mirror of
https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
synced 2026-05-21 01:12:11 +00:00
Directly set parameters in airframe config files rather than setting script variables and move the param set lines into logic blocks, and alphabetize and tidy up param set lists.
This commit is contained in:
mcsauder
Beat Küng
@@ -13,17 +13,22 @@ sh /etc/init.d/rc.vtol_defaults
|
||||
if [ $AUTOCNF == yes ]
|
||||
then
|
||||
param set BAT_N_CELLS 3
|
||||
|
||||
param set COM_DISARM_LAND 5
|
||||
param set COM_RC_IN_MODE 1
|
||||
|
||||
param set EKF2_AID_MASK 1
|
||||
param set EKF2_ANGERR_INIT 0.01
|
||||
param set EKF2_GBIAS_INIT 0.01
|
||||
param set EKF2_HGT_MODE 0
|
||||
param set EKF2_MAG_TYPE 1
|
||||
|
||||
param set FW_AIRSPD_MAX 25
|
||||
param set FW_AIRSPD_MIN 14
|
||||
param set FW_AIRSPD_TRIM 16
|
||||
param set MAV_TYPE 20
|
||||
|
||||
param set MAV_TYPE 22
|
||||
|
||||
param set MC_PITCH_P 6
|
||||
param set MC_PITCHRATE_P 0.2
|
||||
param set MC_ROLL_P 6
|
||||
@@ -31,6 +36,7 @@ then
|
||||
param set MIS_LTRMIN_ALT 10
|
||||
param set MIS_TAKEOFF_ALT 10
|
||||
param set MIS_YAW_TMT 10
|
||||
|
||||
param set MPC_ACC_HOR_MAX 2
|
||||
param set MPC_ACC_HOR_MAX 2.0
|
||||
param set MPC_THR_MIN 0.1
|
||||
@@ -42,22 +48,25 @@ then
|
||||
param set MPC_Z_VEL_I 0.15
|
||||
param set MPC_Z_VEL_MAX_DN 1.5
|
||||
param set MPC_Z_VEL_P 0.6
|
||||
|
||||
param set NAV_ACC_RAD 5.0
|
||||
param set NAV_DLL_ACT 2
|
||||
param set NAV_LOITER_RAD 80
|
||||
|
||||
param set RTL_DESCEND_ALT 10.0
|
||||
param set RTL_LAND_DELAY 0
|
||||
param set RTL_RETURN_ALT 30.0
|
||||
|
||||
param set SDLOG_DIRS_MAX 7
|
||||
param set SYS_MC_EST_GROUP 2
|
||||
param set SYS_RESTART_TYPE 2
|
||||
|
||||
param set VT_F_TRANS_THR 0.75
|
||||
param set VT_MOT_COUNT 4
|
||||
param set VT_TYPE 2
|
||||
fi
|
||||
|
||||
set MIXER standard_vtol_hitl
|
||||
set MAV_TYPE 22
|
||||
|
||||
set PWM_OUT 1234
|
||||
|
||||
|
||||
@@ -21,10 +21,13 @@
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
|
||||
set MIXER AETRFG
|
||||
if [ $AUTOCNF == yes ]
|
||||
then
|
||||
param set PWM_AUX_RATE 50
|
||||
param set PWM_RATE 50
|
||||
fi
|
||||
|
||||
set PWM_RATE 50
|
||||
set PWM_AUX_RATE 50
|
||||
set MIXER AETRFG
|
||||
|
||||
# rate must be set by group (see pwm info)
|
||||
# throttle is in the same group as servos
|
||||
|
||||
@@ -28,21 +28,20 @@ set VEHICLE_TYPE mc
|
||||
if [ $AUTOCNF == yes ]
