
param set FW_R_LIM 35
|
||||
param set FW_RR_FF 0.9
|
||||
param set FW_RR_I 0.08
|
||||
param set FW_RR_P 0.18
|
||||
param set FW_T_HRATE_FF 0.5
|
||||
param set FW_T_CLMB_MAX 3
|
||||
param set FW_T_SINK_MAX 3
|
||||
param set FW_T_SINK_MIN 1
|
||||
param set FW_T_VERT_ACC 6
|
||||
param set FW_T_HRATE_P 0.1
|
||||
param set FW_THR_CRUISE 0.70
|
||||
param set FW_THR_SLEW_MAX 1
|
||||
param set FW_MAN_P_MAX 30
|
||||
param set FW_P_LIM_MAX 15
|
||||
param set FW_P_LIM_MIN -25
|
||||
param set FW_P_RMAX_NEG 45
|
||||
param set FW_P_RMAX_POS 45
|
||||
param set FW_R_RMAX 50
|
||||
param set FW_THR_MIN 0.55
|
||||
param set FW_BAT_SCALE_EN 1
|
||||
param set FW_THR_ALT_SCL 2.7
|
||||
param set FW_T_RLL2THR 20
|
||||
|
||||
param set-default FW_ARSP_MODE 1
|
||||
param set-default FW_L1_PERIOD 25
|
||||
param set-default FW_PR_FF 0.7
|
||||
param set-default FW_PR_I 0.18
|
||||
param set-default FW_PR_P 0.15
|
||||
param set-default FW_P_TC 0.5
|
||||
param set-default FW_PSP_OFF 5
|
||||
param set-default FW_R_LIM 35
|
||||
param set-default FW_RR_FF 0.9
|
||||
param set-default FW_RR_I 0.08
|
||||
param set-default FW_RR_P 0.18
|
||||
param set-default FW_T_HRATE_FF 0.5
|
||||
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_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
|
||||
param set-default FW_P_RMAX_POS 45
|
||||
param set-default FW_R_RMAX 50
|
||||
param set-default FW_THR_MIN 0.55
|
||||
param set-default FW_BAT_SCALE_EN 1
|
||||
param set-default FW_THR_ALT_SCL 2.7
|
||||
param set-default FW_T_RLL2THR 20
|
||||
param set LNDMC_ALT_MAX 9999
|
||||
param set LNDMC_XY_VEL_MAX 1
|
||||
param set LNDMC_Z_VEL_MAX 0.7
|
||||
|
||||
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 MC_ROLL_P 6.5
|
||||
param set MC_ROLLRATE_P 0.16
|
||||
param set MC_ROLLRATE_I 0.01
|
||||
param set MC_ROLLRATE_D 0.003
|
||||
param set MC_ROLLRATE_FF 0
|
||||
param set MC_ROLLRATE_MAX 80
|
||||
param set MC_PITCH_P 6.5
|
||||
param set MC_PITCHRATE_P 0.15
|
||||
param set MC_PITCHRATE_I 0.05
|
||||
param set MC_PITCHRATE_D 0.003
|
||||
param set MC_PITCHRATE_FF 0
|
||||
param set MC_PITCHRATE_MAX 80
|
||||
param set MC_YAW_P 3.5
|
||||
param set MC_YAWRATE_P 0.2
|
||||
param set MC_YAWRATE_I 0.1
|
||||
param set MC_YAWRATE_D 0
|
||||
param set MC_YAWRATE_FF 0
|
||||
param set MC_YAWRATE_MAX 20
|
||||
param set MC_AIRMODE 1
|
||||
|
||||
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
|
||||
param set MIS_DIST_1WP 100
|
||||
param set MIS_DIST_WPS 100000
|
||||
param set MIS_TAKEOFF_ALT 15
|
||||
|
||||
param set-default MIS_DIST_1WP 100
|
||||
param set-default MIS_DIST_WPS 100000
|
||||
param set-default MIS_TAKEOFF_ALT 15
|
||||
param set MPC_XY_P 0.8
|
||||
param set MPC_XY_VEL_P_ACC 2
|
||||
param set MPC_XY_VEL_MAX 5
|
||||
param set MPC_ACC_HOR_MAX 2
|
||||
param set MPC_LAND_SPEED 1.2
|
||||
param set MPC_TILTMAX_LND 35
|
||||
param set MPC_Z_VEL_MAX 1.5
|
||||
param set MPC_Z_VEL_MAX_UP 1.5
|
||||
param set MPC_Z_VEL_MAX_DN 1.5
|
||||
param set MPC_HOLD_MAX_XY 0.5
|
||||
param set MPC_HOLD_MAX_Z 0.5
|
||||
param set MPC_TKO_RAMP_T 0.8
|
||||
param set MPC_XY_CRUISE 5
|
||||
param set MPC_TILTMAX_AIR 25
|
||||
param set MPC_TILTMAX_LND 25
|
||||
param set MPC_YAWRAUTO_MAX 20
|
||||
|
||||
param set-default MPC_XY_P 0.8
|
||||
param set-default MPC_XY_VEL_P_ACC 2
|
||||
param set-default MPC_XY_VEL_MAX 5
|
||||
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
|
||||
param set-default MPC_XY_CRUISE 5
|
||||
param set-default MPC_TILTMAX_AIR 25
|
||||
param set-default MPC_TILTMAX_LND 25
|
||||
param set-default MPC_YAWRAUTO_MAX 20
|
||||
param set NAV_DLL_ACT 0
|
||||
param set NAV_LOITER_RAD 100
|
||||
|
||||
param set-default NAV_DLL_ACT 0
|
||||
param set-default NAV_LOITER_RAD 100
|
||||
param set PWM_AUX_DISARMED 950
|
||||
|
||||
param set-default PWM_AUX_DISARMED 950
|
||||
param set PWM_MAIN_DIS5 1500
|
||||
param set PWM_MAIN_DIS6 1500
|
||||
param set PWM_MAIN_DIS7 900
|
||||
param set PWM_MAIN_DIS8 900
|
||||
|
||||
param set-default PWM_MAIN_DIS5 1500
|
||||
param set-default PWM_MAIN_DIS6 1500
|
||||
param set-default PWM_MAIN_DIS7 900
|
||||
param set-default PWM_MAIN_DIS8 900
|
||||
param set PWM_RATE 400
|
||||
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
param set SENS_BOARD_ROT 18
|
||||
|
||||
param set-default SENS_BOARD_ROT 18
|
||||
# TELEM2 config
|
||||
param set MAV_1_CONFIG 102
|
||||
param set MAV_1_RATE 5000
|
||||
param set MAV_1_FORWARD 1
|
||||
param set SER_TEL2_BAUD 57600
|
||||
|
||||
# TELEM2 config
|
||||
param set-default MAV_1_CONFIG 102
|
||||
param set-default MAV_1_RATE 5000
|
||||
param set-default MAV_1_FORWARD 1
|
||||
param set-default SER_TEL2_BAUD 57600
|
||||
param set VT_TYPE 2
|
||||
param set VT_MOT_ID 1234
|
||||
param set VT_FW_MOT_OFFID 1234
|
||||
param set VT_F_TRANS_THR 1
|
||||
param set VT_DWN_PITCH_MAX 8
|
||||
param set VT_FW_QC_P 55
|
||||
param set VT_FW_QC_R 55
|
||||
param set VT_TRANS_MIN_TM 15
|
||||
param set VT_B_TRANS_DUR 8
|
||||
param set VT_WV_LND_EN 1
|
||||
param set VT_WV_LTR_EN 1
|
||||
param set VT_FWD_THRUST_SC 4
|
||||
param set VT_F_TRANS_DUR 1
|
||||
param set VT_IDLE_PWM_MC 1025
|
||||
param set VT_B_REV_OUT 0.5
|
||||
param set VT_B_TRANS_THR 0.7
|
||||
param set VT_FW_PERM_STAB 1
|
||||
param set VT_TRANS_TIMEOUT 22
|
||||
param set VT_F_TRANS_RAMP 4
|
||||
|
||||
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_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
|
||||
param set-default VT_B_REV_OUT 0.5
|
||||
param set-default VT_B_TRANS_THR 0.7
|
||||
param set-default VT_FW_PERM_STAB 1
