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ROMFS: airframes use new param default mechanism

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This commit is contained in:
Daniel Agar
2021-02-09 00:34:43 -05:00
parent b67aa77d29
commit e6bc6438e8
80 changed files with 2260 additions and 2468 deletions
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51
ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil
View File

@@ -17,34 +17,33 @@
. ${R}etc/init.d/rc.fw_defaults
if [ $AUTOCNF = yes ]
then
param set BAT_N_CELLS 3
param set FW_AIRSPD_MAX 20
param set FW_AIRSPD_MIN 12
param set FW_AIRSPD_TRIM 14
param set FW_R_TC 0.3
param set FW_P_TC 0.3
param set FW_L1_DAMPING 0.74
param set FW_L1_PERIOD 16
param set FW_LND_ANG 15
param set FW_LND_FLALT 5
param set FW_LND_HHDIST 15
param set FW_LND_HVIRT 13
param set FW_LND_TLALT 5
param set FW_THR_LND_MAX 0
param set FW_PR_FF 0.35
param set FW_PR_I 0.1
param set FW_PR_IMAX 0.4
param set FW_PR_P 0.2
param set FW_RR_FF 0.6
param set FW_RR_I 0.1
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.3
param set-default BAT_N_CELLS 3
param set-default FW_AIRSPD_MAX 20
param set-default FW_AIRSPD_MIN 12
param set-default FW_AIRSPD_TRIM 14
param set-default FW_R_TC 0.3
param set-default FW_P_TC 0.3
param set-default FW_L1_DAMPING 0.74
param set-default FW_L1_PERIOD 16
param set-default FW_LND_ANG 15
param set-default FW_LND_FLALT 5
param set-default FW_LND_HHDIST 15
param set-default FW_LND_HVIRT 13
param set-default FW_LND_TLALT 5
param set-default FW_THR_LND_MAX 0
param set-default FW_PR_FF 0.35
param set-default FW_PR_I 0.1
param set-default FW_PR_IMAX 0.4
param set-default FW_PR_P 0.2
param set-default FW_RR_FF 0.6
param set-default FW_RR_I 0.1
param set-default FW_RR_IMAX 0.2
param set-default FW_RR_P 0.3
param set-default RWTO_TKOFF 1
param set RWTO_TKOFF 1
fi
param set SYS_HITL 1

27
ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery
View File

@@ -26,22 +26,19 @@
. ${R}etc/init.d/rc.mc_defaults
if [ $AUTOCNF = yes ]
then
param set MC_ROLL_P 6.5
param set MC_ROLLRATE_P 0.1
param set MC_ROLLRATE_I 0.05
param set MC_ROLLRATE_D 0.0017
param set MC_PITCH_P 6.5
param set MC_PITCHRATE_P 0.14
param set MC_PITCHRATE_I 0.1
param set MC_PITCHRATE_D 0.0025
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.28
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0
fi
param set-default MC_ROLL_P 6.5
param set-default MC_ROLLRATE_P 0.1
param set-default MC_ROLLRATE_I 0.05
param set-default MC_ROLLRATE_D 0.0017
param set-default MC_PITCH_P 6.5
param set-default MC_PITCHRATE_P 0.14
param set-default MC_PITCHRATE_I 0.1
param set-default MC_PITCHRATE_D 0.0025
param set-default MC_YAW_P 2.8
param set-default MC_YAWRATE_P 0.28
param set-default MC_YAWRATE_I 0.1
param set-default MC_YAWRATE_D 0
set MIXER quad_w
set PWM_OUT 1234

