From 4bcdf560be6f368f205732959d18c3037d434dbc Mon Sep 17 00:00:00 2001 From: JaeyoungLim Date: Mon, 16 Dec 2019 08:21:17 +0100 Subject: [PATCH] airframes: add config for px4vision devkit drone (#13683) * Added configuration file for Pixhawk Vision Signed-off-by: RomanBapst --- .../init.d/airframes/4016_holybro_px4vision | 140 ++++++++++++++++++ .../init.d/airframes/CMakeLists.txt | 5 +- 2 files changed, 143 insertions(+), 2 deletions(-) create mode 100644 ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision diff --git a/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision b/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision new file mode 100644 index 0000000000..a04c2c9497 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision @@ -0,0 +1,140 @@ +#!/bin/sh +# +# @name PX4 Vision DevKit Platform +# +# @type Quadrotor x +# @class Copter +# +# @output MAIN1 motor 1 +# @output MAIN2 motor 2 +# @output MAIN3 motor 3 +# @output MAIN4 motor 4 +# +# @board px4_fmu-v2 exclude +# + +sh /etc/init.d/rc.mc_defaults + +set MIXER quad_x +set PWM_OUT 1234 + +if [ $AUTOCNF = yes ] +then + # System parameters + # use FMU motor outputs for less delay in the rate control loop + param set SYS_USE_IO 0 + + # Commander Parameters + param set COM_OBS_AVOID 1 + param set COM_DISARM_LAND 0.5 + + # EKF2 parameters + param set EKF2_AID_MASK 35 + param set EKF2_IMU_POS_X 0.02 + param set EKF2_GPS_POS_X 0.055 + param set EKF2_GPS_POS_Z -0.15 + param set EKF2_HGT_MODE 0 + param set EKF2_MIN_RNG 0.03 + param set EKF2_OF_POS_X 0.055 + param set EKF2_OF_POS_Y 0.02 + param set EKF2_OF_POS_Z 0.065 + param set EKF2_REQ_HDRIFT 0.3 + param set EKF2_REQ_SACC 1 + param set EKF2_REQ_VDRIFT 0.3 + param set EKF2_RNG_AID 1 + param set EKF2_RNG_A_HMAX 8 + param set EKF2_RNG_A_VMAX 2 + param set EKF2_RNG_POS_X 0.055 + param set EKF2_RNG_POS_Y -0.01 + param set EKF2_RNG_POS_Z 0.065 + param set EKF2_PCOEF_XP -0.25 + param set EKF2_PCOEF_YN -0.55 + param set EKF2_PCOEF_YP -0.55 + + # MAVLink parameters + param set MAV_0_CONFIG 101 + param set MAV_1_CONFIG 102 + param set MAV_1_RATE 80000 + param set MAV_1_MODE 9 + param set SER_TEL1_BAUD 921600 + + # Vehicle attitude PID tuning + param set MC_ACRO_EXPO 0 + param set MC_ACRO_EXPO_Y 0 + param set MC_ACRO_P_MAX 200 + param set MC_ACRO_R_MAX 200 + param set MC_ACRO_SUPEXPO 0 + param set MC_ACRO_SUPEXPOY 0 + param set MC_ACRO_Y_MAX 150 + param set MC_DTERM_CUTOFF 30 + param set MC_PITCHRATE_D 0.0015 + param set MC_PITCHRATE_I 0.2 + param set MC_PITCHRATE_K 1 + param set MC_PITCHRATE_P 0.15 + param set MC_ROLLRATE_D 0.0015 + param set MC_ROLLRATE_I 0.2 + param set MC_ROLLRATE_K 1 + param set MC_ROLLRATE_P 0.15 + param set MC_YAWRATE_P 0.3 + + # Position Control Tuning + param set CP_DIST 6.0 + param set MPC_ACC_DOWN_MAX 5 + param set MPC_ACC_HOR_MAX 10 + param set MPC_ACC_UP_MAX 4 + param set MPC_MANTHR_MIN 0 + param set MPC_MAN_Y_MAX 120 + param set MPC_TILTMAX_AIR 45 + param set MPC_THR_HOVER 0.3 + param set MPC_THR_MIN 0.12 + param set MPC_TKO_SPEED 1 + param set MPC_VEL_MANUAL 5 + param set MPC_XY_CRUISE 5 + param set MPC_XY_VEL_MAX 5 + param set MPC_XY_VEL_P 0.079 + param set MPC_XY_TRAJ_P 0.3 + param set MPC_Z_TRAJ_P 0.3 + param set MPC_Z_VEL_I 0.15 + param set MPC_Z_VEL_P 0.25 + + # Navigator Parameters + param set NAV_ACC_RAD 2 + + # PWM and RC Parameters + param set PWM_MAX 1950 + param set PWM_MIN 1075 + + # use oneshot motor output protocol + param set PWM_RATE 0 + param set RC_FLT_CUTOFF 0 + + # RTL Parameters + param set RTL_DESCEND_ALT 5 + param set RTL_LAND_DELAY 0 + param set RTL_RETURN_ALT 5 + param set RTL_CONE_ANG 45 + + # Logging Parameters + param set SDLOG_PROFILE 131 + + # Sensors Parameters + param set SENS_BOARD_ROT 0 + param set SENS_CM8JL65_CFG 104 + param set SENS_FLOW_MAXHGT 25 + param set SENS_FLOW_MINHGT 0.5 + param set SENS_FLOW_ROT 0 + param set IMU_GYRO_CUTOFF 100 + param set SENS_EN_PMW3901 1 + + # Power Parameters + param set BAT_N_CELLS 4 + param set BAT_A_PER_V 36.3675 + param set BAT_CNT_V_CURR 0.0008 + param set BAT_CNT_V_VOLT 0.0008 + param set BAT_V_DIV 18.40697289 + + # Circuit breakers + param set CBRK_IO_SAFETY 22027 + + param set THR_MDL_FAC 0.3 +fi diff --git a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt index 7092ea1cc2..6675e2f085 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt +++ b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt @@ -39,7 +39,7 @@ px4_add_romfs_files( 1001_rc_quad_x.hil 1002_standard_vtol.hil 1100_rc_quad_x_sih.hil - + # [2000, 2999] Standard planes" 2100_standard_plane 2105_maja @@ -70,6 +70,7 @@ px4_add_romfs_files( 4013_bebop 4014_s500 4015_holybro_s500 + 4016_holybro_px4vision 4020_hk_micro_pcb 4030_3dr_solo 4031_3dr_quad @@ -142,7 +143,7 @@ px4_add_romfs_files( 15001_coax_heli 16001_helicopter - + 24001_dodeca_cox 50000_generic_ground_vehicle