|
||||
param set-default VT_TRANS_TIMEOUT 22
|
||||
param set-default VT_F_TRANS_RAMP 4
|
||||
param set COM_RC_OVERRIDE 0
|
||||
fi
|
||||
|
||||
param set-default COM_RC_OVERRIDE 0
|
||||
set MAV_TYPE 22
|
||||
|
||||
set MIXER deltaquad
|
||||
|
||||
@@ -23,89 +23,94 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
|
||||
param set BAT_N_CELLS 6
|
||||
|
||||
param set-default BAT_N_CELLS 6
|
||||
param set FW_AIRSPD_MAX 30
|
||||
param set FW_AIRSPD_MIN 19
|
||||
param set FW_AIRSPD_TRIM 23
|
||||
param set FW_L1_R_SLEW_MAX 40
|
||||
param set FW_LND_EARLYCFG 1
|
||||
param set FW_MAN_P_MAX 30
|
||||
param set FW_PR_I 0.1
|
||||
param set FW_PSP_OFF 3
|
||||
param set FW_P_LIM_MAX 18
|
||||
param set FW_P_LIM_MIN -25
|
||||
param set FW_RLL_TO_YAW_FF 0.1
|
||||
param set FW_RR_I 0.1
|
||||
param set FW_RR_P 0.08
|
||||
param set FW_R_LIM 45
|
||||
param set FW_R_RMAX 50
|
||||
param set FW_THR_CRUISE 0.65
|
||||
param set FW_THR_MIN 0.3
|
||||
param set FW_THR_SLEW_MAX 0.6
|
||||
param set FW_T_HRATE_FF 0
|
||||
param set FW_T_SINK_MAX 15
|
||||
param set FW_T_SINK_MIN 3
|
||||
param set FW_T_THRO_CONST 6
|
||||
param set FW_T_TIME_CONST 6
|
||||
param set FW_YR_I 0.1
|
||||
param set FW_YR_P 0.15
|
||||
|
||||
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
|
||||
param set-default FW_THR_CRUISE 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
|
||||
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 IMU_GYRO_CUTOFF 40
|
||||
|
||||
param set-default IMU_GYRO_CUTOFF 40
|
||||
param set IMU_DGYRO_CUTOFF 15
|
||||
param set MC_PITCHRATE_I 0.2
|
||||
param set MC_PITCHRATE_MAX 60
|
||||
param set MC_ROLLRATE_I 0.2
|
||||
param set MC_ROLLRATE_MAX 60
|
||||
param set MC_YAWRATE_I 0.15
|
||||
param set MC_YAWRATE_MAX 40
|
||||
param set MC_YAWRATE_P 0.3
|
||||
|
||||
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 MIS_TAKEOFF_ALT 30
|
||||
|
||||
param set-default MIS_TAKEOFF_ALT 30
|
||||
param set MPC_ACC_DOWN_MAX 2
|
||||
param set MPC_ACC_HOR_MAX 2
|
||||
param set MPC_ACC_UP_MAX 3
|
||||
param set MC_AIRMODE 1
|
||||
param set MPC_JERK_AUTO 4
|
||||
param set MPC_LAND_SPEED 1
|
||||
param set MPC_MAN_TILT_MAX 25
|
||||
param set MPC_MAN_Y_MAX 40
|
||||
param set MPC_POS_MODE 3
|
||||
param set MPC_SPOOLUP_TIME 1.5
|
||||
param set MPC_THR_HOVER 0.45
|
||||
param set MPC_TILTMAX_AIR 25
|
||||
param set MPC_TKO_RAMP_T 1.8
|
||||
param set MPC_TKO_SPEED 1
|
||||
param set MPC_VEL_MANUAL 3
|
||||
param set MPC_XY_CRUISE 3
|
||||
param set MPC_XY_VEL_MAX 3.5
|
||||
param set MPC_YAWRAUTO_MAX 40
|
||||
param set MPC_Z_VEL_MAX_DN 1.5
|
||||
param set MPC_Z_VEL_MAX_UP 2
|
||||
|
||||
param set-default MPC_ACC_DOWN_MAX 2
|
||||
param set-default MPC_ACC_HOR_MAX 2
|
||||
param set-default MPC_ACC_UP_MAX 3
|
||||
param set-default MC_AIRMODE 1
|
||||
param set-default MPC_JERK_AUTO 4
|
||||
param set-default MPC_LAND_SPEED 1
|
||||
param set-default MPC_MAN_TILT_MAX 25
|
||||
param set-default MPC_MAN_Y_MAX 40
|
||||
param set-default MPC_POS_MODE 3
|
||||
param set-default MPC_SPOOLUP_TIME 1.5
|
||||
param set-default MPC_THR_HOVER 0.45
|
||||
param set-default MPC_TILTMAX_AIR 25
|
||||
param set-default MPC_TKO_RAMP_T 1.8
|
||||
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_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 NAV_ACC_RAD 3
|
||||
|
||||
param set-default NAV_ACC_RAD 3
|
||||
param set PWM_MAIN_DIS3 1000
|
||||
param set PWM_MAIN_MIN3 1120
|
||||
param set PWM_MIN 950
|
||||
|
||||
param set-default PWM_MAIN_DIS3 1000
|
||||
param set-default PWM_MAIN_MIN3 1120
|
||||
param set-default PWM_MAIN_MIN 950
|
||||
param set SENS_BOARD_ROT 4
|
||||
|
||||
param set-default SENS_BOARD_ROT 4
|
||||
param set VT_ARSP_BLEND 10
|
||||
param set VT_ARSP_TRANS 21
|
||||
param set VT_B_DEC_MSS 1.5
|
||||
param set VT_B_TRANS_DUR 12
|
||||
param set VT_ELEV_MC_LOCK 0
|
||||
param set VT_FWD_THRUST_SC 1.2
|
||||
param set VT_FW_MOT_OFFID 5678
|
||||
param set VT_F_TR_OL_TM 8
|
||||
param set VT_IDLE_PWM_MC 1000
|
||||
param set VT_MOT_ID 5678
|
||||
param set VT_PSHER_RMP_DT 2
|
||||
param set VT_TRANS_MIN_TM 4
|
||||
param set VT_TYPE 2
|
||||
|
||||
param set-default VT_ARSP_BLEND 10
|
||||
param set-default VT_ARSP_TRANS 21
|
||||
param set-default VT_B_DEC_MSS 1.5
|
||||
param set-default VT_B_TRANS_DUR 12
|
||||
param set-default VT_ELEV_MC_LOCK 0
|
||||
param set-default VT_FWD_THRUST_SC 1.2
|
||||
param set-default VT_FW_MOT_OFFID 5678
|
||||
param set-default VT_F_TR_OL_TM 8
|
||||
param set-default VT_IDLE_PWM_MC 1000
|
||||
param set-default VT_MOT_ID 5678
|
||||
param set-default VT_PSHER_RMP_DT 2
|
||||
param set-default VT_TRANS_MIN_TM 4
|
||||
param set-default VT_TYPE 2
|
||||
fi
|
||||
|
||||
set MAV_TYPE 22
|
||||
|
||||
|
||||
@@ -1,58 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Generic Quadplane VTOL (PWM14)
|
||||
#
|
||||
# @type Standard VTOL
|
||||
# @class VTOL
|
||||
#
|
||||
# @maintainer
|
||||
#
|
||||
# @output MAIN1 motor 1
|
||||
# @output MAIN2 motor 2
|
||||
# @output MAIN3 motor 3
|
||||
# @output MAIN4 motor 4
|
||||
# @output MAIN5 Aileron 1
|
||||
# @output MAIN6 Aileron 2
|
||||
# @output MAIN7 Elevator
|
||||
# @output MAIN8 Rudder
|
||||
# @output MAIN9 Pusher motor
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
|
||||
param set-default PWM_MAIN_MIN1 1100
|
||||
param set-default PWM_MAIN_MIN2 1100
|
||||
param set-default PWM_MAIN_MIN3 1100
|
||||
param set-default PWM_MAIN_MIN4 1100
|
||||
|
||||
param set-default PWM_MAIN_MAX1 1900
|
||||
param set-default PWM_MAIN_MAX2 1900
|
||||
param set-default PWM_MAIN_MAX3 1900