33
ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris
View File

@@ -24,26 +24,23 @@
. ${R}etc/init.d/rc.mc_defaults
if [ $AUTOCNF = yes ]
then
# TODO tune roll/pitch separately
param set MC_ROLL_P 7
param set MC_ROLLRATE_P 0.15
param set MC_ROLLRATE_I 0.05
param set MC_ROLLRATE_D 0.004
param set MC_PITCH_P 7
param set MC_PITCHRATE_P 0.15
param set MC_PITCHRATE_I 0.05
param set MC_PITCHRATE_D 0.004
param set MC_YAW_P 2.5
param set MC_YAWRATE_P 0.25
param set MC_YAWRATE_I 0.25
param set MC_YAWRATE_D 0
param set BAT_V_DIV 12.27559
param set BAT_A_PER_V 15.39103
fi
# TODO tune roll/pitch separately
param set-default MC_ROLL_P 7
param set-default MC_ROLLRATE_P 0.15
param set-default MC_ROLLRATE_I 0.05
param set-default MC_ROLLRATE_D 0.004
param set-default MC_PITCH_P 7
param set-default MC_PITCHRATE_P 0.15
param set-default MC_PITCHRATE_I 0.05
param set-default MC_PITCHRATE_D 0.004
param set-default MC_YAW_P 2.5
param set-default MC_YAWRATE_P 0.25
param set-default MC_YAWRATE_I 0.25
param set-default MC_YAWRATE_D 0
param set-default BAT_V_DIV 12.27559
param set-default BAT_A_PER_V 15.39103
set MIXER quad_w
set PWM_OUT 1234

29
ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d
View File

@@ -26,24 +26,21 @@
. ${R}etc/init.d/rc.mc_defaults
if [ $AUTOCNF = yes ]
then
param set BAT_N_CELLS 4
param set MC_ROLL_P 7
param set MC_ROLLRATE_P 0.13
param set MC_ROLLRATE_I 0.05
param set MC_ROLLRATE_D 0.004
param set MC_PITCH_P 7
param set MC_PITCHRATE_P 0.19
param set MC_PITCHRATE_I 0.05
param set MC_PITCHRATE_D 0.004
param set MC_YAW_P 4
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0
fi
param set-default BAT_N_CELLS 4
param set-default MC_ROLL_P 7
param set-default MC_ROLLRATE_P 0.13
param set-default MC_ROLLRATE_I 0.05
param set-default MC_ROLLRATE_D 0.004
param set-default MC_PITCH_P 7
param set-default MC_PITCHRATE_P 0.19
param set-default MC_PITCHRATE_I 0.05
param set-default MC_PITCHRATE_D 0.004
param set-default MC_YAW_P 4
param set-default MC_YAWRATE_P 0.2
param set-default MC_YAWRATE_I 0.1
param set-default MC_YAWRATE_D 0
set MIXER quad_w
set PWM_OUT 1234

35
ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance
View File

@@ -26,29 +26,26 @@
. ${R}etc/init.d/rc.mc_defaults
if [ $AUTOCNF = yes ]
then
param set BAT_N_CELLS 6
param set BAT_V_EMPTY 3.5
param set MC_ROLL_P 7
param set MC_ROLLRATE_P 0.08
param set MC_ROLLRATE_I 0.02
param set MC_ROLLRATE_D 0.003
param set MC_PITCH_P 7
param set MC_PITCHRATE_P 0.13
param set MC_PITCHRATE_I 0.02
param set MC_PITCHRATE_D 0.005
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0
param set-default BAT_N_CELLS 6
param set-default BAT_V_EMPTY 3.5
param set MPC_XY_VEL_MAX 2
param set-default MC_ROLL_P 7
param set-default MC_ROLLRATE_P 0.08
param set-default MC_ROLLRATE_I 0.02
param set-default MC_ROLLRATE_D 0.003
param set-default MC_PITCH_P 7
param set-default MC_PITCHRATE_P 0.13
param set-default MC_PITCHRATE_I 0.02
param set-default MC_PITCHRATE_D 0.005
param set-default MC_YAW_P 2.8
param set-default MC_YAWRATE_P 0.2
param set-default MC_YAWRATE_I 0.1
param set-default MC_YAWRATE_D 0
param set PWM_MAIN_MIN 1080
fi
param set-default MPC_XY_VEL_MAX 2
param set-default PWM_MAIN_MIN 1080
set MIXER quad_w
set PWM_OUT 1234

