From 3ffc37d988912d36ef46e7bf8802459ef5b4bb9f Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Thu, 21 Jul 2022 09:38:31 +0200 Subject: [PATCH] ROMFS: generic tailsitter VTOL: enable CA by default and remove legacy mixer Signed-off-by: Silvan Fuhrer --- .../airframes/13200_generic_vtol_tailsitter | 30 ++++++------------- 1 file changed, 9 insertions(+), 21 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter b/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter index d235153980..888e530050 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter +++ b/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter @@ -1,17 +1,10 @@ #!/bin/sh # -# @name Generic Tailsitter +# @name Generic VTOL Tailsitter # -# @type VTOL Duo Tailsitter +# @type VTOL Tailsitter # @class VTOL # -# @output MAIN1 motor right -# @output MAIN2 motor left -# @output MAIN5 elevon right -# @output MAIN6 elevon left -# -# @maintainer Roman Bapst -# # @board px4_fmu-v2 exclude # @board bitcraze_crazyflie exclude # @board holybro_kakutef7 exclude @@ -19,18 +12,13 @@ . ${R}etc/init.d/rc.vtol_defaults -param set-default MAV_TYPE 19 - -param set-default VT_ELEV_MC_LOCK 0 -param set-default VT_MOT_COUNT 2 -param set-default VT_TYPE 0 - +param set-default SYS_CTRL_ALLOC 1 param set-default CA_AIRFRAME 4 param set-default CA_ROTOR_COUNT 2 param set-default CA_ROTOR0_KM -0.05 -param set-default CA_ROTOR0_PY 0.2 -param set-default CA_ROTOR1_KM -0.05 -param set-default CA_ROTOR1_PY -0.2 +param set-default CA_ROTOR0_PY -0.2 +param set-default CA_ROTOR1_KM 0.05 +param set-default CA_ROTOR1_PY 0.2 param set-default CA_SV_CS_COUNT 2 param set-default CA_SV_CS0_TRQ_P 0.5 param set-default CA_SV_CS0_TRQ_Y 0.5 @@ -39,6 +27,6 @@ param set-default CA_SV_CS1_TRQ_P 0.5 param set-default CA_SV_CS1_TRQ_Y -0.5 param set-default CA_SV_CS1_TYPE 6 -set MIXER vtol_tailsitter_duo - -set PWM_OUT 1234 +param set-default MAV_TYPE 19 +param set-default VT_TYPE 0 +param set-default VT_ELEV_MC_LOCK 0