px4_autopilot/ROMFS/px4fmu_common/init.d-posix/airframes/10017_iris_ctrlalloc

#!/bin/sh
#
# @name 3DR Iris Quadrotor SITL
#
# @type Quadrotor Wide
#
# @maintainer Julian Oes <julian@oes.ch>
#

. ${R}etc/init.d/rc.mc_defaults

param set-default SYS_CTRL_ALLOC 1


param set-default CA_AIRFRAME 0

param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.1515
param set-default CA_ROTOR0_PY 0.245
param set-default CA_ROTOR0_KM 0.05
param set-default CA_ROTOR1_PX -0.1515
param set-default CA_ROTOR1_PY -0.1875
param set-default CA_ROTOR1_KM 0.05
param set-default CA_ROTOR2_PX 0.1515
param set-default CA_ROTOR2_PY -0.245
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.1515
param set-default CA_ROTOR3_PY 0.1875
param set-default CA_ROTOR3_KM -0.05

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

set MIXER skip
set MIXER_AUX none
initial control allocation support - control allocation module with multirotor, VTOL standard, and tiltrotor support - angular_velocity_controller - See https://github.com/PX4/PX4-Autopilot/pull/13351 for details Co-authored-by: Silvan Fuhrer <silvan@auterion.com> Co-authored-by: Roman Bapst <bapstroman@gmail.com> 4 years ago			`#!/bin/sh`
			`#`
			`# @name 3DR Iris Quadrotor SITL`
			`#`
			`# @type Quadrotor Wide`
			`#`
			`# @maintainer Julian Oes <julian@oes.ch>`
			`#`

update ctrlalloc airframe location 4 years ago			`. ${R}etc/init.d/rc.mc_defaults`
control allocation: introduce parameter SYS_CTRL_ALLOC & unify build targets 4 years ago
			`param set-default SYS_CTRL_ALLOC 1`
initial control allocation support - control allocation module with multirotor, VTOL standard, and tiltrotor support - angular_velocity_controller - See https://github.com/PX4/PX4-Autopilot/pull/13351 for details Co-authored-by: Silvan Fuhrer <silvan@auterion.com> Co-authored-by: Roman Bapst <bapstroman@gmail.com> 4 years ago

ROMFS: posix airframes update to new parameter defaults mechanism (AUTOCNF replacement) 4 years ago			`param set-default CA_AIRFRAME 0`
initial control allocation support - control allocation module with multirotor, VTOL standard, and tiltrotor support - angular_velocity_controller - See https://github.com/PX4/PX4-Autopilot/pull/13351 for details Co-authored-by: Silvan Fuhrer <silvan@auterion.com> Co-authored-by: Roman Bapst <bapstroman@gmail.com> 4 years ago
control_allocator: major refactoring & additions - 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 3 years ago			`param set-default CA_ROTOR_COUNT 4`
			`param set-default CA_ROTOR0_PX 0.1515`
			`param set-default CA_ROTOR0_PY 0.245`
			`param set-default CA_ROTOR0_KM 0.05`
			`param set-default CA_ROTOR1_PX -0.1515`
			`param set-default CA_ROTOR1_PY -0.1875`
			`param set-default CA_ROTOR1_KM 0.05`
			`param set-default CA_ROTOR2_PX 0.1515`
			`param set-default CA_ROTOR2_PY -0.245`
			`param set-default CA_ROTOR2_KM -0.05`
			`param set-default CA_ROTOR3_PX -0.1515`
			`param set-default CA_ROTOR3_PY 0.1875`
			`param set-default CA_ROTOR3_KM -0.05`
initial control allocation support - control allocation module with multirotor, VTOL standard, and tiltrotor support - angular_velocity_controller - See https://github.com/PX4/PX4-Autopilot/pull/13351 for details Co-authored-by: Silvan Fuhrer <silvan@auterion.com> Co-authored-by: Roman Bapst <bapstroman@gmail.com> 4 years ago
params: use PWM_MAIN_* instead of PWM_FMU_* 3 years ago			`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`
airframes: set output function params for ctrlalloc airframes 3 years ago
control_allocator: remove direct mixer, add actuator_{motors,servos} instead 4 years ago			`set MIXER skip`
			`set MIXER_AUX none`