83
ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
View File

@@ -14,57 +14,56 @@
. ${R}etc/init.d/rc.vtol_defaults
if [ $AUTOCNF = yes ]
then
param set BAT_N_CELLS 3
param set COM_RC_IN_MODE 1
param set-default BAT_N_CELLS 3
param set EKF2_AID_MASK 1
param set EKF2_ANGERR_INIT 0.01
param set EKF2_GBIAS_INIT 0.01
param set EKF2_HGT_MODE 0
param set EKF2_MAG_TYPE 1
param set-default COM_RC_IN_MODE 1
param set FW_AIRSPD_MAX 25
param set FW_AIRSPD_MIN 14
param set FW_AIRSPD_TRIM 16
param set-default EKF2_AID_MASK 1
param set-default EKF2_ANGERR_INIT 0.01
param set-default EKF2_GBIAS_INIT 0.01
param set-default EKF2_HGT_MODE 0
param set-default EKF2_MAG_TYPE 1
param set MC_PITCH_P 6
param set MC_PITCHRATE_P 0.2
param set MC_ROLL_P 6
param set MC_ROLLRATE_P 0.3
param set MIS_LTRMIN_ALT 10
param set MIS_TAKEOFF_ALT 10
param set MIS_YAW_TMT 10
param set-default FW_AIRSPD_MAX 25
param set-default FW_AIRSPD_MIN 14
param set-default FW_AIRSPD_TRIM 16
param set MPC_ACC_HOR_MAX 2
param set MPC_ACC_HOR_MAX 2
param set MPC_THR_MIN 0.1
param set MPC_TKO_SPEED 1
param set MPC_XY_P 0.8
param set MPC_XY_VEL_D_ACC 0.1
param set MPC_XY_VEL_I_ACC 4
param set MPC_XY_VEL_P_ACC 3
param set MPC_Z_VEL_P_ACC 12
param set MPC_Z_VEL_I_ACC 3
param set MPC_Z_VEL_MAX_DN 1.5
param set-default MC_PITCH_P 6
param set-default MC_PITCHRATE_P 0.2
param set-default MC_ROLL_P 6
param set-default MC_ROLLRATE_P 0.3
param set-default MIS_LTRMIN_ALT 10
param set-default MIS_TAKEOFF_ALT 10
param set-default MIS_YAW_TMT 10
param set NAV_ACC_RAD 5
param set NAV_DLL_ACT 2
param set NAV_LOITER_RAD 80
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_THR_MIN 0.1
param set-default MPC_TKO_SPEED 1
param set-default MPC_XY_P 0.8
param set-default MPC_XY_VEL_D_ACC 0.1
param set-default MPC_XY_VEL_I_ACC 4
param set-default MPC_XY_VEL_P_ACC 3
param set-default MPC_Z_VEL_P_ACC 12
param set-default MPC_Z_VEL_I_ACC 3
param set-default MPC_Z_VEL_MAX_DN 1.5
param set RTL_DESCEND_ALT 10
param set RTL_RETURN_ALT 30
param set-default NAV_ACC_RAD 5
param set-default NAV_DLL_ACT 2
param set-default NAV_LOITER_RAD 80
param set SDLOG_DIRS_MAX 7
param set SYS_RESTART_TYPE 2
param set-default RTL_DESCEND_ALT 10
param set-default RTL_RETURN_ALT 30
param set-default SDLOG_DIRS_MAX 7
param set-default SYS_RESTART_TYPE 2
param set-default VT_F_TRANS_THR 0.75
param set-default VT_MOT_ID 1234
param set-default VT_FW_MOT_OFFID 1234
param set-default VT_TYPE 2
param set VT_F_TRANS_THR 0.75
param set VT_MOT_ID 1234
param set VT_FW_MOT_OFFID 1234
param set VT_TYPE 2
fi
param set SYS_HITL 1