|
||||
param set-default PWM_MAIN_MAX4 1900
|
||||
|
||||
param set-default PWM_MAIN_DIS1 900
|
||||
param set-default PWM_MAIN_DIS2 900
|
||||
param set-default PWM_MAIN_DIS3 900
|
||||
param set-default PWM_MAIN_DIS4 900
|
||||
param set-default PWM_MAIN_DIS5 1500
|
||||
param set-default PWM_MAIN_DIS6 1500
|
||||
param set-default PWM_MAIN_DIS7 1500
|
||||
param set-default PWM_MAIN_DIS8 1500
|
||||
param set-default PWM_MAIN_DIS9 900
|
||||
|
||||
param set-default VT_TYPE 2
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_FW_MOT_OFFID 1234
|
||||
set MAV_TYPE 22
|
||||
|
||||
set MIXER quad_x_vtol_AAERT
|
||||
set MIXER_AUX none
|
||||
|
||||
set PWM_OUT 1234
|
||||
@@ -26,13 +26,16 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set PWM_AUX_DIS5 950
|
||||
param set PWM_RATE 400
|
||||
|
||||
param set-default PWM_AUX_DIS5 950
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
param set VT_TYPE 2
|
||||
param set VT_MOT_ID 12345678
|
||||
param set VT_FW_MOT_OFFID 12345678
|
||||
fi
|
||||
|
||||
param set-default VT_TYPE 2
|
||||
param set-default VT_MOT_ID 12345678
|
||||
param set-default VT_FW_MOT_OFFID 12345678
|
||||
set MAV_TYPE 22
|
||||
|
||||
set MIXER octo_cox
|
||||
|
||||
@@ -12,19 +12,21 @@
|
||||
#
|
||||
# @maintainer Roman Bapst <roman@px4.io>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set VT_ELEV_MC_LOCK 0
|
||||
param set VT_MOT_COUNT 2
|
||||
param set VT_TYPE 0
|
||||
|
||||
param set-default VT_ELEV_MC_LOCK 0
|
||||
param set-default VT_MOT_COUNT 2
|
||||
param set-default VT_TYPE 0
|
||||
param set MAV_TYPE 19
|
||||
fi
|
||||
|
||||
param set-default MAV_TYPE 19
|
||||
set MAV_TYPE 19
|
||||
set MIXER vtol_tailsitter_duo
|
||||
|
||||
|
||||
@@ -20,33 +20,36 @@
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
set MIXER coax
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set MC_ROLL_P 6.5
|
||||
param set MC_ROLLRATE_P 0.17
|
||||
param set MC_ROLLRATE_I 0.05
|
||||
param set MC_ROLLRATE_D 0.005
|
||||
param set MC_ROLLRATE_FF 0
|
||||
param set MC_PITCH_P 6.5
|
||||
param set MC_PITCHRATE_P 0.17
|
||||
param set MC_PITCHRATE_I 0.05
|
||||
param set MC_PITCHRATE_D 0.005
|
||||
param set MC_PITCHRATE_FF 0
|
||||
param set MC_YAW_P 2
|
||||
param set MC_YAWRATE_P 0.1
|
||||
param set MC_YAWRATE_I 0.1
|
||||
param set MC_YAWRATE_D 0
|
||||
param set MC_YAWRATE_FF 0
|
||||
|
||||
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 NAV_ACC_RAD 2
|
||||
|
||||
param set-default NAV_ACC_RAD 2
|
||||
param set PWM_AUX_RATE 50
|
||||
param set PWM_DISARMED 900
|
||||
param set PWM_MIN 1075
|
||||
param set PWM_MAX 1950
|
||||
param set PWM_RATE 400
|
||||
|
||||
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 RTL_RETURN_ALT 30
|
||||
param set RTL_DESCEND_ALT 10
|
||||
fi
|
||||
|
||||
param set-default RTL_RETURN_ALT 30
|
||||
param set-default RTL_DESCEND_ALT 10
|
||||
# This is the gimbal pass mixer
|
||||
set MIXER_AUX pass
|
||||
|
||||
|
||||
@@ -27,32 +27,34 @@ set MIXER blade130
|
||||
|
||||
#set PWM_OUT 1234
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set ATT_BIAS_MAX 0
|
||||
|
||||
param set-default ATT_BIAS_MAX 0
|
||||
param set CBRK_IO_SAFETY 22027
|
||||
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
param set MC_ROLL_P 5
|
||||
param set MC_ROLLRATE_P 0
|
||||
param set MC_ROLLRATE_I 0
|
||||
param set MC_ROLLRATE_D 0
|
||||
param set MC_ROLLRATE_FF 0.15
|
||||
param set MC_PITCH_P 6.5
|
||||
param set MC_PITCHRATE_P 0
|
||||
param set MC_PITCHRATE_I 0
|
||||
param set MC_PITCHRATE_D 0
|
||||
param set MC_PITCHRATE_FF 0.15
|
||||
param set MC_YAW_P 3
|
||||
param set MC_YAWRATE_P 0.1
|
||||
param set MC_YAWRATE_I 0
|
||||
param set MC_YAWRATE_D 0
|
||||
param set MC_ROLLRATE_MAX 720
|
||||
param set MC_PITCHRATE_MAX 720
|
||||
param set MC_YAWRATE_MAX 400
|
||||
param set MC_ACRO_R_MAX 360
|
||||
param set MC_ACRO_P_MAX 360
|
||||
|
||||
param set-default MC_ROLL_P 5
|
||||
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
|
||||
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
|
||||
param set-default MC_ACRO_R_MAX 360
|
||||
param set-default MC_ACRO_P_MAX 360
|
||||
param set MPC_THR_MIN 0.06
|
||||
param set MPC_MANTHR_MIN 0.06
|
||||
|
||||
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 PWM_MIN 1075
|
||||
fi
|
||||
|
||||
@@ -26,26 +26,29 @@
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set BAT_CAPACITY 2500
|
||||
param set BAT_N_CELLS 3
|
||||
|
||||
param set-default BAT_CAPACITY 2500
|
||||
param set-default BAT_N_CELLS 3
|
||||
param set PWM_AUX_RATE 50
|
||||
param set PWM_RATE 50
|
||||
|
||||
param set-default PWM_AUX_RATE 50
|
||||
param set-default PWM_MAIN_RATE 50
|
||||
param set SENS_BOARD_ROT 8
|
||||
|
||||
param set-default SENS_BOARD_ROT 8
|
||||
param set FW_AIRSPD_MAX 20
|
||||
param set FW_AIRSPD_MIN 7
|
||||
param set FW_AIRSPD_TRIM 13
|
||||
param set FW_THR_CRUISE 0.8
|
||||
|
||||
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 FW_MAN_P_MAX 25
|
||||
param set FW_MAN_R_MAX 25
|
||||
param set FW_PR_I 0.02
|
||||
param set FW_R_LIM 40
|
||||
param set FW_P_LIM_MAX 25
|
||||
param set FW_P_LIM_MIN -5
|
||||
param set FW_P_RMAX_NEG 20
|
||||
fi
|
||||
|
||||
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
|
||||
|
||||
@@ -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 intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
|
||||
param set-default BAT_CAPACITY 3300
|
||||
param set-default BAT_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
|
||||
@@ -1,34 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name ThunderFly balloon TF-B1