|
||||
then
|
||||
param set NAV_ACC_RAD 2.0
|
||||
param set RTL_RETURN_ALT 30.0
|
||||
param set RTL_DESCEND_ALT 10.0
|
||||
param set PWM_AUX_RATE 400
|
||||
param set PWM_AUX_DISARMED 900
|
||||
param set PWM_AUX_MIN 1075
|
||||
param set PWM_AUX_MAX 1950
|
||||
|
||||
param set PWM_MIN 1075
|
||||
param set PWM_MAX 1950
|
||||
param set PWM_RATE 400
|
||||
|
||||
param set RTL_DESCEND_ALT 10.0
|
||||
param set RTL_LAND_DELAY 0
|
||||
param set RTL_RETURN_ALT 30.0
|
||||
fi
|
||||
|
||||
set PWM_AUX_RATE 400
|
||||
# Note: May Have to set these parameters manually. They don't appear to save.
|
||||
set PWM_AUX_DISARMED 900
|
||||
param set PWM_AUX_MIN 1075
|
||||
param set PWM_AUX_MAX 1950
|
||||
|
||||
set MIXER dodeca_top_cox
|
||||
set MIXER_AUX dodeca_bottom_cox
|
||||
|
||||
|
||||
@@ -39,10 +39,11 @@ then
|
||||
param set FW_RR_FF 0.6
|
||||
param set FW_RR_IMAX 0.2
|
||||
param set FW_RR_P 0.04
|
||||
|
||||
param set PWM_DISARMED 1000
|
||||
fi
|
||||
|
||||
set MIXER fw_generic_wing
|
||||
|
||||
# Provide ESC a constant 1000 us pulse while disarmed
|
||||
set PWM_OUT 4
|
||||
set PWM_DISARMED 1000
|
||||
|
||||
@@ -40,6 +40,9 @@ then
|
||||
param set FW_RR_P 0.08
|
||||
param set FW_R_LIM 50
|
||||
param set FW_R_RMAX 50
|
||||
|
||||
param set PWM_DISARMED 1000
|
||||
|
||||
# Bottom of bay and nominal zero-pitch attitude differ
|
||||
# the payload bay is pitched up about 7 degrees
|
||||
param set SENS_BOARD_Y_OFF 7.0
|
||||
@@ -49,4 +52,3 @@ set MIXER phantom
|
||||
|
||||
# Provide ESC a constant 1000 us pulse
|
||||
set PWM_OUT 4
|
||||
set PWM_DISARMED 1000
|
||||
|
||||
@@ -39,12 +39,15 @@ then
|
||||
param set FW_PR_FF 0.35
|
||||
param set FW_RR_FF 0.6
|
||||
param set FW_RR_P 0.04
|
||||
fi
|
||||
|
||||
# Configure this as plane
|
||||
set MAV_TYPE 1
|
||||
param set MAV_TYPE 1
|
||||
|
||||
param set PWM_DISARMED 1000
|
||||
fi
|
||||
|
||||
# Set mixer
|
||||
set MIXER wingwing
|
||||
|
||||
# Provide ESC a constant 1000 us pulse
|
||||
set PWM_OUT 4
|
||||
set PWM_DISARMED 1000
|
||||
|
||||
@@ -27,7 +27,7 @@ then
|
||||
param set FW_AIRSPD_MAX 27
|
||||
param set FW_ATT_TC 0.3
|
||||
param set FW_L1_DAMPING 0.75
|
||||
param set FW_L1_PERIOD 15
|
||||
param set FW_L1_PERIOD 20.0
|
||||
param set FW_PR_FF 0.35
|
||||
param set FW_PR_IMAX 0.2
|
||||
param set FW_PR_P 0.05
|
||||
@@ -42,15 +42,14 @@ then
|
||||
param set FW_R_RMAX 50
|
||||
param set FW_R_TC 0.3
|
||||
|
||||
param set PWM_DISARMED 1000
|
||||
|
||||
# Bottom of bay and nominal zero-pitch attitude differ
|
||||
# the payload bay is pitched up about 7 degrees
|
||||
param set SENS_BOARD_Y_OFF 11.9
|
||||
|
||||
param set FW_L1_PERIOD 20.0
|
||||
fi
|
||||
|
||||
set MIXER phantom
|
||||
|
||||
# Provide ESC a constant 1000 us pulse
|
||||
set PWM_OUT 4
|
||||
set PWM_DISARMED 1000
|
||||
|
||||
@@ -82,10 +82,10 @@ then
|
||||
# Roll Integrator Anti-Windup
|
||||
param set FW_RR_IMAX 0.2
|
||||
|
||||
param set PWM_DISARMED 1000
|
||||
fi
|
||||
|
||||
set MIXER fw_generic_wing.main.mix
|
||||
|
||||
# Provide ESC a constant 1000 us pulse
|
||||
set PWM_OUT 4
|
||||
set PWM_DISARMED 1000
|
||||
|
||||
@@ -84,7 +84,7 @@ set PWM_AUX_DISARMED p:PWM_AUX_DISARMED
|
||||
set PWM_AUX_MAX p:PWM_AUX_MAX
|
||||
set PWM_AUX_MIN p:PWM_AUX_MIN
|
||||
set PWM_AUX_OUT none
|
||||
set PWM_AUX_RATE none
|
||||
set PWM_AUX_RATE p:PWM_AUX_RATE
|
||||
set PWM_DISARMED p:PWM_DISARMED
|
||||
set PWM_MAX p:PWM_MAX
|
||||
set PWM_MIN p:PWM_MIN
|
||||
|
||||
Reference in New Issue
Block a user