39
ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik
View File

@@ -23,32 +23,29 @@
. ${R}etc/init.d/rc.mc_defaults
if [ $AUTOCNF = yes ]
then
param set MC_PITCH_P 4
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
param set MC_ROLL_P 4
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
param set-default MC_PITCH_P 4
param set-default MC_PITCHRATE_P 0.24
param set-default MC_PITCHRATE_I 0.09
param set-default MC_PITCHRATE_D 0.013
param set-default MC_PITCHRATE_MAX 180
param set MC_YAW_P 3
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0
param set-default MC_ROLL_P 4
param set-default MC_ROLLRATE_P 0.16
param set-default MC_ROLLRATE_I 0.07
param set-default MC_ROLLRATE_D 0.009
param set-default MC_ROLLRATE_MAX 180
param set MPC_HOLD_MAX_XY 0.25
param set MPC_THR_MIN 0.15
param set MPC_Z_VEL_MAX_DN 2
param set-default MC_YAW_P 3
param set-default MC_YAWRATE_P 0.2
param set-default MC_YAWRATE_I 0.1
param set-default MC_YAWRATE_D 0
param set BAT_N_CELLS 4
fi
param set-default MPC_HOLD_MAX_XY 0.25
param set-default MPC_THR_MIN 0.15
param set-default MPC_Z_VEL_MAX_DN 2
param set-default BAT_N_CELLS 4
set MIXER octo_cox_w
set PWM_OUT 12345678

13
ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard
View File

@@ -24,16 +24,13 @@
. ${R}etc/init.d/rc.vtol_defaults
if [ $AUTOCNF = yes ]
then
param set PWM_AUX_DIS5 950
param set PWM_MAIN_RATE 400
param set VT_TYPE 2
param set VT_MOT_ID 1234
param set VT_FW_MOT_OFFID 1234
fi
param set-default PWM_AUX_DIS5 950
param set-default PWM_MAIN_RATE 400
param set-default VT_TYPE 2
param set-default VT_MOT_ID 1234
param set-default VT_FW_MOT_OFFID 1234
set MAV_TYPE 22
set MIXER quad_x

43
ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol
View File

@@ -19,34 +19,31 @@
. ${R}etc/init.d/rc.vtol_defaults
if [ $AUTOCNF = yes ]
then
param set MAV_TYPE 19
param set MC_ROLL_P 6
param set MC_ROLLRATE_P 0.12
param set MC_ROLLRATE_I 0.002
param set MC_ROLLRATE_D 0.003
param set MC_ROLLRATE_FF 0
param set-default MAV_TYPE 19
param set MC_PITCH_P 4.5
param set MC_PITCHRATE_P 0.3
param set MC_PITCHRATE_I 0.002
param set MC_PITCHRATE_D 0.003
param set MC_PITCHRATE_FF 0
param set-default MC_ROLL_P 6
param set-default MC_ROLLRATE_P 0.12
param set-default MC_ROLLRATE_I 0.002
param set-default MC_ROLLRATE_D 0.003
param set-default MC_ROLLRATE_FF 0
param set MC_YAW_P 3.8
param set MC_YAWRATE_P 0.22
param set MC_YAWRATE_I 0.02
param set MC_YAWRATE_D 0
param set MC_YAWRATE_FF 0
param set-default MC_PITCH_P 4.5
param set-default MC_PITCHRATE_P 0.3
param set-default MC_PITCHRATE_I 0.002
param set-default MC_PITCHRATE_D 0.003
param set-default MC_PITCHRATE_FF 0
param set VT_IDLE_PWM_MC 1080
param set VT_ELEV_MC_LOCK 0
param set VT_MOT_ID 12
param set VT_TYPE 0
fi
param set-default MC_YAW_P 3.8
param set-default MC_YAWRATE_P 0.22
param set-default MC_YAWRATE_I 0.02
param set-default MC_YAWRATE_D 0
param set-default MC_YAWRATE_FF 0
param set-default VT_IDLE_PWM_MC 1080
param set-default VT_ELEV_MC_LOCK 0
param set-default VT_MOT_ID 12
param set-default VT_TYPE 0
set MAV_TYPE 19
set MIXER vtol_tailsitter_duo