|
||||
#
|
||||
# @type Balloon
|
||||
# @class Balloon
|
||||
#
|
||||
#
|
||||
# @url https://github.com/ThunderFly-aerospace/TF-B1/
|
||||
# @maintainer ThunderFly s.r.o.
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.balloon_defaults
|
||||
|
||||
|
||||
param set-default COM_PREARM_MODE 2 # always in prearm state
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
param set-default SDLOG_PROFILE 17
|
||||
param set-default SDLOG_MODE 2
|
||||
param set-default MAV_0_MODE 1
|
||||
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
|
||||
param set MAV_TYPE 8 # MAV_TYPE_FREE_BALLOON
|
||||
|
||||
|
||||
set MIXER IO_pass
|
||||
set MIXER_AUX pass
|
||||
@@ -24,8 +24,11 @@
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
param set-default PWM_AUX_RATE 50
|
||||
param set-default PWM_MAIN_RATE 50
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set PWM_AUX_RATE 50
|
||||
param set PWM_RATE 50
|
||||
fi
|
||||
|
||||
set MIXER AETRFG
|
||||
|
||||
|
||||
@@ -26,23 +26,25 @@
|
||||
|
||||
. ${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
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set FW_AIRSPD_MIN 10
|
||||
param set FW_AIRSPD_TRIM 15
|
||||
param set 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
|
||||
param set FW_MAN_P_MAX 55
|
||||
param set FW_MAN_R_MAX 55
|
||||
param set 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
|
||||
param set FW_WR_FF 0.2
|
||||
param set FW_WR_I 0.2
|
||||
param set FW_WR_IMAX 0.8
|
||||
param set FW_WR_P 1
|
||||
param set FW_W_RMAX 0
|
||||
|
||||
# set disarmed value for the ESC
|
||||
param set PWM_DISARMED 1000
|
||||
fi
|
||||
|
||||
set MIXER AAERTWF
|
||||
|
||||
|
||||
@@ -26,23 +26,25 @@
|
||||
|
||||
. ${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
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set FW_AIRSPD_MIN 10
|
||||
param set FW_AIRSPD_TRIM 15
|
||||
param set 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
|
||||
param set FW_MAN_P_MAX 55
|
||||
param set FW_MAN_R_MAX 55
|
||||
param set 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
|
||||
param set FW_WR_FF 0.2
|
||||
param set FW_WR_I 0.2
|
||||
param set FW_WR_IMAX 0.8
|
||||
param set FW_WR_P 1
|
||||
param set FW_W_RMAX 0
|
||||
|
||||
# set disarmed value for the ESC
|
||||
param set PWM_DISARMED 1000
|
||||
fi
|
||||
|
||||
set MIXER AAVVTWFF
|
||||
|
||||
|
||||
@@ -27,22 +27,25 @@
|
||||
|
||||
. ${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
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set FW_AIRSPD_MIN 10
|
||||
param set FW_AIRSPD_TRIM 15
|
||||
param set 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
|
||||
param set FW_MAN_P_MAX 55
|
||||
param set FW_MAN_R_MAX 55
|
||||
param set 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
|
||||
param set FW_WR_FF 0.2
|
||||
param set FW_WR_I 0.2
|
||||
param set FW_WR_IMAX 0.8
|
||||
param set FW_WR_P 1
|
||||
param set FW_W_RMAX 0
|
||||
|
||||
# set disarmed value for the ESC
|
||||
param set-default PWM_MAIN_DISARM 1000
|
||||
# set disarmed value for the ESC
|
||||
param set PWM_DISARMED 1000
|
||||
fi
|
||||
|
||||
# The Mini Talon does not have a wheel and
|
||||
# no flaps. I leave them here because the mixer
|
||||
|
||||
@@ -28,20 +28,24 @@
|
||||
|
||||
set VEHICLE_TYPE mc
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set NAV_ACC_RAD 2
|
||||
|
||||
param set-default NAV_ACC_RAD 2
|
||||
param set PWM_AUX_RATE 400
|
||||
param set PWM_AUX_DISARMED 900
|
||||
param set PWM_AUX_MIN 1075
|
||||
param set PWM_AUX_MAX 1950
|
||||
|
||||
param set-default PWM_AUX_RATE 400
|
||||
param set-default PWM_AUX_DISARMED 900
|
||||
param set-default PWM_AUX_MIN 1075
|
||||
param set-default PWM_AUX_MAX 1950
|
||||
param set PWM_MIN 1075
|
||||
param set PWM_MAX 1950
|
||||
param set PWM_RATE 400
|
||||
|
||||
param set-default PWM_MAIN_MIN 1075
|
||||
param set-default PWM_MAIN_MAX 1950
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
param set RTL_DESCEND_ALT 10
|
||||
param set RTL_LAND_DELAY 0
|
||||
param set RTL_RETURN_ALT 30
|
||||
fi
|
||||
|
||||
param set-default RTL_DESCEND_ALT 10
|
||||
param set-default RTL_RETURN_ALT 30
|
||||
set MIXER dodeca_top_cox
|
||||
set MIXER_AUX dodeca_bottom_cox
|
||||
|
||||
|
||||
@@ -16,9 +16,11 @@
|
||||
|
||||
. ${R}etc/init.d/rc.airship_defaults
|
||||
|
||||
param set-default COM_PREARM_MODE 2
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set COM_PREARM_MODE 2
|
||||
param set CBRK_IO_SAFETY 22027
|
||||
fi
|
||||
|
||||
set MIXER cloudship
|
||||
set PWM_OUT 1234
|
||||
|
||||
@@ -22,28 +22,30 @@
|
||||
|
||||
. ${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
|
||||
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
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set FW_AIRSPD_MAX 15
|
||||
param set FW_AIRSPD_MIN 10
|
||||
param set FW_AIRSPD_TRIM 13
|
||||
param set FW_R_TC 0.3
|
||||
param set FW_P_TC 0.3
|
||||
param set FW_L1_DAMPING 0.74
|
||||
param set FW_L1_PERIOD 16
|
||||
param set FW_LND_ANG 15
|
||||
param set FW_LND_FLALT 5
|
||||
param set FW_LND_HHDIST 15
|
||||
param set FW_LND_HVIRT 13
|
||||
param set FW_LND_TLALT 5
|
||||
param set FW_THR_LND_MAX 0
|
||||
param set FW_PR_FF 0.35
|
||||
param set FW_PR_IMAX 0.4
|
||||
param set FW_PR_P 0.08
|
||||
param set FW_RR_FF 0.6
|
||||
param set FW_RR_IMAX 0.2
|
||||
param set FW_RR_P 0.04
|
||||
|
||||
param set PWM_DISARMED 1000
|
||||
fi
|
||||
|
||||
set MIXER fw_generic_wing
|
||||
|
||||
|
||||
@@ -17,38 +17,39 @@
|
||||
#
|
||||
# @maintainer Simon Wilks <simon@uaventure.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${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
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set FW_AIRSPD_MIN 13
