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autotest: added dspoiler parameters for plane 

and simplify vtail and elevon parameters
mission-4.1.18
Andrew Tridgell 8 years ago
parent
984e887d1d
commit
392d990950
4 changed files with 20 additions and 163 deletions
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  1. 4
      Tools/autotest/default_params/plane-dspoilers.parm
  2. 85
      Tools/autotest/default_params/plane-elevons.parm
  3. 86
      Tools/autotest/default_params/plane-vtail.parm
  4. 8
      Tools/autotest/pysim/vehicleinfo.py

4
Tools/autotest/default_params/plane-dspoilers.parm
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@ -0,0 +1,4 @@
SERVO1_FUNCTION 16
SERVO2_FUNCTION 17
SERVO4_FUNCTION 86
SERVO5_FUNCTION 87

85
Tools/autotest/default_params/plane-elevons.parm
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@ -1,81 +1,4 @@
EK2_ENABLE 1 SERVO1_FUNCTION 78
ALT_CTRL_ALG 2 SERVO2_FUNCTION 77
BATT_MONITOR 4 SERVO1_REVERSED 1
LOG_BITMASK 65535 SERVO2_REVERSED 1
MAG_ENABLE 1
TRIM_ARSPD_CM 2200
TRIM_PITCH_CD 0
TRIM_THROTTLE 50
LIM_PITCH_MIN -2000
LIM_PITCH_MAX 2500
LIM_ROLL_CD 6500
LAND_PITCH_CD 100
LAND_FLARE_SEC 5
ARSPD_USE 1
ARSPD_FBW_MAX 30
ARSPD_FBW_MIN 10
KFF_RDDRMIX 0.5
THR_MAX 100
ELEVON_OUTPUT 4
KFF_RDDRMIX 0
RC1_MAX 2000
RC1_MIN 1000
RC1_TRIM 1500
RC2_MAX 2000
RC2_MIN 1000
RC2_TRIM 1500
RC3_MAX 2000
RC3_MIN 1000
RC3_TRIM 1000
SERVO3_MIN 1000
SERVO3_MAX 2000
RC4_MAX 2000
RC4_MIN 1000
RC4_TRIM 1500
RC5_MAX 2000
RC5_MIN 1000
RC5_TRIM 1500
RC6_MAX 2000
RC6_MIN 1000
RC6_TRIM 1500
RC7_MAX 2000
RC7_MIN 1000
RC7_TRIM 1500
RC8_MAX 2000
RC8_MIN 1000
RC8_TRIM 1500
FLTMODE1 10
FLTMODE2 11
FLTMODE3 12
FLTMODE4 5
FLTMODE5 2
FLTMODE6 0
FLTMODE_CH 8
WP_LOITER_RAD 80
WP_RADIUS 50
RLL2SRV_D 0.2
RLL2SRV_I 0.3
RLL2SRV_P 2.5
RLL2SRV_RMAX 0
RLL2SRV_TCONST 0.5
PTCH2SRV_D 0.2
PTCH2SRV_I 0.3
PTCH2SRV_P 2.5
PTCH2SRV_RLL 1
NAVL1_PERIOD 15
ACRO_LOCKING 1
VTAIL_OUTPUT 0
# we need small INS_ACC offsets so INS is recognised as being calibrated
INS_ACCOFFS_X 0.001
INS_ACCOFFS_Y 0.001
INS_ACCOFFS_Z 0.001
INS_ACCSCAL_X 1.001
INS_ACCSCAL_Y 1.001
INS_ACCSCAL_Z 1.001
INS_ACC2OFFS_X 0.001
INS_ACC2OFFS_Y 0.001
INS_ACC2OFFS_Z 0.001
INS_ACC2SCAL_X 1.001
INS_ACC2SCAL_Y 1.001
INS_ACC2SCAL_Z 1.001
INS_GYR_CAL 0