53
ROMFS/px4fmu_common/init.d/airframes/13002_firefly6
View File

@@ -24,37 +24,34 @@
. ${R}etc/init.d/rc.vtol_defaults
if [ $AUTOCNF = yes ]
then
param set MC_ROLL_P 7
param set MC_ROLLRATE_P 0.19
param set MC_ROLLRATE_I 0.002
param set MC_ROLLRATE_D 0.005
param set MC_ROLLRATE_FF 0
param set MC_PITCH_P 7
param set MC_PITCHRATE_P 0.14
param set MC_PITCHRATE_I 0.002
param set MC_PITCHRATE_D 0.004
param set MC_PITCHRATE_FF 0
param set MC_YAW_P 4
param set MC_YAWRATE_P 0.22
param set MC_YAWRATE_I 0.02
param set MC_YAWRATE_D 0
param set MC_YAWRATE_FF 0
param set PWM_MAIN_RATE 400
param set-default MC_ROLL_P 7
param set-default MC_ROLLRATE_P 0.19
param set-default MC_ROLLRATE_I 0.002
param set-default MC_ROLLRATE_D 0.005
param set-default MC_ROLLRATE_FF 0
param set-default MC_PITCH_P 7
param set-default MC_PITCHRATE_P 0.14
param set-default MC_PITCHRATE_I 0.002
param set-default MC_PITCHRATE_D 0.004
param set-default MC_PITCHRATE_FF 0
param set-default MC_YAW_P 4
param set-default MC_YAWRATE_P 0.22
param set-default MC_YAWRATE_I 0.02
param set-default MC_YAWRATE_D 0
param set-default MC_YAWRATE_FF 0
param set VT_FW_MOT_OFFID 34
param set VT_IDLE_PWM_MC 1080
param set VT_MOT_ID 123456
param set VT_FW_MOT_OFFID 56
param set VT_TILT_MC 0.08
param set VT_TILT_TRANS 0.5
param set VT_TILT_FW 0.9
param set VT_ELEV_MC_LOCK 0
param set VT_TYPE 1
fi
param set-default PWM_MAIN_RATE 400
param set-default VT_FW_MOT_OFFID 34
param set-default VT_IDLE_PWM_MC 1080
param set-default VT_MOT_ID 123456
param set-default VT_FW_MOT_OFFID 56
param set-default VT_TILT_MC 0.08
param set-default VT_TILT_TRANS 0.5
param set-default VT_TILT_FW 0.9
param set-default VT_ELEV_MC_LOCK 0
param set-default VT_TYPE 1
set MAV_TYPE 21
set MIXER firefly6

15
ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter
View File

@@ -14,17 +14,14 @@
. ${R}etc/init.d/rc.vtol_defaults
if [ $AUTOCNF = yes ]
then
param set PWM_MAIN_MAX 2000
param set PWM_MAIN_RATE 400
param set VT_MOT_ID 1234
param set VT_IDLE_PWM_MC 1080
param set VT_TYPE 0
param set VT_ELEV_MC_LOCK 1
fi
param set-default PWM_MAIN_MAX 2000
param set-default PWM_MAIN_RATE 400
param set-default VT_MOT_ID 1234
param set-default VT_IDLE_PWM_MC 1080
param set-default VT_TYPE 0
param set-default VT_ELEV_MC_LOCK 1
set MAV_TYPE 20
set MIXER quad_x_vtol

