From 203e253dfe6533f195812d4fc962649f2e657b91 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Fri, 17 Dec 2021 11:34:02 +0100 Subject: [PATCH] airframes: sitl boat: switch to dynamic control allocation --- .../init.d-posix/airframes/1070_boat | 21 ++++++++++++++++++- .../px4fmu_common/mixers-sitl/CMakeLists.txt | 1 - .../mixers-sitl/boat_sitl.main.mix | 15 ------------- 3 files changed, 20 insertions(+), 17 deletions(-) delete mode 100644 ROMFS/px4fmu_common/mixers-sitl/boat_sitl.main.mix diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat b/ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat index bf43dc1272..08dc4a2bbc 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat @@ -28,6 +28,25 @@ param set-default CBRK_AIRSPD_CHK 162128 param set-default GND_MAX_ANG 0.6 param set-default GND_WHEEL_BASE 2.0 +param set-default SYS_CTRL_ALLOC 1 +param set-default CA_AIRFRAME 9 + +param set-default CA_ROTOR_COUNT 2 +param set-default CA_ROTOR0_AX 1 +param set-default CA_ROTOR0_AZ 0 +param set-default CA_ROTOR0_KM 0 +param set-default CA_ROTOR0_PX -2 +param set-default CA_ROTOR0_PY -1 +param set-default CA_ROTOR1_AX 1 +param set-default CA_ROTOR1_AZ 0 +param set-default CA_ROTOR1_KM 0 +param set-default CA_ROTOR1_PX -2 +param set-default CA_ROTOR1_PY 1 +param set-default CA_R_REV 3 + +param set-default PWM_MAIN_FUNC1 101 +param set-default PWM_MAIN_FUNC2 102 + set MAV_TYPE 11 -set MIXER_FILE etc/mixers-sitl/boat_sitl.main.mix +set MIXER skip diff --git a/ROMFS/px4fmu_common/mixers-sitl/CMakeLists.txt b/ROMFS/px4fmu_common/mixers-sitl/CMakeLists.txt index 14924d8660..60f6d12ff2 100644 --- a/ROMFS/px4fmu_common/mixers-sitl/CMakeLists.txt +++ b/ROMFS/px4fmu_common/mixers-sitl/CMakeLists.txt @@ -33,7 +33,6 @@ px4_add_romfs_files( autogyro_sitl.main.mix - boat_sitl.main.mix delta_wing_sitl.main.mix package_drop.aux.mix plane_sitl.main.mix diff --git a/ROMFS/px4fmu_common/mixers-sitl/boat_sitl.main.mix b/ROMFS/px4fmu_common/mixers-sitl/boat_sitl.main.mix deleted file mode 100644 index 49cfa1ba20..0000000000 --- a/ROMFS/px4fmu_common/mixers-sitl/boat_sitl.main.mix +++ /dev/null @@ -1,15 +0,0 @@ -Mixer for SITL boat -========================================================= - -Throttle of left propeller of boat on Output 0 ---------------------------------------- -M: 2 -S: 0 2 10000 10000 0 -10000 10000 -S: 0 3 10000 10000 0 -10000 10000 - - -Throttle of right propeller of boat on Output 1 ---------------------------------------- -M: 2 -S: 0 2 -10000 -10000 0 -10000 10000 -S: 0 3 10000 10000 0 -10000 10000