|
||||
param set FW_AIRSPD_TRIM 15
|
||||
param set FW_AIRSPD_MAX 25
|
||||
param set FW_R_TC 0.3
|
||||
param set FW_P_TC 0.3
|
||||
param set FW_L1_DAMPING 0.75
|
||||
param set FW_L1_PERIOD 15
|
||||
param set FW_PR_FF 0.2
|
||||
param set FW_PR_IMAX 0.2
|
||||
param set FW_PR_P 0.03
|
||||
param set FW_P_LIM_MAX 50
|
||||
param set FW_P_LIM_MIN -50
|
||||
param set FW_P_ROLLFF 1
|
||||
param set FW_RR_FF 0.5
|
||||
param set FW_RR_IMAX 0.2
|
||||
param set FW_RR_P 0.08
|
||||
param set FW_R_LIM 50
|
||||
param set 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
|
||||
param set PWM_DISARMED 1000
|
||||
|
||||
# Bottom of bay and nominal zero-pitch attitude differ
|
||||
# the payload bay is pitched up about 7 degrees
|
||||
param set SENS_BOARD_Y_OFF 7
|
||||
fi
|
||||
|
||||
set MIXER phantom
|
||||
|
||||
|
||||
@@ -15,29 +15,30 @@
|
||||
#
|
||||
# @maintainer Julian Oes <julian@px4.io>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 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_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_RR_FF 0.6
|
||||
param set-default FW_RR_P 0.04
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set FW_AIRSPD_MIN 15
|
||||
param set FW_AIRSPD_TRIM 20
|
||||
param set FW_AIRSPD_MAX 40
|
||||
param set FW_R_TC 0.3
|
||||
param set FW_P_TC 0.3
|
||||
param set FW_L1_DAMPING 0.74
|
||||
param set FW_L1_PERIOD 16
|
||||
param set FW_LND_ANG 15
|
||||
param set FW_LND_FLALT 5
|
||||
param set FW_LND_HHDIST 15
|
||||
param set FW_LND_HVIRT 13
|
||||
param set FW_LND_TLALT 5
|
||||
param set FW_THR_LND_MAX 0
|
||||
param set FW_PR_FF 0.35
|
||||
param set FW_RR_FF 0.6
|
||||
param set FW_RR_P 0.04
|
||||
fi
|
||||
|
||||
set MIXER fw_generic_wing
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
#
|
||||
# @name Wing Wing (aka Z-84) Flying Wing
|
||||
#
|
||||
# @url https://docs.px4.io/master/en/frames_plane/wing_wing_z84.html
|
||||
# @url https://docs.px4.io/master/en/framebuild_plane/wing_wing_z84.html
|
||||
#
|
||||
# @type Flying Wing
|
||||
# @class Plane
|
||||
@@ -17,33 +17,34 @@
|
||||
#
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
param set-default BAT_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
|
||||
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_RR_FF 0.6
|
||||
param set-default FW_RR_P 0.04
|
||||
|
||||
param set-default PWM_MAIN_DISARM 1000
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set BAT_N_CELLS 2
|
||||
param set FW_AIRSPD_MAX 15
|
||||
param set FW_AIRSPD_MIN 10
|
||||
param set FW_AIRSPD_TRIM 13
|
||||
param set FW_R_TC 0.3
|
||||
param set FW_P_TC 0.3
|
||||
param set FW_L1_DAMPING 0.74
|
||||
param set FW_L1_PERIOD 16
|
||||
param set FW_LND_ANG 15
|
||||
param set FW_LND_FLALT 5
|
||||
param set FW_LND_HHDIST 15
|
||||
param set FW_LND_HVIRT 13
|
||||
param set FW_LND_TLALT 5
|
||||
param set FW_THR_LND_MAX 0
|
||||
param set FW_PR_FF 0.35
|
||||
param set FW_RR_FF 0.6
|
||||
param set FW_RR_P 0.04
|
||||
|
||||
param set PWM_DISARMED 1000
|
||||
fi
|
||||
|
||||
# Configure this as plane.
|
||||
set MAV_TYPE 1
|
||||
|
||||
@@ -21,11 +21,13 @@
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
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
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set FW_AIRSPD_MAX 30
|
||||
param set FW_AIRSPD_MIN 13
|
||||
param set FW_AIRSPD_TRIM 15
|
||||
|
||||
param set NAV_LOITER_RAD 150
|
||||
fi
|
||||
|
||||
set MIXER FX79
|
||||
|
||||
@@ -14,7 +14,6 @@
|
||||
#
|
||||
# @maintainer Simon Wilks <simon@uaventure.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
|
||||
@@ -17,38 +17,39 @@
|
||||
#
|
||||
# @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_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
|
||||
param set-default FW_R_TC 0.3
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set FW_AIRSPD_MIN 15
|
||||
param set FW_AIRSPD_TRIM 20
|
||||
param set FW_AIRSPD_MAX 27
|
||||
param set FW_ATT_TC 0.3
|
||||
param set FW_L1_DAMPING 0.75
|
||||
param set FW_L1_PERIOD 20
|
||||
param set FW_PR_FF 0.35
|
||||
param set FW_PR_IMAX 0.2
|
||||
param set FW_PR_P 0.05
|
||||
param set FW_P_LIM_MAX 45
|
||||
param set FW_P_LIM_MIN -45
|
||||
param set FW_P_ROLLFF 1
|
||||
param set FW_P_TC 0.3
|
||||
param set FW_RR_FF 0.3
|
||||
param set FW_RR_IMAX 0.2
|
||||
param set FW_RR_P 0.03
|
||||
param set FW_R_LIM 40
|
||||
param set FW_R_RMAX 50
|
||||
param set 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
|
||||
param set PWM_DISARMED 1000
|
||||
|
||||
# Bottom of bay and nominal zero-pitch attitude differ
|
||||
# the payload bay is pitched up about 7 degrees
|
||||
param set SENS_BOARD_Y_OFF 11.9
|
||||
fi
|
||||
|
||||
set MIXER phantom
|
||||
|
||||
|
||||
@@ -23,65 +23,70 @@
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
####################################
|
||||
# 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
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
|
||||
####################################
|
||||
# The Main L1 Controller
|
||||
####################################
|
||||
param set-default FW_L1_PERIOD 20 #units of meters
|
||||
####################################
|
||||
# Airspeed
|
||||
####################################
|
||||
|
||||
# Damping factor for L1 control (def = 0.75)
|
||||
param set-default FW_L1_DAMPING 0.75
|
||||
param set FW_AIRSPD_MIN 15 # = 29 knots
|
||||
param set FW_AIRSPD_TRIM 20 # = 39 knots
|
||||
param set FW_AIRSPD_MAX 27 # = 52 knots
|
||||
|
||||
####################################
|
||||
# Pitch
|
||||
####################################
|
||||
####################################
|
||||
# The Main L1 Controller
|
||||
####################################
|
||||
|
||||
