diff --git a/ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil b/ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil index 4658f352e5..6be7f5fa54 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil +++ b/ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil @@ -39,6 +39,26 @@ param set-default FW_RR_P 0.3 param set-default RWTO_TKOFF 1 +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_CS0_TYPE 2 +param set-default CA_SV_CS1_TRQ_P 1.0 +param set-default CA_SV_CS1_TYPE 3 +param set-default CA_SV_CS2_TRQ_Y 1.0 +param set-default CA_SV_CS2_TYPE 4 +param set-default CA_SV_CS3_TYPE 10 + +param set-default HIL_ACT_REV 2 +param set-default HIL_ACT_FUNC1 201 +param set-default HIL_ACT_FUNC2 202 +param set-default HIL_ACT_FUNC3 203 +param set-default HIL_ACT_FUNC4 101 +param set-default HIL_ACT_FUNC5 204 +param set-default HIL_ACT_FUNC6 400 + param set SYS_HITL 1 # disable some checks to allow to fly diff --git a/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil b/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil index d8096364ed..cce8c3b643 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil +++ b/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil @@ -15,6 +15,23 @@ set MIXER quad_x param set SYS_HITL 1 +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 HIL_ACT_FUNC1 101 +param set-default HIL_ACT_FUNC2 102 +param set-default HIL_ACT_FUNC3 103 +param set-default HIL_ACT_FUNC4 104 + # disable some checks to allow to fly # - with usb param set-default CBRK_USB_CHK 197848 diff --git a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil b/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil index e429b7a3b2..d8a757adc5 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil +++ b/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil @@ -61,6 +61,34 @@ param set-default VT_MOT_ID 1234 param set-default VT_FW_MOT_OFFID 1234 param set-default VT_TYPE 2 +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 3 +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 HIL_ACT_FUNC1 101 +param set-default HIL_ACT_FUNC2 102 +param set-default HIL_ACT_FUNC3 103 +param set-default HIL_ACT_FUNC4 104 +param set-default HIL_ACT_FUNC5 105 +param set-default HIL_ACT_FUNC6 201 +param set-default HIL_ACT_FUNC7 202 +param set-default HIL_ACT_FUNC8 203 + param set SYS_HITL 1 diff --git a/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil b/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil index b0f2b92862..61400342ab 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil +++ b/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil @@ -17,6 +17,23 @@ set PWM_OUT 1234 param set UAVCAN_ENABLE 0 +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 HIL_ACT_FUNC1 101 +param set-default HIL_ACT_FUNC2 102 +param set-default HIL_ACT_FUNC3 103 +param set-default HIL_ACT_FUNC4 104 + # set SYS_HITL to 2 to start the SIH and avoid sensors startup param set SYS_HITL 2 diff --git a/ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil b/ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil index b390cde021..63e3ce3e30 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil +++ b/ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil @@ -17,6 +17,26 @@ set PWM_OUT 1234 param set UAVCAN_ENABLE 0 +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_CS0_TYPE 2 +param set-default CA_SV_CS1_TRQ_P 1.0 +param set-default CA_SV_CS1_TYPE 3 +param set-default CA_SV_CS2_TRQ_Y 1.0 +param set-default CA_SV_CS2_TYPE 4 +param set-default CA_SV_CS3_TYPE 10 + +param set-default HIL_ACT_REV 2 +param set-default HIL_ACT_FUNC1 201 +param set-default HIL_ACT_FUNC2 202 +param set-default HIL_ACT_FUNC3 203 +param set-default HIL_ACT_FUNC4 101 +param set-default HIL_ACT_FUNC5 204 +param set-default HIL_ACT_FUNC6 400 + # set SYS_HITL to 2 to start the SIH and avoid sensors startup param set-default SYS_HITL 2 diff --git a/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil b/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil index 50d2d17fda..1e0c9d5f36 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil +++ b/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil @@ -26,6 +26,26 @@ param set-default VT_FW_DIFTHR_SC 0.3 param set-default MPC_MAN_Y_MAX 60 param set-default MC_PITCH_P 5 +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 0.3 +param set-default CA_SV_CS0_TRQ_Y 0.3 +param set-default CA_SV_CS0_TYPE 5 +param set-default CA_SV_CS1_TRQ_P 0.3 +param set-default CA_SV_CS1_TRQ_Y -0.3 +param set-default CA_SV_CS1_TYPE 6 + +param set-default HIL_ACT_FUNC1 101 +param set-default HIL_ACT_FUNC2 102 +param set-default HIL_ACT_FUNC5 202 +param set-default HIL_ACT_FUNC6 201 +param set-default HIL_ACT_REV 32 + param set-default MAV_TYPE 19 set MAV_TYPE 19 set MIXER vtol_tailsitter_duo_sat