From c29bfcd1fe5daf78f8ce64c20ecc836e2eae7c5c Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 13 Mar 2016 19:49:05 +0100 Subject: [PATCH] Enable data loss failsafe in SITL so we doo not RTL on RC failure --- posix-configs/SITL/init/rc.fixed_wing | 1 + posix-configs/SITL/init/rcS_ekf2_jmavsim_iris | 1 + posix-configs/SITL/init/rcS_gazebo_iris | 1 + posix-configs/SITL/init/rcS_gazebo_iris_opt_flow | 1 + posix-configs/SITL/init/rcS_gazebo_plane | 1 + posix-configs/SITL/init/rcS_gazebo_standard_vtol | 1 + posix-configs/SITL/init/rcS_gazebo_tailsitter | 1 + posix-configs/SITL/init/rcS_jmavsim_iris | 1 + posix-configs/SITL/init/rcS_lpe_gazebo_iris | 1 + posix-configs/SITL/init/rcS_lpe_gazebo_iris_opt_flow | 1 + posix-configs/SITL/init/rcS_lpe_jmavsim_iris | 1 + posix-configs/SITL/init/rc_iris_ros | 1 + 12 files changed, 12 insertions(+) diff --git a/posix-configs/SITL/init/rc.fixed_wing b/posix-configs/SITL/init/rc.fixed_wing index 7aa521daf2..418d65d946 100644 --- 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 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 diff --git a/posix-configs/SITL/init/rcS_ekf2_jmavsim_iris b/posix-configs/SITL/init/rcS_ekf2_jmavsim_iris index 581e8fed4e..0b85ae68ce 100644 --- 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 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 diff --git a/posix-configs/SITL/init/rcS_gazebo_iris b/posix-configs/SITL/init/rcS_gazebo_iris index 04c90d2ac0..1b7e749ee2 100644 --- 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 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 diff --git a/posix-configs/SITL/init/rcS_gazebo_iris_opt_flow b/posix-configs/SITL/init/rcS_gazebo_iris_opt_flow index 3edf3a483e..645620ab8d 100644 --- 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 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 diff --git a/posix-configs/SITL/init/rcS_gazebo_plane b/posix-configs/SITL/init/rcS_gazebo_plane index 9242f13998..f23237f368 100644 --- 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 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 diff --git a/posix-configs/SITL/init/rcS_gazebo_standard_vtol b/posix-configs/SITL/init/rcS_gazebo_standard_vtol index 841e88b691..0ce45b3aef 100644 --- 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 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 diff --git a/posix-configs/SITL/init/rcS_gazebo_tailsitter b/posix-configs/SITL/init/rcS_gazebo_tailsitter index a0da58aa33..78c74b0904 100644 --- 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 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 diff --git a/posix-configs/SITL/init/rcS_jmavsim_iris b/posix-configs/SITL/init/rcS_jmavsim_iris index bf050c21b9..6947196936 100644 --- 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 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 diff --git a/posix-configs/SITL/init/rcS_lpe_gazebo_iris b/posix-configs/SITL/init/rcS_lpe_gazebo_iris index e1fe0ba561..3f7d462aa1 100644 --- 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 # 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 diff --git a/posix-configs/SITL/init/rcS_lpe_gazebo_iris_opt_flow b/posix-configs/SITL/init/rcS_lpe_gazebo_iris_opt_flow index c1ddf13c85..822189904d 100644 --- 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 # 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 diff --git a/posix-configs/SITL/init/rcS_lpe_jmavsim_iris b/posix-configs/SITL/init/rcS_lpe_jmavsim_iris index ea17eb3557..7707aea9d5 100644 --- 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 # changes for LPE param set COM_RC_IN_MODE 1 +param set COM_DL_LOSS_EN 1 rgbledsim start tone_alarm start diff --git a/posix-configs/SITL/init/rc_iris_ros b/posix-configs/SITL/init/rc_iris_ros index 2f922fd4f4..40d3322ee6 100644 --- 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 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