# Basic limits (def = +/- 45 deg)
|
||||
param set-default FW_P_LIM_MAX 45
|
||||
param set-default FW_P_LIM_MIN -45
|
||||
param set FW_L1_PERIOD 20 #units of meters
|
||||
|
||||
# Time Constant (def = 0.4s)
|
||||
param set-default FW_P_TC 0.4
|
||||
# Damping factor for L1 control (def = 0.75)
|
||||
param set FW_L1_DAMPING 0.75
|
||||
|
||||
# Pitch rate feed forward (def = 0.5 %/rad/sec)
|
||||
param set-default FW_PR_FF 0.35
|
||||
####################################
|
||||
# Pitch
|
||||
####################################
|
||||
|
||||
# Pitch rate integrator limit (def = 0.4)
|
||||
param set-default FW_PR_IMAX 0.4
|
||||
# Basic limits (def = +/- 45 deg)
|
||||
param set FW_P_LIM_MAX 45
|
||||
param set FW_P_LIM_MIN -45
|
||||
|
||||
# Pitch rate proportional gain (def = 0.08 %/rad/sec)
|
||||
param set-default FW_PR_P 0.08
|
||||
# Time Constant (def = 0.4s)
|
||||
param set FW_P_TC 0.4
|
||||
|
||||
####################################
|
||||
# Roll
|
||||
####################################
|
||||
# Pitch rate feed forward (def = 0.5 %/rad/sec)
|
||||
param set FW_PR_FF 0.35
|
||||
|
||||
# Basic limits (def = 50 deg)
|
||||
param set-default FW_R_LIM 40
|
||||
# Pitch rate integrator limit (def = 0.4)
|
||||
param set FW_PR_IMAX 0.4
|
||||
|
||||
# Roll rate upper limit (def = 70 deg/s)
|
||||
param set-default FW_R_RMAX 50
|
||||
# Pitch rate proportional gain (def = 0.08 %/rad/sec)
|
||||
param set FW_PR_P 0.08
|
||||
|
||||
# Roll Time Constant (def = 0.4 s)
|
||||
param set-default FW_R_TC 0.4
|
||||
####################################
|
||||
# Roll
|
||||
####################################
|
||||
|
||||
# Roll rate feed forward (def = 0.5 %/rad/sec)
|
||||
param set-default FW_RR_FF 0.5
|
||||
# Basic limits (def = 50 deg)
|
||||
param set FW_R_LIM 40
|
||||
|
||||
# Roll rate proportional Gain (def = 0.05 %/rad/sec)
|
||||
param set-default FW_RR_P 0.05
|
||||
# Roll rate upper limit (def = 70 deg/s)
|
||||
param set FW_R_RMAX 50
|
||||
|
||||
# Roll Integrator Anti-Windup
|
||||
param set-default FW_RR_IMAX 0.2
|
||||
# Roll Time Constant (def = 0.4 s)
|
||||
param set FW_R_TC 0.4
|
||||
|
||||
param set-default PWM_MAIN_DISARM 1000
|
||||
# Roll rate feed forward (def = 0.5 %/rad/sec)
|
||||
param set FW_RR_FF 0.5
|
||||
|
||||
# Roll rate proportional Gain (def = 0.05 %/rad/sec)
|
||||
param set FW_RR_P 0.05
|
||||
|
||||
# Roll Integrator Anti-Windup
|
||||
param set FW_RR_IMAX 0.2
|
||||
|
||||
param set PWM_DISARMED 1000
|
||||
fi
|
||||
|
||||
set MIXER fw_generic_wing.main.mix
|
||||
|
||||
|
||||
@@ -21,48 +21,49 @@
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set FW_AIRSPD_MAX 25
|
||||
param set FW_AIRSPD_MIN 12.5
|
||||
param set FW_AIRSPD_TRIM 16.5
|
||||
param set FW_L1_DAMPING 0.75
|
||||
param set FW_L1_PERIOD 15
|
||||
param set FW_LND_ANG 15
|
||||
param set FW_LND_FLALT 8
|
||||
param set FW_LND_HHDIST 15
|
||||
param set FW_LND_HVIRT 13
|
||||
param set FW_LND_TLALT 10
|
||||
param set FW_THR_LND_MAX 0
|
||||
param set FW_P_LIM_MAX 20
|
||||
param set FW_P_LIM_MIN -30
|
||||
param set FW_R_LIM 45
|
||||
param set FW_R_TC 0.4
|
||||
param set FW_P_TC 0.4
|
||||
param set FW_PR_FF 0.45
|
||||
param set FW_PR_IMAX 0.4
|
||||
param set FW_PR_P 0.005
|
||||
param set FW_RR_FF 0.45
|
||||
param set FW_RR_IMAX 0.2
|
||||
param set FW_RR_P 0.013
|
||||
param set FW_P_RMAX_NEG 70
|
||||
param set FW_P_RMAX_POS 70
|
||||
param set FW_R_RMAX 70
|
||||
param set FW_THR_CRUISE 0.55
|
||||
|
||||
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
|
||||
param set-default FW_R_RMAX 70
|
||||
param set-default FW_THR_CRUISE 0.55
|
||||
param set LNDFW_AIRSPD_MAX 6
|
||||
param set LNDFW_XYACC_MAX 4
|
||||
param set LNDFW_VEL_XY_MAX 3
|
||||
param set LNDFW_VEL_Z_MAX 5
|
||||
|
||||
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 MIS_TAKEOFF_ALT 50
|
||||
|
||||
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
|
||||
param set NAV_LOITER_RAD 30
|
||||
|
||||
param set PWM_MAIN_REV1 1
|
||||
param set PWM_MAIN_REV2 1
|
||||
param set PWM_MIN 900
|
||||
param set PWM_MAX 2100
|
||||
fi
|
||||
|
||||
set MIXER caipi
|
||||
set PWM_OUT 1234
|
||||
|
||||
@@ -16,21 +16,23 @@
|
||||
set MIXER quad_x
|
||||
set PWM_OUT 1234
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set MC_ROLL_P 8
|
||||
param set MC_ROLLRATE_P 0.08
|
||||
param set MC_ROLLRATE_I 0.16
|
||||
param set MC_ROLLRATE_D 0.003
|
||||
param set MC_PITCH_P 8
|
||||
param set MC_PITCHRATE_P 0.1
|
||||
param set MC_PITCHRATE_I 0.2
|
||||
param set MC_PITCHRATE_D 0.003
|
||||
param set MC_YAW_P 2.8
|
||||
param set MC_YAWRATE_P 0.15
|
||||
param set MC_YAWRATE_I 0.1
|
||||
param set MC_YAWRATE_D 0
|
||||
|
||||
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 MPC_THR_MIN 0.06
|
||||
param set MPC_MANTHR_MIN 0.06
|
||||
|
||||
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 PWM_MIN 1075
|
||||
fi
|
||||
|
||||
@@ -16,24 +16,26 @@
|
||||
set MIXER quad_x
|
||||
set PWM_OUT 1234
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set ATT_BIAS_MAX 0
|
||||
|
||||
param set-default ATT_BIAS_MAX 0
|
||||
param set CBRK_IO_SAFETY 22027
|
||||
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
param set MPC_MANTHR_MIN 0.06
|
||||
param set MC_ROLL_P 6
|
||||
param set MC_ROLLRATE_P 0.14
|
||||
param set MC_ROLLRATE_I 0.23
|
||||
param set MC_ROLLRATE_D 0.0025
|
||||
param set MC_PITCH_P 7
|
||||
param set MC_PITCHRATE_P 0.235
|
||||
param set MC_PITCHRATE_I 0.17
|
||||
param set MC_PITCHRATE_D 0.004
|
||||
param set MC_YAW_P 4
|
||||
param set MC_YAWRATE_P 0.3
|
||||
param set MC_YAWRATE_I 0.2
|
||||
param set MC_YAWRATE_D 0
|
||||
param set MPC_THR_MIN 0.06
|
||||
|
||||
param set-default MPC_MANTHR_MIN 0.06
|
||||
