mirror of
https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
synced 2026-05-21 01:12:11 +00:00
Teal One airframe improvements for full support (#10860)
* added a parameter for enabled the smart battery * start tel1 and tel2 at 921600 and max rate * turned up the max tx rate on mavlink streams for telem1 and telem2 * turned off mavlink stream for tel1 in 4250_teal. This is connected to TX1 FTDI UART and has issues. * moved check to 4250 board ID to start mpu9250s for Teal airframe into fmuv4 rc.board.
This commit is contained in:
dakejahl
Daniel Agar
@@ -16,7 +16,6 @@
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# @output MAIN4 motor 4
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#
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# @maintainer Jacob Dahl <jacob.dahl@tealdrones.com>
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# @maintainer Alex Klimaj <alex.klimaj@tealdrones.com>
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#
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echo "Executing 4250_teal script."
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@@ -25,10 +24,12 @@ sh /etc/init.d/rc.mc_defaults
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set MIXER quad_x
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set PWM_OUT 1234
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set MIXER_AUX none
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if [ $AUTOCNF = yes ]
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then
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# First thing, reset all params to default... EXCEPT THIS LIST
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param reset_nostart RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* CAL_MAG* SENS_BOARD* EKF2_MAGBIAS*
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# battery
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param set BAT_CAPACITY 2750
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param set BAT_CRIT_THR 0.15
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@@ -42,17 +43,6 @@ then
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param set BAT_V_EMPTY 3.65
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param set BAT_V_OFFS_CURR -0.0045
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# primary accel
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param set CAL_ACC_PRIME 1442826 #mpu6500
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#param set CAL_ACC_PRIME 1445386 #mpu9250
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# primary gyro
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param set CAL_GYRO_PRIME 2360330 #mpu6500
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#param set CAL_GYRO_PRIME 2362890 #mpu9250
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#primary Mag
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#param set CAL_MAG_PRIME 265738 #mpu9250
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# sensor calibration
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param set CAL_MAG0_ROT 0
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param set CAL_MAG_SIDES 63
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@@ -65,36 +55,47 @@ then
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param set CBRK_USB_CHK 197848
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# commander
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param set COM_DISARM_LAND 1
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param set COM_DISARM_LAND 0.1
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# Return mode at critically low level, Land mode at current position if reaching dangerously low levels.
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param set COM_LOW_BAT_ACT 3
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param set COM_LOSS_LTR_T 20
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# ekf2
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param set EKF2_AID_MASK 1
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param set EKF2_MAG_TYPE 1
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param set EKF2_GPS_CHECK 511
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param set EKF2_GPS_POS_X -0.04
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param set EKF2_IMU_POS_X -0.06
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param set EKF2_MIN_RNG 0.07
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param set EKF2_PCOEF_XN 0.1
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param set EKF2_PCOEF_XP -0.5
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param set EKF2_RNG_AID 1
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param set EKF2_RNG_A_VMAX 20
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param set EKF2_RNG_NOISE 0.2
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param set EKF2_MIN_RNG 0.07
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# gps
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param set GPS_UBX_DYNMODEL 7
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# geofence
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# Geofence violation action -- Warning.
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param set GF_ACTION 1
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# land detector
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param set LNDMC_THR_RANGE 0.50
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param set LNDMC_XY_VEL_MAX 1
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# This is set high because we have lots of vibrations while in contact with ground.
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param set LNDMC_ROT_MAX 50
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# serial comms
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param set SER_TEL1_BAUD 921600
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param set SER_TEL2_BAUD 921600
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# mavlink stream configuration
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# TEL1 ttyS1 -- disabled. TX1 FTDI UART has issues.
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param set MAV_0_CONFIG 0
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param set MAV_0_RATE 800000
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# TEL2 ttyS2 -- Primary MAVLINK stream to companion computer.
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param set MAV_1_CONFIG 102
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param set MAV_1_RATE 20000
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param set MAV_1_RATE 800000
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# mc_att_control
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param set MC_ACRO_P_MAX 360
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@@ -107,6 +108,7 @@ then
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param set MC_ROLLRATE_D 0.0012
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param set MC_ROLLRATE_MAX 180
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param set MC_PITCH_P 6.5
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param set MC_PITCHRATE_P 0.06
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param set MC_PITCHRATE_I 0.2
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param set MC_PITCHRATE_D 0.0012
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@@ -118,48 +120,62 @@ then
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param set MC_YAWRATE_D 0
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param set MC_YAWRATE_MAX 180
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# Set to reduce voltage transients as seen by battery management system.
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param set MOT_SLEW_MAX 0.15
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# mc_pos_control
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#### CONTROLLER ###
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param set MPC_LAND_ALT1 8
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param set MPC_LAND_ALT2 5
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param set MPC_TKO_RAMP_T 0.75
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param set MPC_TKO_SPEED 0.75
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param set MPC_TILTMAX_LND 18
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param set MPC_TILTMAX_AIR 45
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param set MPC_MAN_TILT_MAX 45
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param set MPC_MANTHR_MAX 0.85
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param set MPC_MANTHR_MIN 0.15
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# Full throttle can trip over current protection on BMS.
