mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-31 17:11:35 +08:00
Pedro RoqueandDaniel Agar
e14eea5615
* rft: clean merge to PX4 * fix: formatting * fix: extra line * fix: moved submarine out of "is_ground_vehicle", added proper check for center-throttle * feat: updated gazebo models to include bluerov update * fix: use 'is_uuv_vehicle', remove FW_MM/LLC from uuv build * fix: added saturation to thrust and torque messages via param * doc: updated parameters documentation for uuv * fix: formatting * feat: matching hardware reference * fix: thrusters kg * rft: removed commented lines * fix: update gz reference given hw setup * fix: hardware references * fix: recommendations * fix: updated settings to match hardware * rft: check only for fixed and rotary wing for high throttle Co-authored-by: Daniel Agar <daniel@agar.ca> * fix: commit oupsie * fix: format * rft: remove is_uuv * fix: hw parameters, uuv build target for v6x * feat: added support for D-pad attitude changes in stabilized position control * fix: position setpoint update and parametrized trajectory age and att change * fix: format * fix: removed duplicated call to check_validity_setpoint * fix: setpoint update on arming logic * fix: setpoint initialization for stabilized mode --------- Co-authored-by: Daniel Agar <daniel@agar.ca>
156 lines
4.7 KiB
Bash
156 lines
4.7 KiB
Bash
#!/bin/sh
|
|
#
|
|
# @name BlueROV2 (Heavy Configuration)
|
|
#
|
|
# @type Vectored 6 DOF UUV
|
|
# @class Underwater Robot
|
|
#
|
|
# @output Motor1 motor 1 CCW, bow starboard horizontal, , propeller CCW
|
|
# @output Motor2 motor 2 CCW, bow port horizontal, propeller CCW
|
|
# @output Motor3 motor 3 CCW, stern starboard horizontal, propeller CW
|
|
# @output Motor4 motor 4 CCW, stern port horizontal, propeller CW
|
|
# @output Motor5 motor 5 CCW, bow starboard vertical, propeller CCW
|
|
# @output Motor6 motor 6 CCW, bow port vertical, propeller CW
|
|
# @output Motor7 motor 7 CCW, stern starboard vertical, propeller CW
|
|
# @output Motor8 motor 8 CCW, stern port vertical, propeller CCW
|
|
#
|
|
# @maintainer Thies Lennart Alff <thies.lennart.alff@tuhh.de>
|
|
#
|
|
# @board px4_fmu-v2 exclude
|
|
# @board bitcraze_crazyflie exclude
|
|
#
|
|
|
|
. ${R}etc/init.d/rc.uuv_defaults
|
|
|
|
# param set-default MAV_1_CONFIG 102
|
|
|
|
param set-default BAT1_A_PER_V 37.8798
|
|
param set-default BAT1_CAPACITY 18000
|
|
param set-default BAT1_V_DIV 11
|
|
param set-default BAT1_N_CELLS 4
|
|
param set-default BAT_V_OFFS_CURR 0.33
|
|
|
|
# Set parameters using `param` utility for SITL
|
|
param set-default CA_AIRFRAME 7
|
|
param set-default CA_METHOD 0
|
|
param set-default MAV_TYPE 12
|
|
|
|
# Board rotation: set to direct replacement of RPi with PX4
|
|
# with forward facing vehicle forward
|
|
param set-default SENS_BOARD_ROT 16
|
|
|
|
# Set proper failsafes
|
|
param set-default COM_ACT_FAIL_ACT 0
|
|
param set-default COM_LOW_BAT_ACT 0
|
|
param set-default NAV_DLL_ACT 0
|
|
param set-default GF_ACTION 1
|
|
param set-default NAV_RCL_ACT 1
|
|
param set-default COM_POSCTL_NAVL 2
|
|
|
|
# disable attitude failure detection
|
|
param set-default FD_FAIL_P 0
|
|
param set-default FD_FAIL_R 0
