From f833861fbb3773d9c6e4f21fd4b5aa524079e7d4 Mon Sep 17 00:00:00 2001 From: Jaeyoung-Lim Date: Sun, 31 Jan 2021 14:49:22 +0100 Subject: [PATCH] Cleanup unsused rover mixers This PR cleansup unused rover mixers from the ROMFS --- .../init.d/airframes/50001_axialracing_ax10 | 42 ----------- .../airframes/50002_traxxas_stampede_2wd | 69 ------------------- .../init.d/airframes/CMakeLists.txt | 2 - ROMFS/px4fmu_common/mixers/CMakeLists.txt | 1 - ROMFS/px4fmu_common/mixers/stampede.main.mix | 35 ---------- 5 files changed, 149 deletions(-) delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/50001_axialracing_ax10 delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/50002_traxxas_stampede_2wd delete mode 100644 ROMFS/px4fmu_common/mixers/stampede.main.mix diff --git a/ROMFS/px4fmu_common/init.d/airframes/50001_axialracing_ax10 b/ROMFS/px4fmu_common/init.d/airframes/50001_axialracing_ax10 deleted file mode 100644 index 02a534bf96..0000000000 --- a/ROMFS/px4fmu_common/init.d/airframes/50001_axialracing_ax10 +++ /dev/null @@ -1,42 +0,0 @@ -#!/bin/sh -# -# @name Axial Racing AX10 -# -# @type Rover -# @class Rover -# -# @board px4_fmu-v2 exclude -# -# @output MAIN1 pass-through of control group 0, channel 0 -# @output MAIN2 pass-through of control group 0, channel 1 -# @output MAIN3 pass-through of control group 0, channel 2 -# @output MAIN4 pass-through of control group 0, channel 3 -# @output MAIN5 pass-through of control group 0, channel 4 -# @output MAIN6 pass-through of control group 0, channel 5 -# @output MAIN7 pass-through of control group 0, channel 6 -# @output MAIN8 pass-through of control group 0, channel 7 -# -# @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.rover_defaults - -# -# This section can be enabled once tuning parameters for this particular -# rover model are known. It allows to configure default gains via the GUI. -# -if [ $AUTOCNF = yes ] -then - # PWM default value for "disarmed" mode. - # This centers the steering and throttle, which means - # no motion for a rover. - param set PWM_DISARMED 1500 - - # PWM range. - param set PWM_MIN 1200 - param set PWM_MAX 1800 -fi - -set MIXER IO_pass diff --git a/ROMFS/px4fmu_common/init.d/airframes/50002_traxxas_stampede_2wd b/ROMFS/px4fmu_common/init.d/airframes/50002_traxxas_stampede_2wd deleted file mode 100644 index c20c3c8a97..0000000000 --- a/ROMFS/px4fmu_common/init.d/airframes/50002_traxxas_stampede_2wd +++ /dev/null @@ -1,69 +0,0 @@ -#!/bin/sh -# -# @name Traxxas stampede vxl 2wd -# -# @url https://traxxas.com/products/models/electric/stampede-vxl-tsm -# -# @type Rover -# @class Rover -# -# @board px4_fmu-v2 exclude -# -# @output MAIN2 steering -# @output MAIN4 throttle -# -# @maintainer Marco Zorzi -# -# @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.rover_defaults - -if [ $AUTOCNF = yes ] -then - param set BAT_N_CELLS 7 - - param set EKF2_GBIAS_INIT 0.01 - param set EKF2_ANGERR_INIT 0.01 - param set EKF2_MAG_TYPE 1 - - param set FW_AIRSPD_MIN 0 - param set FW_AIRSPD_TRIM 1 - param set FW_AIRSPD_MAX 3 - - param set GND_WR_P 2 - param set GND_WR_I 0.9674 - param set GND_WR_IMAX 0.1 - param set GND_WR_D 1.2 - param set GND_SP_CTRL_MODE 1 - param set GND_L1_DIST 10 - param set GND_THR_IDLE 0 - param set GND_THR_CRUISE 0 - param set GND_THR_MAX 0.5 - param set GND_THR_MIN 0 - param set GND_SPEED_P 0.25 - param set GND_SPEED_I 3 - param set GND_SPEED_D 0.001 - param set GND_SPEED_IMAX 0.125 - param set GND_SPEED_THR_SC 1 - - param set MIS_LTRMIN_ALT 0.01 - param set MIS_TAKEOFF_ALT 0.01 - - param set NAV_ACC_RAD 0.5 - - # Provide ESC a constant 1500 us pulse - param set PWM_DISARMED 1500 - param set PWM_MAX 2000 - param set PWM_MIN 1000 -fi - -# Configure this as rover -set MAV_TYPE 10 - -# Set mixer -set MIXER stampede - -set PWM_MAIN_REV2 1 diff --git a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt index 538b7ef920..c9f1e6382b 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt +++ b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt @@ -159,8 +159,6 @@ px4_add_romfs_files( 24001_dodeca_cox 50000_generic_ground_vehicle - 50001_axialracing_ax10 - 50002_traxxas_stampede_2wd 50003_aion_robotics_r1_rover 50004_nxpcup_car_dfrobot_gpx diff --git a/ROMFS/px4fmu_common/mixers/CMakeLists.txt b/ROMFS/px4fmu_common/mixers/CMakeLists.txt index 64e7ca0122..23af858ae0 100644 --- a/ROMFS/px4fmu_common/mixers/CMakeLists.txt +++ b/ROMFS/px4fmu_common/mixers/CMakeLists.txt @@ -78,7 +78,6 @@ px4_add_romfs_files( quad_x_vtol.main.mix rover_diff_and_servo.main.mix rover_generic.main.mix - stampede.main.mix standard_vtol_hitl.main.mix TF-AutoG2.main.mix tilt_quad.aux.mix diff --git a/ROMFS/px4fmu_common/mixers/stampede.main.mix b/ROMFS/px4fmu_common/mixers/stampede.main.mix deleted file mode 100644 index e9ed0fc024..0000000000 --- a/ROMFS/px4fmu_common/mixers/stampede.main.mix +++ /dev/null @@ -1,35 +0,0 @@ -Traxxas Stampede Rc Car mixer for PX4FMU -=========================== - -Designed for Traxxas Stampede - -This file defines mixers suitable for controlling a Traxxas Stampede rover using -PX4FMU. The configuration assumes the steering is connected to PX4FMU -servo outputs 1 and the motor speed control to output 3. Output 0 and 2 is -assumed to be unused. - -Inputs to the mixer come from channel group 0 (vehicle attitude), channels 2 (yaw), and 3 (thrust). - -See the README for more information on the scaler format. - - -Output 0 ---------------------------------------- -Z: - -Steering mixer using roll on output 1 ---------------------------------------- -M: 1 -S: 0 2 10000 10000 0 -10000 10000 - - -Output 2 ---------------------------------------- -This mixer is empty. -Z: - - -Output 3 ---------------------------------------- -M: 1 -S: 0 3 10000 10000 0 -10000 10000