param set-default MC_ROLL_P 6
|
||||
param set-default MC_ROLLRATE_P 0.14
|
||||
param set-default MC_ROLLRATE_I 0.23
|
||||
param set-default MC_ROLLRATE_D 0.0025
|
||||
param set-default MC_PITCH_P 7
|
||||
param set-default MC_PITCHRATE_P 0.235
|
||||
param set-default MC_PITCHRATE_I 0.17
|
||||
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
|
||||
param set PWM_MIN 1075
|
||||
fi
|
||||
|
||||
@@ -13,18 +13,21 @@
|
||||
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
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set MC_ROLL_P 7
|
||||
param set MC_ROLLRATE_P 0.15
|
||||
param set MC_ROLLRATE_I 0.05
|
||||
param set MC_ROLLRATE_D 0.003
|
||||
param set MC_PITCH_P 7
|
||||
param set MC_PITCHRATE_P 0.15
|
||||
param set MC_PITCHRATE_I 0.05
|
||||
param set MC_PITCHRATE_D 0.003
|
||||
param set MC_YAW_P 2.8
|
||||
param set MC_YAWRATE_P 0.2
|
||||
param set MC_YAWRATE_I 0.1
|
||||
param set MC_YAWRATE_D 0
|
||||
|
||||
# DJI ESCs do not support calibration and need a higher min
|
||||
param set-default PWM_MAIN_MIN 1230
|
||||
# DJI ESCs do not support calibration and need a higher min
|
||||
param set PWM_MIN 1230
|
||||
fi
|
||||
|
||||
@@ -13,18 +13,21 @@
|
||||
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
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set MC_ROLL_P 7
|
||||
param set MC_ROLLRATE_P 0.15
|
||||
param set MC_ROLLRATE_I 0.05
|
||||
param set MC_ROLLRATE_D 0.003
|
||||
param set MC_PITCH_P 7
|
||||
param set MC_PITCHRATE_P 0.15
|
||||
param set MC_PITCHRATE_I 0.05
|
||||
param set MC_PITCHRATE_D 0.003
|
||||
param set MC_YAW_P 2.8
|
||||
param set MC_YAWRATE_P 0.3
|
||||
param set MC_YAWRATE_I 0.1
|
||||
param set MC_YAWRATE_D 0
|
||||
|
||||
# DJI ESCs do not support calibration and need a higher min
|
||||
param set-default PWM_MAIN_MIN 1230
|
||||
# DJI ESCs do not support calibration and need a higher min
|
||||
param set PWM_MIN 1230
|
||||
fi
|
||||
|
||||
@@ -7,7 +7,6 @@
|
||||
#
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
@@ -16,10 +15,12 @@
|
||||
set MIXER quad_x
|
||||
set PWM_OUT 1234
|
||||
|
||||
|
||||
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
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set MC_ROLLRATE_P 0.18
|
||||
param set MC_PITCHRATE_P 0.18
|
||||
param set MC_ROLLRATE_I 0.15
|
||||
param set MC_PITCHRATE_I 0.15
|
||||
param set MC_ROLLRATE_D 0.003
|
||||
param set MC_PITCHRATE_D 0.003
|
||||
fi
|
||||
|
||||
@@ -16,13 +16,14 @@
|
||||
set MIXER quad_x
|
||||
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
|
||||
param set-default MC_ROLLRATE_I 0.3
|
||||
param set-default MC_PITCHRATE_I 0.3
|
||||
param set-default MC_ROLLRATE_D 0.004
|
||||
param set-default MC_PITCHRATE_D 0.004
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set IMU_GYRO_CUTOFF 60
|
||||
param set IMU_DGYRO_CUTOFF 30
|
||||
param set MC_ROLLRATE_P 0.14
|
||||
param set MC_PITCHRATE_P 0.14
|
||||
param set MC_ROLLRATE_I 0.3
|
||||
param set MC_PITCHRATE_I 0.3
|
||||
param set MC_ROLLRATE_D 0.004
|
||||
param set MC_PITCHRATE_D 0.004
|
||||
fi
|
||||
|
||||
@@ -19,119 +19,122 @@
|
||||
set MIXER quad_x
|
||||
set PWM_OUT 1234
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
# System parameters
|
||||
# use FMU motor outputs for less delay in the rate control loop
|
||||
param set SYS_USE_IO 0
|
||||
|
||||
# System parameters
|
||||
# use FMU motor outputs for less delay in the rate control loop
|
||||
param set-default SYS_USE_IO 0
|
||||
# Commander Parameters
|
||||
param set COM_OBS_AVOID 1
|
||||
param set COM_DISARM_LAND 0.5
|
||||
|
||||
# Commander Parameters
|
||||
param set-default COM_OBS_AVOID 1
|
||||
param set-default COM_DISARM_LAND 0.5
|
||||
# EKF2 parameters
|
||||
param set EKF2_AID_MASK 35
|
||||
param set EKF2_IMU_POS_X 0.02
|
||||
param set EKF2_GPS_POS_X 0.055
|
||||
param set EKF2_GPS_POS_Z -0.15
|
||||
param set EKF2_HGT_MODE 0
|
||||
param set EKF2_MIN_RNG 0.03
|
||||
param set EKF2_OF_POS_X 0.055
|
||||
param set EKF2_OF_POS_Y 0.02
|
||||
param set EKF2_OF_POS_Z 0.065
|
||||
param set EKF2_REQ_HDRIFT 0.3
|
||||
param set EKF2_REQ_SACC 1
|
||||
param set EKF2_REQ_VDRIFT 0.3
|
||||
param set EKF2_RNG_AID 1
|
||||
param set EKF2_RNG_A_HMAX 8
|
||||
param set EKF2_RNG_A_VMAX 2
|
||||
param set EKF2_RNG_POS_X 0.055
|
||||
param set EKF2_RNG_POS_Y -0.01
|
||||
param set EKF2_RNG_POS_Z 0.065
|
||||
param set EKF2_PCOEF_XP -0.25
|
||||
param set EKF2_PCOEF_YN -0.55
|
||||
param set EKF2_PCOEF_YP -0.55
|
||||
|
||||
# EKF2 parameters
|
||||
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
|
||||
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
|
||||
param set-default EKF2_RNG_POS_Y -0.01
|
||||
param set-default EKF2_RNG_POS_Z 0.065
|
||||
param set-default EKF2_PCOEF_XP -0.25
|
||||
param set-default EKF2_PCOEF_YN -0.55
|
||||
param set-default EKF2_PCOEF_YP -0.55
|
||||
# MAVLink parameters
|
||||
param set MAV_0_CONFIG 101
|
||||
param set MAV_1_CONFIG 102
|
||||
param set MAV_1_RATE 80000
|
||||
param set MAV_1_MODE 9
|
||||
param set SER_TEL1_BAUD 921600
|
||||
|
||||
# MAVLink parameters
|
||||
param set-default MAV_0_CONFIG 101
|
||||
param set-default MAV_1_CONFIG 102
|
||||
param set-default MAV_1_RATE 80000
|
||||
param set-default MAV_1_MODE 9
|
||||
param set-default SER_TEL1_BAUD 921600
|
||||
# Vehicle attitude PID tuning
|
||||
param set MC_ACRO_EXPO 0
|
||||
param set MC_ACRO_EXPO_Y 0
|
||||
param set MC_ACRO_P_MAX 200
|
||||
param set MC_ACRO_R_MAX 200
|
||||
param set MC_ACRO_SUPEXPO 0
|
||||
param set MC_ACRO_SUPEXPOY 0
|
||||
param set MC_ACRO_Y_MAX 150
|
||||
param set IMU_DGYRO_CUTOFF 30
|
||||
param set MC_PITCHRATE_D 0.0015
|
||||
param set MC_PITCHRATE_I 0.2
|
||||
param set MC_PITCHRATE_K 1
|
||||
param set MC_PITCHRATE_P 0.15
