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add new asymmetric airframe for Spedix S250AQ

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This commit is contained in:
Mark Whitehorn
2016-12-11 10:52:26 -07:00
committed by Lorenz Meier
parent 6ff85fb927
commit 8962eaa944
4 changed files with 75 additions and 1 deletions
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57
ROMFS/px4fmu_common/init.d/4051_s250aq Normal file
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@@ -0,0 +1,57 @@
#!nsh
#
# @name Spedix S250AQ
#
# @type Quadrotor asymmetric
#
# @output MAIN1 motor1 (front right: CCW)
# @output MAIN2 motor2 (back left: CCW)
# @output MAIN3 motor3 (front left: CW)
# @output MAIN4 motor4 (back right: CW)
#
# @output MAIN5 feed-through of RC AUX1 channel
# @output MAIN6 feed-through of RC AUX2 channel
#
# @maintainer Mark Whitehorn <kd0aij@gmail.com>
#
sh /etc/init.d/rc.mc_defaults
set MIXER quad_s250aq
set MAV_TYPE 2
set PWM_OUT 1234
if [ $AUTOCNF == yes ]
then
param set MC_ROLL_P 8.0
param set MC_ROLLRATE_P 0.19
param set MC_ROLLRATE_I 0.1
param set MC_ROLLRATE_D 0.0055
param set MC_PITCH_P 8.0
param set MC_PITCHRATE_P 0.19
param set MC_PITCHRATE_I 0.1
param set MC_PITCHRATE_D 0.0055
param set MC_YAW_P 4.0
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0.0
param set MC_YAW_FF 0.5
param set MC_ROLLRATE_MAX 720.0
param set MC_PITCHRATE_MAX 720.0
param set MC_YAWRATE_MAX 400.0
param set MC_ACRO_R_MAX 360.0
param set MC_ACRO_P_MAX 360.0
param set MC_TPA_BREAK_P 0.5
param set MC_TPA_RATE_P 0.5
param set PWM_MIN 1075
param set MPC_THR_MIN 0.06
param set MPC_MANTHR_MIN 0.06
param set ATT_BIAS_MAX 0.0
param set CBRK_IO_SAFETY 22027
fi

7
ROMFS/px4fmu_common/mixers/quad_s250aq.main.mix Normal file
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@@ -0,0 +1,7 @@
R: 4s 10000 10000 10000 0
M: 1
O: 10000 10000 0 -10000 10000
S: 3 5 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 3 6 10000 10000 0 -10000 10000

3
src/modules/systemlib/mixer/mixer_multirotor.cpp
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@@ -167,6 +167,9 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
} else if (!strcmp(geomname, "4w")) {
geometry = MultirotorGeometry::QUAD_WIDE;
} else if (!strcmp(geomname, "4s")) {
geometry = MultirotorGeometry::QUAD_S250AQ;
} else if (!strcmp(geomname, "4dc")) {
geometry = MultirotorGeometry::QUAD_DEADCAT;

9
src/modules/systemlib/mixer/multi_tables.py
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@@ -97,6 +97,13 @@ quad_wide = [
[ 129, CW],
]
quad_s250aq = [
[ 59, CCW, 1.0 ],
[ -139, CCW, 0.67],
[ -59, CW, 1.0 ],
[ 139, CW, 0.67],
]
hex_x = [
[ 90, CW],
[ -90, CCW],
@@ -189,7 +196,7 @@ tri_y = [
]
tables = [quad_x, quad_h, quad_plus, quad_v, quad_wide, quad_deadcat, hex_x, hex_plus, hex_cox, hex_t, octa_x, octa_plus, octa_cox, octa_cox_wide, twin_engine, tri_y]
tables = [quad_x, quad_h, quad_plus, quad_v, quad_wide, quad_s250aq, quad_deadcat, hex_x, hex_plus, hex_cox, hex_t, octa_x, octa_plus, octa_cox, octa_cox_wide, twin_engine, tri_y]
def variableName(variable):
for variableName, value in list(globals().items()):