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param set MPC_THR_MAX 0.85
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param set MPC_THR_MIN 0.15
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param set MPC_VEL_MANUAL 26.5
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# RTL speed, it was too fast and scaring people.
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param set MPC_XY_CRUISE 15
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param set MPC_MAN_Y_MAX 200
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param set MPC_JERK_MAX 5
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param set MPC_ACC_UP_MAX 10
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param set MPC_ACC_DOWN_MAX 10
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param set MPC_ACC_HOR 10
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param set MPC_ACC_HOR_MAX 15
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param set MPC_ACC_UP_MAX 10
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param set MPC_JERK_MAX 5
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param set MPC_LAND_ALT1 8
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param set MPC_LAND_ALT2 5
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param set MPC_MANTHR_MAX 0.85
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param set MPC_MANTHR_MIN 0.15
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param set MPC_MAN_TILT_MAX 45
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param set MPC_MAN_Y_MAX 200
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param set MPC_THR_MAX 0.85
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param set MPC_THR_MIN 0.15
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param set MPC_TILTMAX_AIR 45
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param set MPC_TKO_RAMP_T 0.75
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param set MPC_TKO_SPEED 0.75
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param set MPC_VEL_MANUAL 26.5
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param set MPC_XY_CRUISE 15
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param set MPC_XY_P 1.15
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param set MPC_XY_VEL_P 0.14
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param set MPC_XY_VEL_I 0.014
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param set MPC_XY_VEL_D 0.014
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param set MPC_XY_VEL_MAX 26.5
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param set MPC_Z_P 0.8
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param set MPC_TILTMAX_LND 18
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param set MPC_Z_P 0.85
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param set MPC_Z_VEL_P 0.25
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param set MPC_Z_VEL_I 0.085
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param set MPC_Z_VEL_D 0.02
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# Documentation says limit is 8.0, but does not seem to be enforced in code.
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param set MPC_Z_VEL_MAX_UP 20
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param set MPC_Z_VEL_MAX_DN 2.5
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param set MPC_Z_VEL_MAX_UP 6
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#### CONTROLLER ###
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# navigator
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param set NAV_ACC_RAD 2.5
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# RC loss failsafe behavior -- hold mode.
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param set NAV_RCL_ACT 1
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# pwm control
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param set PWM_DISARMED 900
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param set PWM_MAX 1850
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param set PWM_MIN 1075
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param set PWM_RATE 400
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# Oneshot125
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param set PWM_RATE 0
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# rtl
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param set RTL_DESCEND_ALT 5
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@@ -167,11 +183,26 @@ then
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param set RTL_MIN_DIST 7.5
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param set RTL_RETURN_ALT 25
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# sensors
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param set SENS_EN_PGA460 1
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param set SENS_EN_THERMAL 1
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# calibration
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param set CAL_ACC0_EN 1
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param set CAL_ACC1_EN 0
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#mpu6500
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param set CAL_ACC_PRIME 1442826
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# serial comms
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param set SER_TEL2_BAUD 921600
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param set CAL_GYRO0_EN 1
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param set CAL_GYRO1_EN 0
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#mpu6500
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param set CAL_GYRO_PRIME 2360330
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param set CAL_MAG0_EN 1
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param set CAL_MAG1_EN 0
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param set CAL_MAG_PRIME 265738
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fi
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# Do not start frsky_telemetry on port ttyS6 by default, PGA460 lives there. 500 is in arbitrary unused number.
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param set TEL_FRSKY_CONFIG 500
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# We want to make sure these always start
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param set SENS_EN_PGA460 1
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param set SENS_EN_THERMAL 1
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param set SENS_EN_BATT 1
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@@ -55,6 +55,11 @@ then
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fi
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fi
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if param compare SENS_EN_BATT 1
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then
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batt_smbus start -X
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fi
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# Sensors on the PWM interface bank
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if param compare SENS_EN_LL40LS 1
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then
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@@ -44,6 +44,13 @@ bmp280 -I start
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# expansion i2c used for BMM150 rotated by 90deg
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bmm150 -R 2 start
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# For Teal One airframe
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if param compare SYS_AUTOSTART 4250
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then
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mpu9250 -s -R 14 start
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mpu9250 -t -R 14 start
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fi
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# hmc5883 internal SPI bus is rotated 90 deg yaw
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if ! hmc5883 -C -T -S -R 2 start
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then
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42
src/drivers/batt_smbus/parameters.c
Normal file
42
src/drivers/batt_smbus/parameters.c
Normal file
@@ -0,0 +1,42 @@
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/****************************************************************************
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*
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* Copyright (c) 2018 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* SMBUS Smart battery driver (BQ40Z50)
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*
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* @reboot_required true
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*
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* @boolean
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* @group Sensors
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*/
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PARAM_DEFINE_INT32(SENS_EN_BATT, 0);
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