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ROMFS: set CA_* geometry params for some of the generic airframes 

Not enabled, makes it easier to switch.
master
Beat Küng 3 years ago
parent
a2ba613254
commit
86860808e3
9 changed files with 161 additions and 0 deletions
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  1. 21
      ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard
  2. 19
      ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter
  3. 26
      ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor
  4. 14
      ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter
  5. 12
      ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane
  6. 13
      ROMFS/px4fmu_common/init.d/airframes/4001_quad_x
  7. 17
      ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x
  8. 17
      ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+
  9. 22
      ROMFS/px4fmu_common/init.d/airframes/8001_octo_x

21
ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard
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@ -24,6 +24,27 @@
. ${R}etc/init.d/rc.vtol_defaults . ${R}etc/init.d/rc.vtol_defaults
param set-default CA_AIRFRAME 2
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.15
param set-default CA_ROTOR0_PY 0.15
param set-default CA_ROTOR1_PX -0.15
param set-default CA_ROTOR1_PY -0.15
param set-default CA_ROTOR2_PX 0.15
param set-default CA_ROTOR2_PY -0.15
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.15
param set-default CA_ROTOR3_PY 0.15
param set-default CA_ROTOR3_KM -0.05
param set-default CA_SV_CS_COUNT 4
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS1_TRQ_R 0.5
param set-default CA_SV_CS2_TYPE 3
param set-default CA_SV_CS2_TRQ_P 1.0
param set-default CA_SV_CS3_TRQ_Y 1.0
param set-default CA_SV_CS3_TYPE 4
param set-default PWM_AUX_DIS5 950 param set-default PWM_AUX_DIS5 950

19
ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter
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@ -13,6 +13,25 @@
. ${R}etc/init.d/rc.vtol_defaults . ${R}etc/init.d/rc.vtol_defaults
param set-default CA_AIRFRAME 4
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.15
param set-default CA_ROTOR0_PY 0.15
param set-default CA_ROTOR1_PX -0.15
param set-default CA_ROTOR1_PY -0.15
param set-default CA_ROTOR2_PX 0.15
param set-default CA_ROTOR2_PY -0.15
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.15
param set-default CA_ROTOR3_PY 0.15
param set-default CA_ROTOR3_KM -0.05
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
param set-default CA_SV_CS0_TYPE 5
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
param set-default PWM_MAIN_MAX 2000 param set-default PWM_MAIN_MAX 2000

26
ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor
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@ -31,6 +31,32 @@ param set-default VT_IDLE_PWM_MC 1100
param set-default VT_TYPE 1 param set-default VT_TYPE 1
param set-default VT_MOT_ID 1234 param set-default VT_MOT_ID 1234
param set-default VT_FW_MOT_OFFID 24 param set-default VT_FW_MOT_OFFID 24
param set-default CA_AIRFRAME 3
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.15
param set-default CA_ROTOR0_PY 0.15
param set-default CA_ROTOR0_TILT 1
param set-default CA_ROTOR1_PX -0.15
param set-default CA_ROTOR1_PY -0.15
param set-default CA_ROTOR1_TILT 2
param set-default CA_ROTOR2_PX 0.15
param set-default CA_ROTOR2_PY -0.15
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR2_TILT 3
param set-default CA_ROTOR3_PX -0.15
param set-default CA_ROTOR3_PY 0.15
param set-default CA_ROTOR3_KM -0.05
param set-default CA_ROTOR3_TILT 4
param set-default CA_SV_CS_COUNT 4
param set-default CA_SV_CS1_TRQ_R 0.5
param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS2_TRQ_P 1.0
param set-default CA_SV_CS2_TYPE 3
param set-default CA_SV_CS3_TRQ_Y 1.0
param set-default CA_SV_CS3_TYPE 4
param set-default CA_SV_TL_COUNT 4
set MAV_TYPE 21 set MAV_TYPE 21
set MIXER quad_x set MIXER quad_x

14
ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter
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@ -23,6 +23,20 @@ param set-default VT_ELEV_MC_LOCK 0
param set-default VT_MOT_COUNT 2 param set-default VT_MOT_COUNT 2
param set-default VT_TYPE 0 param set-default VT_TYPE 0
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_SV_CS_COUNT 2
param set-default CA_SV_CS0_TRQ_P 0.5
param set-default CA_SV_CS0_TRQ_Y 0.5
param set-default CA_SV_CS0_TYPE 5
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
param set-default MAV_TYPE 19 param set-default MAV_TYPE 19
set MAV_TYPE 19 set MAV_TYPE 19
set MIXER vtol_tailsitter_duo set MIXER vtol_tailsitter_duo