|
||||
param set MC_ROLLRATE_D 0.0015
|
||||
param set MC_ROLLRATE_I 0.2
|
||||
param set MC_ROLLRATE_K 1
|
||||
param set MC_ROLLRATE_P 0.15
|
||||
param set MC_YAWRATE_P 0.3
|
||||
|
||||
# Vehicle attitude PID tuning
|
||||
param set-default MC_ACRO_EXPO 0
|
||||
param set-default MC_ACRO_EXPO_Y 0
|
||||
param set-default MC_ACRO_P_MAX 200
|
||||
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
|
||||
param set CP_DIST 6
|
||||
param set MPC_ACC_DOWN_MAX 5
|
||||
param set MPC_ACC_HOR_MAX 10
|
||||
param set MPC_ACC_UP_MAX 4
|
||||
param set MPC_MANTHR_MIN 0
|
||||
param set MPC_MAN_Y_MAX 120
|
||||
param set MPC_TILTMAX_AIR 45
|
||||
param set MPC_THR_HOVER 0.3
|
||||
param set MPC_THR_MIN 0.12
|
||||
param set MPC_TKO_SPEED 1
|
||||
param set MPC_VEL_MANUAL 5
|
||||
param set MPC_XY_CRUISE 5
|
||||
param set MPC_XY_VEL_MAX 5
|
||||
param set MPC_XY_VEL_P_ACC 1.58
|
||||
param set MPC_XY_TRAJ_P 0.3
|
||||
param set MPC_Z_TRAJ_P 0.3
|
||||
param set MPC_Z_VEL_P_ACC 5
|
||||
param set MPC_Z_VEL_I_ACC 3
|
||||
param set MPC_LAND_ALT1 3
|
||||
param set MPC_LAND_ALT2 1
|
||||
|
||||
# Position Control Tuning
|
||||
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
|
||||
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
|
||||
param set-default MPC_XY_VEL_MAX 5
|
||||
param set-default MPC_XY_VEL_P_ACC 1.58
|
||||
param set-default MPC_XY_TRAJ_P 0.3
|
||||
param set-default MPC_Z_TRAJ_P 0.3
|
||||
param set-default MPC_Z_VEL_P_ACC 5
|
||||
param set-default MPC_Z_VEL_I_ACC 3
|
||||
param set-default MPC_LAND_ALT1 3
|
||||
param set-default MPC_LAND_ALT2 1
|
||||
# Navigator Parameters
|
||||
param set NAV_ACC_RAD 2
|
||||
|
||||
# Navigator Parameters
|
||||
param set-default NAV_ACC_RAD 2
|
||||
# PWM and RC Parameters
|
||||
param set PWM_MAX 1950
|
||||
param set PWM_MIN 1075
|
||||
|
||||
# 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 PWM_RATE 0
|
||||
|
||||
# use oneshot motor output protocol
|
||||
param set-default PWM_MAIN_RATE 0
|
||||
# RTL Parameters
|
||||
param set RTL_DESCEND_ALT 5
|
||||
param set RTL_LAND_DELAY 0
|
||||
param set RTL_RETURN_ALT 5
|
||||
param set RTL_CONE_ANG 45
|
||||
|
||||
# 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 SDLOG_PROFILE 131
|
||||
|
||||
# Logging Parameters
|
||||
param set-default SDLOG_PROFILE 131
|
||||
# Sensors Parameters
|
||||
param set SENS_BOARD_ROT 0
|
||||
param set SENS_CM8JL65_CFG 104
|
||||
param set SENS_FLOW_MAXHGT 25
|
||||
param set SENS_FLOW_MINHGT 0.5
|
||||
param set SENS_FLOW_ROT 0
|
||||
param set IMU_GYRO_CUTOFF 100
|
||||
param set SENS_EN_PMW3901 1
|
||||
|
||||
# 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
|
||||
param set-default SENS_FLOW_ROT 0
|
||||
param set-default IMU_GYRO_CUTOFF 100
|
||||
param set-default SENS_EN_PMW3901 1
|
||||
# Power Parameters
|
||||
param set BAT_N_CELLS 4
|
||||
param set BAT_A_PER_V 36.364
|
||||
param set BAT_V_DIV 18.182
|
||||
|
||||
# Power Parameters
|
||||
param set-default BAT_N_CELLS 4
|
||||
param set-default BAT_A_PER_V 36.364
|
||||
param set-default BAT_V_DIV 18.182
|
||||
# Circuit breakers
|
||||
param set CBRK_IO_SAFETY 22027
|
||||
|
||||
# Circuit breakers
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
|
||||
param set-default THR_MDL_FAC 0.3
|
||||
param set THR_MDL_FAC 0.3
|
||||
fi
|
||||
|
||||
@@ -1,36 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name NXP HoverGames
|
||||
#
|
||||
# @type Quadrotor x
|
||||
# @class Copter
|
||||
#
|
||||
# @output MAIN1 motor 1
|
||||
# @output MAIN2 motor 2
|
||||
# @output MAIN3 motor 3
|
||||
# @output MAIN4 motor 4
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
# @maintainer Iain Galloway <iain.galloway@nxp.com>
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
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 IMU_GYRO_RATEMAX 400
|
||||
|
||||
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
|
||||
@@ -1,56 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name S500 with control allocation
|
||||
#
|
||||
# @type Quadrotor x
|
||||
# @class Copter
|
||||
#
|
||||
# @maintainer Silvan Fuhrer
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
. ${R}etc/init.d/rc.ctrlalloc
|
||||
|
||||
|
||||
param set-default MPC_USE_HTE 0
|
||||
|
||||
param set-default VM_MASS 1.5
|
||||
param set-default VM_INERTIA_XX 0.03
|
||||
param set-default VM_INERTIA_YY 0.03
|
||||
param set-default VM_INERTIA_ZZ 0.05
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
param set-default CA_METHOD 1
|
||||
param set-default CA_ACT0_MIN 0.0
|
||||
param set-default CA_ACT1_MIN 0.0
|
||||
param set-default CA_ACT2_MIN 0.0
|
||||
param set-default CA_ACT3_MIN 0.0
|
||||
param set-default CA_ACT0_MAX 1.0
|
||||
param set-default CA_ACT1_MAX 1.0
|
||||
param set-default CA_ACT2_MAX 1.0
|
||||
param set-default CA_ACT3_MAX 1.0
|
||||
|
||||
param set-default CA_MC_R0_PX 0.177
|
||||
param set-default CA_MC_R0_PY 0.177
|
||||
param set-default CA_MC_R0_CT 6.5
|
||||
param set-default CA_MC_R0_KM 0.05
|
||||
param set-default CA_MC_R1_PX -0.177
|
||||
param set-default CA_MC_R1_PY -0.177
|
||||
param set-default CA_MC_R1_CT 6.5
|
||||
param set-default CA_MC_R1_KM 0.05
|
||||
param set-default CA_MC_R2_PX 0.177
|
||||
param set-default CA_MC_R2_PY -0.177
|
||||
param set-default CA_MC_R2_CT 6.5
|
||||
param set-default CA_MC_R2_KM -0.05
|
||||
param set-default CA_MC_R3_PX -0.177
|
||||
param set-default CA_MC_R3_PY 0.177
|
||||
param set-default CA_MC_R3_CT 6.5
|
||||
param set-default CA_MC_R3_KM -0.05
|
||||
|
||||
set MIXER direct
|
||||
set PWM_OUT 1234
|
||||
|
||||
set MIXER_AUX direct_aux
|
||||
set PWM_AUX_OUT 1234
|
||||
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Reference in New Issue
Block a user