Enable data loss failsafe in SITL so we doo not RTL on RC failure

9 years ago · c29bfcd1fe
12 changed files with 12 additions and 0 deletions
--- a/posix-configs/SITL/init/rc.fixed_wing
+++ b/posix-configs/SITL/init/rc.fixed_wing
@ -22,6 +22,7 @@ param set MPC_XY_P 0.4
				@@ -22,6 +22,7 @@ param set MPC_XY_P 0.4
 param set MPC_XY_VEL_P 0.2
 param set MPC_XY_VEL_D 0.005
 param set COM_RC_IN_MODE 1
+param set COM_DL_LOSS_EN 1
 rgbled start
 tone_alarm start
 gyrosim start
--- a/posix-configs/SITL/init/rcS_ekf2_jmavsim_iris
+++ b/posix-configs/SITL/init/rcS_ekf2_jmavsim_iris
@ -30,6 +30,7 @@ param set MPC_XY_VEL_D 0.005
				@@ -30,6 +30,7 @@ param set MPC_XY_VEL_D 0.005
 param set SENS_BOARD_ROT 0
 param set SENS_BOARD_X_OFF 0.000001
 param set COM_RC_IN_MODE 1
+param set COM_DL_LOSS_EN 1
 param set NAV_ACC_RAD 2.0
 param set RTL_RETURN_ALT 30.0
 param set RTL_DESCEND_ALT 10.0
--- a/posix-configs/SITL/init/rcS_gazebo_iris
+++ b/posix-configs/SITL/init/rcS_gazebo_iris
@ -29,6 +29,7 @@ param set MPC_XY_FF 0.1
				@@ -29,6 +29,7 @@ param set MPC_XY_FF 0.1
 param set SENS_BOARD_ROT 8
 param set SENS_BOARD_X_OFF 0.000001
 param set COM_RC_IN_MODE 1
+param set COM_DL_LOSS_EN 1
 param set NAV_ACC_RAD 2.0
 param set RTL_RETURN_ALT 30.0
 param set RTL_DESCEND_ALT 10.0
--- a/posix-configs/SITL/init/rcS_gazebo_iris_opt_flow
+++ b/posix-configs/SITL/init/rcS_gazebo_iris_opt_flow
@ -29,6 +29,7 @@ param set MPC_XY_FF 0.1
				@@ -29,6 +29,7 @@ param set MPC_XY_FF 0.1
 param set SENS_BOARD_ROT 8
 param set SENS_BOARD_X_OFF 0.000001
 param set COM_RC_IN_MODE 1
+param set COM_DL_LOSS_EN 1
 param set NAV_ACC_RAD 2.0
 param set RTL_RETURN_ALT 30.0
 param set RTL_DESCEND_ALT 10.0
--- a/posix-configs/SITL/init/rcS_gazebo_plane
+++ b/posix-configs/SITL/init/rcS_gazebo_plane
@ -22,6 +22,7 @@ param set SENS_BOARD_ROT 8
				@@ -22,6 +22,7 @@ param set SENS_BOARD_ROT 8
 param set SENS_DPRES_OFF 0.001
 param set SENS_BOARD_X_OFF 0.000001
 param set COM_RC_IN_MODE 1
+param set COM_DL_LOSS_EN 1
 param set NAV_ACC_RAD 15.0
 param set FW_THR_IDLE 0.4
 rgbledsim start
--- a/posix-configs/SITL/init/rcS_gazebo_standard_vtol
+++ b/posix-configs/SITL/init/rcS_gazebo_standard_vtol
@ -32,6 +32,7 @@ param set SENS_BOARD_ROT 8
				@@ -32,6 +32,7 @@ param set SENS_BOARD_ROT 8
 param set SENS_DPRES_OFF 0.001
 param set SENS_BOARD_X_OFF 0.000001
 param set COM_RC_IN_MODE 1
+param set COM_DL_LOSS_EN 1
 param set NAV_ACC_RAD 3.0
 param set MPC_TKO_SPEED 1.0
 param set MIS_YAW_TMT 10
--- a/posix-configs/SITL/init/rcS_gazebo_tailsitter
+++ b/posix-configs/SITL/init/rcS_gazebo_tailsitter
@ -32,6 +32,7 @@ param set SENS_BOARD_ROT 8
				@@ -32,6 +32,7 @@ param set SENS_BOARD_ROT 8
 param set SENS_DPRES_OFF 0.001
 param set SENS_BOARD_X_OFF 0.000001
 param set COM_RC_IN_MODE 1
+param set COM_DL_LOSS_EN 1
 rgbledsim start
 tone_alarm start
 gyrosim start
--- a/posix-configs/SITL/init/rcS_jmavsim_iris
+++ b/posix-configs/SITL/init/rcS_jmavsim_iris
@ -30,6 +30,7 @@ param set MPC_XY_VEL_D 0.005
				@@ -30,6 +30,7 @@ param set MPC_XY_VEL_D 0.005
 param set SENS_BOARD_ROT 0
 param set SENS_BOARD_X_OFF 0.000001
 param set COM_RC_IN_MODE 1
+param set COM_DL_LOSS_EN 1
 param set NAV_ACC_RAD 2.0
 param set RTL_RETURN_ALT 30.0
 param set RTL_DESCEND_ALT 10.0
--- a/posix-configs/SITL/init/rcS_lpe_gazebo_iris
+++ b/posix-configs/SITL/init/rcS_lpe_gazebo_iris
@ -31,6 +31,7 @@ param set SENS_BOARD_X_OFF 0.000001
				@@ -31,6 +31,7 @@ param set SENS_BOARD_X_OFF 0.000001

 # changes for LPE
 param set COM_RC_IN_MODE 1
+param set COM_DL_LOSS_EN 1
 param set LPE_BETA_MAX 10000

 rgbled start
--- a/posix-configs/SITL/init/rcS_lpe_gazebo_iris_opt_flow
+++ b/posix-configs/SITL/init/rcS_lpe_gazebo_iris_opt_flow
@ -35,6 +35,7 @@ param set RTL_DESCEND_ALT 10.0
				@@ -35,6 +35,7 @@ param set RTL_DESCEND_ALT 10.0

 # changes for LPE
 param set COM_RC_IN_MODE 1
+param set COM_DL_LOSS_EN 1
 param set LPE_BETA_MAX 10000

 rgbledsim start
--- a/posix-configs/SITL/init/rcS_lpe_jmavsim_iris
+++ b/posix-configs/SITL/init/rcS_lpe_jmavsim_iris
@ -36,6 +36,7 @@ param set RTL_DESCEND_ALT 10.0
				@@ -36,6 +36,7 @@ param set RTL_DESCEND_ALT 10.0

 # changes for LPE
 param set COM_RC_IN_MODE 1
+param set COM_DL_LOSS_EN 1

 rgbledsim start
 tone_alarm start
--- a/posix-configs/SITL/init/rc_iris_ros
+++ b/posix-configs/SITL/init/rc_iris_ros
@ -42,6 +42,7 @@ param set MP_ROLLRATE_D 0.001
				@@ -42,6 +42,7 @@ param set MP_ROLLRATE_D 0.001
 param set MP_PITCH_P 4
 param set MP_PITCHRATE_P 0.3
 param set COM_RC_IN_MODE 1
+param set COM_DL_LOSS_EN 1
 rgbled start
 tone_alarm start
 gyrosim start