mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-17 11:50:37 +08:00
Beat Küng
70e46a194f
- allow effectiveness matrix to select control allocator method (desaturation algorithm) - add actuator_servos publication - add support for multiple matrices (for vtol) - add updateSetpoint callback method to actuator effectiveness to allow it to manipulate the actuator setpoint after allocation - handle motor stopping & reversal - add control surfaces & tilt servos - handle standard vtol + tiltrotor - rename MC rotors params & class to be more generically usable - fixes and enables ActuatorEffectivenessRotorsTest
53 lines
1.2 KiB
Bash
53 lines
1.2 KiB
Bash
#!/bin/sh
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#
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# @name Hex X with control allocation
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#
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# @type Hexarotor x
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# @class Copter
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#
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# @maintainer Silvan Fuhrer
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#
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# @board px4_fmu-v2 exclude
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#
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. ${R}etc/init.d/rc.mc_defaults
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param set-default SYS_CTRL_ALLOC 1
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param set-default CA_AIRFRAME 0
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param set-default CA_ROTOR_COUNT 6
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param set-default CA_ROTOR0_PX 0.0
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param set-default CA_ROTOR0_PY 0.275
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param set-default CA_ROTOR0_KM -0.05
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param set-default CA_ROTOR1_PX 0.0
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param set-default CA_ROTOR1_PY -0.275
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param set-default CA_ROTOR1_KM 0.05
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param set-default CA_ROTOR2_PX 0.238
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param set-default CA_ROTOR2_PY -0.1375
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param set-default CA_ROTOR2_KM -0.05
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param set-default CA_ROTOR3_PX -0.238
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param set-default CA_ROTOR3_PY 0.1375
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param set-default CA_ROTOR3_KM 0.05
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param set-default CA_ROTOR4_PX 0.238
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param set-default CA_ROTOR4_PY 0.1375
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param set-default CA_ROTOR4_KM 0.05
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param set-default CA_ROTOR5_PX -0.238
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param set-default CA_ROTOR5_PY -0.1375
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param set-default CA_ROTOR5_KM -0.05
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param set-default PWM_MAIN_FUNC1 101
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param set-default PWM_MAIN_FUNC2 102
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param set-default PWM_MAIN_FUNC3 103
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param set-default PWM_MAIN_FUNC4 104
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param set-default PWM_MAIN_FUNC5 105
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param set-default PWM_MAIN_FUNC6 106
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set MIXER skip
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set MIXER_AUX none
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