|
|
|
|
param set-default CA_ROTOR_COUNT 8
|
|
param set-default CA_R_REV 255
|
|
|
|
param set-default CA_ROTOR0_AX 1
|
|
param set-default CA_ROTOR0_AY -1
|
|
param set-default CA_ROTOR0_AZ 0
|
|
param set-default CA_ROTOR0_KM 0
|
|
param set-default CA_ROTOR0_PX 0.14
|
|
param set-default CA_ROTOR0_PY 0.10
|
|
param set-default CA_ROTOR0_PZ 0.06
|
|
|
|
param set-default CA_ROTOR1_AX 1
|
|
param set-default CA_ROTOR1_AY 1
|
|
param set-default CA_ROTOR1_AZ 0
|
|
param set-default CA_ROTOR1_KM 0
|
|
param set-default CA_ROTOR1_PX 0.14
|
|
param set-default CA_ROTOR1_PY -0.10
|
|
param set-default CA_ROTOR1_PZ 0.06
|
|
|
|
param set-default CA_ROTOR2_AX 1
|
|
param set-default CA_ROTOR2_AY 1
|
|
param set-default CA_ROTOR2_AZ 0
|
|
param set-default CA_ROTOR2_KM 0
|
|
param set-default CA_ROTOR2_PX -0.14
|
|
param set-default CA_ROTOR2_PY 0.10
|
|
param set-default CA_ROTOR2_PZ 0.06
|
|
|
|
param set-default CA_ROTOR3_AX 1
|
|
param set-default CA_ROTOR3_AY -1
|
|
param set-default CA_ROTOR3_AZ 0
|
|
param set-default CA_ROTOR3_KM 0
|
|
param set-default CA_ROTOR3_PX -0.14
|
|
param set-default CA_ROTOR3_PY -0.10
|
|
param set-default CA_ROTOR3_PZ 0.06
|
|
|
|
param set-default CA_ROTOR4_AX 0
|
|
param set-default CA_ROTOR4_AY 0
|
|
param set-default CA_ROTOR4_AZ -1
|
|
param set-default CA_ROTOR4_KM 0
|
|
param set-default CA_ROTOR4_PX 0.12
|
|
param set-default CA_ROTOR4_PY 0.22
|
|
param set-default CA_ROTOR4_PZ 0
|
|
|
|
param set-default CA_ROTOR5_AX 0
|
|
param set-default CA_ROTOR5_AY 0
|
|
param set-default CA_ROTOR5_AZ 1
|
|
param set-default CA_ROTOR5_KM 0
|
|
param set-default CA_ROTOR5_PX 0.12
|
|
param set-default CA_ROTOR5_PY -0.22
|
|
param set-default CA_ROTOR5_PZ 0
|
|
|
|
param set-default CA_ROTOR6_AX 0
|
|
param set-default CA_ROTOR6_AY 0
|
|
param set-default CA_ROTOR6_AZ 1
|
|
param set-default CA_ROTOR6_KM 0
|
|
param set-default CA_ROTOR6_PX -0.12
|
|
param set-default CA_ROTOR6_PY 0.22
|
|
param set-default CA_ROTOR6_PZ 0
|
|
|
|
param set-default CA_ROTOR7_AX 0
|
|
param set-default CA_ROTOR7_AY 0
|
|
param set-default CA_ROTOR7_AZ -1
|
|
param set-default CA_ROTOR7_KM 0
|
|
param set-default CA_ROTOR7_PX -0.12
|
|
param set-default CA_ROTOR7_PY -0.22
|
|
param set-default CA_ROTOR7_PZ 0
|
|
|
|
param set-default PWM_MAIN_FUNC1 101
|
|
param set-default PWM_MAIN_FUNC2 102
|
|
param set-default PWM_MAIN_FUNC3 103
|
|
param set-default PWM_MAIN_FUNC4 104
|
|
param set-default PWM_MAIN_FUNC5 105
|
|
param set-default PWM_MAIN_FUNC6 106
|
|
param set-default PWM_MAIN_FUNC7 107
|
|
param set-default PWM_MAIN_FUNC8 108
|
|
|
|
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_MIN5 1100
|
|
param set-default PWM_MAIN_MIN6 1100
|
|
param set-default PWM_MAIN_MIN7 1100
|
|
param set-default PWM_MAIN_MIN8 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_MAX5 1900
|
|
param set-default PWM_MAIN_MAX6 1900
|
|
param set-default PWM_MAIN_MAX7 1900
|
|
param set-default PWM_MAIN_MAX8 1900
|
|
|
|
param set-default PWM_MAIN_DIS1 1500
|
|
param set-default PWM_MAIN_DIS2 1500
|
|
param set-default PWM_MAIN_DIS3 1500
|
|
param set-default PWM_MAIN_DIS4 1500
|
|
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
|