86
Tools/autotest/default_params/plane-vtail.parm
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@ -1,80 +1,6 @@
EK2_ENABLE 1 SERVO2_FUNCTION 80
ALT_CTRL_ALG 2 SERVO4_FUNCTION 79
BATT_MONITOR 4 SERVO2_REVERSED 1
LOG_BITMASK 65535
MAG_ENABLE 1
TRIM_ARSPD_CM 2200
TRIM_PITCH_CD 0
TRIM_THROTTLE 50
LIM_PITCH_MIN -2000
LIM_PITCH_MAX 2500
LIM_ROLL_CD 6500
LAND_PITCH_CD 100
LAND_FLARE_SEC 5
ARSPD_USE 1
ARSPD_FBW_MAX 30
ARSPD_FBW_MIN 10
KFF_RDDRMIX 0.5
THR_MAX 100
RC1_MAX 2000
RC1_MIN 1000
RC1_TRIM 1500
RC2_MAX 2000
RC2_MIN 1000
RC2_TRIM 1500
RC3_MAX 2000
RC3_MIN 1000
RC3_TRIM 1000
SERVO3_MIN 1000
SERVO3_MAX 2000
RC4_MAX 2000
RC4_MIN 1000
RC4_TRIM 1500
RC5_MAX 2000
RC5_MIN 1000
RC5_TRIM 1500
RC6_MAX 2000
RC6_MIN 1000
RC6_TRIM 1500
RC7_MAX 2000
RC7_MIN 1000
RC7_TRIM 1500
RC8_MAX 2000
RC8_MIN 1000
RC8_TRIM 1500
FLTMODE1 10
FLTMODE2 11
FLTMODE3 12
FLTMODE4 5
FLTMODE5 2
FLTMODE6 0
FLTMODE_CH 8
WP_LOITER_RAD 80
WP_RADIUS 50
RLL2SRV_D 0.2
RLL2SRV_I 0.3
RLL2SRV_P 2.5
RLL2SRV_RMAX 0
RLL2SRV_TCONST 0.5
PTCH2SRV_D 0.2
PTCH2SRV_I 0.3
PTCH2SRV_P 2.5
PTCH2SRV_RLL 1
NAVL1_PERIOD 15
ACRO_LOCKING 1
ELEVON_OUTPUT 0
VTAIL_OUTPUT 3
# we need small INS_ACC offsets so INS is recognised as being calibrated
INS_ACCOFFS_X 0.001
INS_ACCOFFS_Y 0.001
INS_ACCOFFS_Z 0.001
INS_ACCSCAL_X 1.001
INS_ACCSCAL_Y 1.001
INS_ACCSCAL_Z 1.001
INS_ACC2OFFS_X 0.001
INS_ACC2OFFS_Y 0.001
INS_ACC2OFFS_Z 0.001
INS_ACC2SCAL_X 1.001
INS_ACC2SCAL_Y 1.001
INS_ACC2SCAL_Z 1.001
INS_GYR_CAL 0

8
Tools/autotest/pysim/vehicleinfo.py
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@ -138,11 +138,11 @@ class VehicleInfo(object):
}, },
"plane-elevon": { "plane-elevon": {
"waf_target": "bin/arduplane", "waf_target": "bin/arduplane",
"default_params_filename": "default_params/plane-elevons.parm", "default_params_filename": ["default_params/plane.parm", "default_params/plane-elevons.parm"],
}, },
"plane-vtail": { "plane-vtail": {
"waf_target": "bin/arduplane", "waf_target": "bin/arduplane",
"default_params_filename": "default_params/plane-vtail.parm", "default_params_filename": ["default_params/plane.parm", "default_params/plane-vtail.parm"],
}, },
"plane-tailsitter": { "plane-tailsitter": {
"waf_target": "bin/arduplane", "waf_target": "bin/arduplane",
@ -152,6 +152,10 @@ class VehicleInfo(object):
"waf_target": "bin/arduplane", "waf_target": "bin/arduplane",
"default_params_filename": "default_params/plane.parm", "default_params_filename": "default_params/plane.parm",
}, },
"plane-dspoilers": {
"waf_target": "bin/arduplane",
"default_params_filename": ["default_params/plane.parm", "default_params/plane-dspoilers.parm"]
},
"gazebo-zephyr": { "gazebo-zephyr": {
"waf_target": "bin/arduplane", "waf_target": "bin/arduplane",
"default_params_filename": "default_params/gazebo-zephyr.parm", "default_params_filename": "default_params/gazebo-zephyr.parm",

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