13
ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter
View File

@@ -23,16 +23,13 @@
. ${R}etc/init.d/rc.vtol_defaults
if [ $AUTOCNF = yes ]
then
param set PWM_MAIN_MAX 2000
param set PWM_MAIN_RATE 400
param set VT_IDLE_PWM_MC 1080
param set VT_TYPE 0
param set VT_ELEV_MC_LOCK 1
fi
param set-default PWM_MAIN_MAX 2000
param set-default PWM_MAIN_RATE 400
param set-default VT_IDLE_PWM_MC 1080
param set-default VT_TYPE 0
param set-default VT_ELEV_MC_LOCK 1
set MAV_TYPE 20
set MIXER quad_+_vtol

73
ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad
View File

@@ -24,50 +24,47 @@
. ${R}etc/init.d/rc.vtol_defaults
if [ $AUTOCNF = yes ]
then
param set PWM_AUX_DIS5 950
param set PWM_MAIN_RATE 400
param set-default PWM_AUX_DIS5 950
param set MC_ROLL_P 6
param set MC_ROLLRATE_P 0.17
param set MC_ROLLRATE_I 0.002
param set MC_ROLLRATE_D 0.004
param set MC_ROLLRATE_FF 0
param set MC_PITCH_P 6
param set MC_PITCHRATE_P 0.19
param set MC_PITCHRATE_I 0.002
param set MC_PITCHRATE_D 0.004
param set MC_PITCHRATE_FF 0
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.22
param set MC_YAWRATE_I 0.02
param set MC_YAWRATE_D 0
param set MC_YAWRATE_FF 0
param set MC_YAWRATE_MAX 40
param set-default PWM_MAIN_RATE 400
param set MPC_YAWRAUTO_MAX 40
param set-default MC_ROLL_P 6
param set-default MC_ROLLRATE_P 0.17
param set-default MC_ROLLRATE_I 0.002
param set-default MC_ROLLRATE_D 0.004
param set-default MC_ROLLRATE_FF 0
param set-default MC_PITCH_P 6
param set-default MC_PITCHRATE_P 0.19
param set-default MC_PITCHRATE_I 0.002
param set-default MC_PITCHRATE_D 0.004
param set-default MC_PITCHRATE_FF 0
param set-default MC_YAW_P 2.8
param set-default MC_YAWRATE_P 0.22
param set-default MC_YAWRATE_I 0.02
param set-default MC_YAWRATE_D 0
param set-default MC_YAWRATE_FF 0
param set-default MC_YAWRATE_MAX 40
param set FW_PR_FF 0.5
param set FW_PR_I 0.02
param set FW_PR_IMAX 0.4
param set FW_PR_P 0.08
param set FW_RR_FF 0.6
param set FW_RR_I 0.01
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.05
param set FW_THR_CRUISE 0.75
param set-default MPC_YAWRAUTO_MAX 40
param set VT_ARSP_BLEND 6
param set VT_ARSP_TRANS 12
param set VT_F_TRANS_THR 0.75
param set VT_MOT_ID 1234
param set VT_FW_MOT_OFFID 1234
param set VT_IDLE_PWM_MC 1080
param set VT_TYPE 2
fi
param set-default FW_PR_FF 0.5
param set-default FW_PR_I 0.02
param set-default FW_PR_IMAX 0.4
param set-default FW_PR_P 0.08
param set-default FW_RR_FF 0.6
param set-default FW_RR_I 0.01
param set-default FW_RR_IMAX 0.2
param set-default FW_RR_P 0.05
param set-default FW_THR_CRUISE 0.75
param set-default VT_ARSP_BLEND 6
param set-default VT_ARSP_TRANS 12
param set-default VT_F_TRANS_THR 0.75
param set-default VT_MOT_ID 1234
param set-default VT_FW_MOT_OFFID 1234
param set-default VT_IDLE_PWM_MC 1080
param set-default VT_TYPE 2
set MAV_TYPE 22
set MIXER quad_x