12
ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane
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@ -23,6 +23,18 @@
. ${R}etc/init.d/rc.fw_defaults . ${R}etc/init.d/rc.fw_defaults
param set-default CA_AIRFRAME 1
param set-default CA_ROTOR_COUNT 1
param set-default CA_ROTOR0_PX 0.3
param set-default CA_SV_CS_COUNT 4
param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS1_TRQ_R 0.5
param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS2_TRQ_P 1.0
param set-default CA_SV_CS2_TYPE 3
param set-default CA_SV_CS3_TRQ_Y 1.0
param set-default CA_SV_CS3_TYPE 4
param set-default PWM_AUX_RATE 50 param set-default PWM_AUX_RATE 50
param set-default PWM_MAIN_RATE 50 param set-default PWM_MAIN_RATE 50

13
ROMFS/px4fmu_common/init.d/airframes/4001_quad_x
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@ -21,3 +21,16 @@
# #
. ${R}etc/init.d/rc.mc_defaults . ${R}etc/init.d/rc.mc_defaults
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.15
param set-default CA_ROTOR0_PY 0.15
param set-default CA_ROTOR1_PX -0.15
param set-default CA_ROTOR1_PY -0.15
param set-default CA_ROTOR2_PX 0.15
param set-default CA_ROTOR2_PY -0.15
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.15
param set-default CA_ROTOR3_PY 0.15
param set-default CA_ROTOR3_KM -0.05

17
ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x
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@ -23,6 +23,23 @@
. ${R}etc/init.d/rc.mc_defaults . ${R}etc/init.d/rc.mc_defaults
param set-default CA_ROTOR_COUNT 6
param set-default CA_ROTOR0_PX 0.0
param set-default CA_ROTOR0_PY 0.5
param set-default CA_ROTOR0_KM -0.05
param set-default CA_ROTOR1_PX 0.0
param set-default CA_ROTOR1_PY -0.5
param set-default CA_ROTOR2_PX 0.43
param set-default CA_ROTOR2_PY -0.25
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.43
param set-default CA_ROTOR3_PY 0.25
param set-default CA_ROTOR4_PX 0.43
param set-default CA_ROTOR4_PY 0.25
param set-default CA_ROTOR5_PX -0.43
param set-default CA_ROTOR5_PY -0.25
param set-default CA_ROTOR5_KM -0.05
set MIXER hexa_x set MIXER hexa_x
# Need to set all 8 channels # Need to set all 8 channels

17
ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+
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@ -23,6 +23,23 @@
. ${R}etc/init.d/rc.mc_defaults . ${R}etc/init.d/rc.mc_defaults
param set-default CA_ROTOR_COUNT 6
param set-default CA_ROTOR0_PX 0.5
param set-default CA_ROTOR0_PY 0.0
param set-default CA_ROTOR0_KM -0.05
param set-default CA_ROTOR1_PX -0.5
param set-default CA_ROTOR1_PY 0.0
param set-default CA_ROTOR2_PX -0.25
param set-default CA_ROTOR2_PY -0.43
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX 0.25
param set-default CA_ROTOR3_PY 0.43
param set-default CA_ROTOR4_PX 0.25
param set-default CA_ROTOR4_PY -0.43
param set-default CA_ROTOR5_PX -0.25
param set-default CA_ROTOR5_PY 0.43
param set-default CA_ROTOR5_KM -0.05
set MIXER hexa_+ set MIXER hexa_+
# Need to set all 8 channels # Need to set all 8 channels

22
ROMFS/px4fmu_common/init.d/airframes/8001_octo_x
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@ -25,6 +25,28 @@
. ${R}etc/init.d/rc.mc_defaults . ${R}etc/init.d/rc.mc_defaults
param set-default CA_ROTOR_COUNT 8
param set-default CA_ROTOR0_KM -0.05
param set-default CA_ROTOR0_PX 0.46
param set-default CA_ROTOR0_PY 0.19
param set-default CA_ROTOR1_KM -0.05
param set-default CA_ROTOR1_PX -0.46
param set-default CA_ROTOR1_PY -0.19
param set-default CA_ROTOR2_PX 0.19
param set-default CA_ROTOR2_PY 0.46
param set-default CA_ROTOR3_PX -0.46
param set-default CA_ROTOR3_PY 0.19
param set-default CA_ROTOR4_PX 0.46
param set-default CA_ROTOR4_PY -0.19
param set-default CA_ROTOR5_PX -0.19
param set-default CA_ROTOR5_PY -0.46
param set-default CA_ROTOR6_KM -0.05
param set-default CA_ROTOR6_PX 0.19
param set-default CA_ROTOR6_PY -0.46
param set-default CA_ROTOR7_KM -0.05
param set-default CA_ROTOR7_PX -0.19
param set-default CA_ROTOR7_PY 0.46
set MIXER octo_x set MIXER octo_x
set PWM_OUT 12345678 set PWM_OUT 12345678

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