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Add Steadidrone MAVRIK mixer and gains.

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This commit is contained in:
Simon Wilks
2016-01-03 22:05:56 +01:00
committed by Lorenz Meier
parent 86c8308e98
commit 9a8050cc11
5 changed files with 60 additions and 2 deletions
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41
ROMFS/px4fmu_common/init.d/12002_steadidrone_mavrik Normal file
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@@ -0,0 +1,41 @@
#!nsh
#
# @name Steadidrone MAVRIK
#
# @type Octo Coax Wide
#
# @maintainer Simon Wilks <simon@uaventure.com>
#
sh /etc/init.d/rc.mc_defaults
if [ $AUTOCNF == yes ]
then
param set MC_PITCH_P 4.0
param set MC_PITCHRATE_P 0.24
param set MC_PITCHRATE_I 0.09
param set MC_PITCHRATE_D 0.013
param set MC_PITCHRATE_MAX 180.0
param set MC_ROLL_P 4.0
param set MC_ROLLRATE_P 0.16
param set MC_ROLLRATE_I 0.07
param set MC_ROLLRATE_D 0.009
param set MC_ROLLRATE_MAX 180.0
param set MC_YAW_P 3.0
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 MPC_HOLD_MAX_XY 0.25
param set MPC_THR_MIN 0.15
param set MPC_Z_VEL_MAX 2.0
param set BAT_N_CELLS 4
fi
set MIXER octo_cox_w
set PWM_OUT 12345678

2
ROMFS/px4fmu_common/init.d/rcS
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@@ -692,7 +692,7 @@ then
then then
set MAV_TYPE 14 set MAV_TYPE 14
fi fi
if [ $MIXER == octo_cox ] if [ $MIXER == octo_cox -o $MIXER == octo_cox_w ]
then then
set MAV_TYPE 14 set MAV_TYPE 14
fi fi

3
ROMFS/px4fmu_common/mixers/octo_cox_w.main.mix Normal file
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@@ -0,0 +1,3 @@
# Octo coaxial with wide arms
R: 8cw 10000 10000 10000 0

3
src/modules/systemlib/mixer/mixer_multirotor.cpp
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@@ -180,6 +180,9 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
} else if (!strcmp(geomname, "8c")) { } else if (!strcmp(geomname, "8c")) {
geometry = MultirotorGeometry::OCTA_COX; geometry = MultirotorGeometry::OCTA_COX;
} else if (!strcmp(geomname, "8cw")) {
geometry = MultirotorGeometry::OCTA_COX_WIDE;
} else if (!strcmp(geomname, "2-")) { } else if (!strcmp(geomname, "2-")) {
geometry = MultirotorGeometry::TWIN_ENGINE; geometry = MultirotorGeometry::TWIN_ENGINE;

13
src/modules/systemlib/mixer/multi_tables.py
View File

@@ -157,6 +157,17 @@ octa_cox = [
[-135, CW], [-135, CW],
] ]
octa_cox_wide = [
[ 68, CCW],
[ -68, CW],
[-129, CCW],
[ 129, CW],
[ -68, CCW],
[ 68, CW],
[ 129, CCW],
[-129, CW],
]
twin_engine = [ twin_engine = [
[ 90, 0.0], [ 90, 0.0],
[-90, 0.0], [-90, 0.0],
@@ -169,7 +180,7 @@ tri_y = [
] ]
tables = [quad_x, quad_h, quad_plus, quad_v, quad_wide, quad_deadcat, hex_x, hex_plus, hex_cox, octa_x, octa_plus, octa_cox, twin_engine, tri_y] tables = [quad_x, quad_h, quad_plus, quad_v, quad_wide, quad_deadcat, hex_x, hex_plus, hex_cox, octa_x, octa_plus, octa_cox, octa_cox_wide, twin_engine, tri_y]
def variableName(variable): def variableName(variable):
for variableName, value in list(globals().items()): for variableName, value in list(globals().items()):