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VTOL: added config for the E-flite Convergence

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This commit is contained in:
Andreas Antener
2016-12-30 14:15:50 +01:00
committed by Daniel Agar
parent c416fc3fa0
commit 364a57016f
2 changed files with 92 additions and 0 deletions
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57
ROMFS/px4fmu_common/init.d/13012_convergence Normal file
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#!nsh
#
# @name E-flite Convergence
# @type VTOL Tiltrotor
# @maintainer Andreas Antener <andreas@uaventure.com>
# @output MAIN1 Motor right
# @output MAIN2 Motor back
# @output MAIN3 Motor left
# @output MAIN4 empty
# @output MAIN5 Tilt servo right
# @output MAIN6 Tilt servo left
# @output MAIN7 Elevon right
# @output MAIN8 Elevon left
#
sh /etc/init.d/rc.vtol_defaults
if [ $AUTOCNF == yes ]
then
param set VT_MOT_COUNT 3
param set VT_FW_MOT_OFFID 3
param set VT_IDLE_PWM_MC 1080
param set VT_TYPE 1
param set VT_TILT_MC 0.0
param set VT_TILT_TRANS 0.35
param set VT_TILT_FW 1.0
param set VT_F_TRANS_DUR 2.0
param set VT_F_TR_OL_TM 5.0
param set VT_TRANS_P2_DUR 2.2
param set VT_B_TRANS_DUR 1.0
param set VT_FW_PERM_STAB 1
param set FW_L1_PERIOD 16
param set FW_MAN_R_MAX 50.0
param set FW_PSP_OFF 4.0
param set FW_P_LIM_MAX 30
param set FW_P_LIM_MIN -30
param set FW_RR_FF 0.35
param set FW_RR_P 0.14
param set MC_YAWRATE_P 0.3
param set MPC_LAND_SPEED 1.2
param set MPC_TKO_SPEED 2.5
param set MPC_Z_VEL_MAX_UP 3.0
param set CBRK_AIRSPD_CHK 162128
param set FW_ARSP_MODE 2
param set SENS_BOARD_ROT 8
fi
set MIXER vtol_convergence
set PWM_OUT 1234
set PWM_RATE 400
set MAV_TYPE 21

35
ROMFS/px4fmu_common/mixers/vtol_convergence.main.mix Normal file
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# E-flite Convergence Tricopter Y-Configuration Mixer
# Note: 9999 is used to circumvent a mixer loading bug
# https://github.com/PX4/Firmware/issues/5118
# Motors
R: 3y 9999 9999 9999 0
Z:
Tilt mechanism servo mixer
---------------------------
#RIGHT up:2000 down:1000
M: 2
O: 10000 10000 0 -10000 10000
S: 1 4 0 -20000 9999 -10000 10000
S: 0 2 4000 4000 0 -10000 10000
#LEFT up:1000 down:2000
M: 2
O: 10000 10000 0 -10000 10000
S: 1 4 0 20000 -9999 -10000 10000
S: 0 2 4000 4000 0 -10000 10000
Elevon mixers
-------------
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 -7500 -7500 0 -10000 10000
S: 1 1 8000 8000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 -7500 -7500 0 -10000 10000
S: 1 1 -8000 -8000 0 -10000 10000