57
ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta
View File

@@ -22,40 +22,37 @@
. ${R}etc/init.d/rc.vtol_defaults
if [ $AUTOCNF = yes ]
then
param set MC_ROLL_P 6.5
param set MC_ROLLRATE_P 0.15
param set MC_ROLLRATE_I 0.01
param set MC_ROLLRATE_D 0.003
param set MC_ROLLRATE_FF 0
param set MC_PITCH_P 6.5
param set MC_PITCHRATE_P 0.15
param set MC_PITCHRATE_I 0.01
param set MC_PITCHRATE_D 0.003
param set MC_PITCHRATE_FF 0
param set MC_YAW_P 3.5
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0
param set MC_YAWRATE_FF 0
param set MC_YAWRATE_MAX 50
param set MPC_XY_P 0.8
param set MPC_XY_VEL_P_ACC 2
param set MPC_ACC_HOR_MAX 2
param set MPC_YAWRAUTO_MAX 20
param set-default MC_ROLL_P 6.5
param set-default MC_ROLLRATE_P 0.15
param set-default MC_ROLLRATE_I 0.01
param set-default MC_ROLLRATE_D 0.003
param set-default MC_ROLLRATE_FF 0
param set-default MC_PITCH_P 6.5
param set-default MC_PITCHRATE_P 0.15
param set-default MC_PITCHRATE_I 0.01
param set-default MC_PITCHRATE_D 0.003
param set-default MC_PITCHRATE_FF 0
param set-default MC_YAW_P 3.5
param set-default MC_YAWRATE_P 0.2
param set-default MC_YAWRATE_I 0.1
param set-default MC_YAWRATE_D 0
param set-default MC_YAWRATE_FF 0
param set-default MC_YAWRATE_MAX 50
param set PWM_AUX_DIS3 950
param set PWM_MAIN_RATE 400
param set-default MPC_XY_P 0.8
param set-default MPC_XY_VEL_P_ACC 2
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_YAWRAUTO_MAX 20
param set VT_MOT_ID 1234
param set VT_FW_MOT_OFFID 1234
param set VT_F_TRANS_THR 0.75
param set VT_IDLE_PWM_MC 1080
param set VT_TYPE 2
fi
param set-default PWM_AUX_DIS3 950
param set-default PWM_MAIN_RATE 400
param set-default VT_MOT_ID 1234
param set-default VT_FW_MOT_OFFID 1234
param set-default VT_F_TRANS_THR 0.75
param set-default VT_IDLE_PWM_MC 1080
param set-default VT_TYPE 2
set MAV_TYPE 22
set MIXER quad_x

51
ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad
View File

@@ -14,37 +14,34 @@
. ${R}etc/init.d/rc.vtol_defaults
if [ $AUTOCNF = yes ]
then
param set MC_ROLL_P 7
param set MC_ROLLRATE_P 0.15
param set MC_ROLLRATE_I 0.002
param set MC_ROLLRATE_D 0.003
param set MC_ROLLRATE_FF 0
param set MC_PITCH_P 7
param set MC_PITCHRATE_P 0.12
param set MC_PITCHRATE_I 0.002
param set MC_PITCHRATE_D 0.003
param set MC_PITCHRATE_FF 0
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.22
param set MC_YAWRATE_I 0.02
param set MC_YAWRATE_D 0
param set MC_YAWRATE_FF 0
param set MC_YAWRATE_MAX 40
param set MPC_YAWRAUTO_MAX 40
param set-default MC_ROLL_P 7
param set-default MC_ROLLRATE_P 0.15
param set-default MC_ROLLRATE_I 0.002
param set-default MC_ROLLRATE_D 0.003
param set-default MC_ROLLRATE_FF 0
param set-default MC_PITCH_P 7
param set-default MC_PITCHRATE_P 0.12
param set-default MC_PITCHRATE_I 0.002
param set-default MC_PITCHRATE_D 0.003
param set-default MC_PITCHRATE_FF 0
param set-default MC_YAW_P 2.8
param set-default MC_YAWRATE_P 0.22
param set-default MC_YAWRATE_I 0.02
param set-default MC_YAWRATE_D 0
param set-default MC_YAWRATE_FF 0
param set-default MC_YAWRATE_MAX 40
param set PWM_AUX_DIS5 950
param set PWM_MAIN_RATE 400
param set-default MPC_YAWRAUTO_MAX 40
param set VT_F_TRANS_THR 0.75
param set VT_MOT_ID 1234
param set VT_FW_MOT_OFFID 1234
param set VT_IDLE_PWM_MC 1080
param set VT_TYPE 2
fi
param set-default PWM_AUX_DIS5 950
param set-default PWM_MAIN_RATE 400
param set-default VT_F_TRANS_THR 0.75
param set-default VT_MOT_ID 1234
param set-default VT_FW_MOT_OFFID 1234
param set-default VT_IDLE_PWM_MC 1080
param set-default VT_TYPE 2
set MAV_TYPE 22
set MIXER quad_x

81
ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger
View File

@@ -14,54 +14,51 @@
. ${R}etc/init.d/rc.vtol_defaults
if [ $AUTOCNF = yes ]
then
param set FW_THR_CRUISE 65
param set FW_PR_P 0.08
param set FW_PR_FF 0.5
param set FW_RR_P 0.05
param set FW_RR_FF 0.6
param set MIS_YAW_TMT 10
param set-default FW_THR_CRUISE 65
param set-default FW_PR_P 0.08
param set-default FW_PR_FF 0.5
param set-default FW_RR_P 0.05
param set-default FW_RR_FF 0.6
param set MC_ROLL_P 7
param set MC_ROLLRATE_P 0.15
param set MC_ROLLRATE_I 0.1
param set MC_ROLLRATE_D 0.004
param set MC_ROLLRATE_FF 0
param set MC_PITCH_P 7
param set MC_PITCHRATE_P 0.15
param set MC_PITCHRATE_I 0.1
param set MC_PITCHRATE_D 0.004
param set MC_PITCHRATE_FF 0
param set MC_YAW_P 3.5
param set MC_YAWRATE_P 0.6
param set MC_YAWRATE_I 0.04
param set MC_YAWRATE_D 0
param set MC_YAWRATE_FF 0
param set MC_YAWRATE_MAX 40
param set-default MIS_YAW_TMT 10
param set MPC_ACC_HOR_MAX 2
param set MPC_Z_VEL_MAX_DN 1.5
param set MPC_TKO_SPEED 1.5
param set MPC_LAND_SPEED 0.8
param set MPC_YAWRAUTO_MAX 40
param set-default MC_ROLL_P 7
param set-default MC_ROLLRATE_P 0.15
param set-default MC_ROLLRATE_I 0.1
param set-default MC_ROLLRATE_D 0.004
param set-default MC_ROLLRATE_FF 0
param set-default MC_PITCH_P 7
param set-default MC_PITCHRATE_P 0.15
param set-default MC_PITCHRATE_I 0.1
param set-default MC_PITCHRATE_D 0.004
param set-default MC_PITCHRATE_FF 0
param set-default MC_YAW_P 3.5
param set-default MC_YAWRATE_P 0.6
param set-default MC_YAWRATE_I 0.04
param set-default MC_YAWRATE_D 0
param set-default MC_YAWRATE_FF 0
param set-default MC_YAWRATE_MAX 40
param set PWM_AUX_DIS5 950
param set PWM_AUX_REV1 1
param set PWM_AUX_REV2 1
param set PWM_MAIN_RATE 400
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_Z_VEL_MAX_DN 1.5
param set-default MPC_TKO_SPEED 1.5
param set-default MPC_LAND_SPEED 0.8
param set-default MPC_YAWRAUTO_MAX 40
param set VT_ARSP_TRANS 15
param set VT_ARSP_BLEND 8
param set VT_B_TRANS_DUR 4
param set VT_F_TRANS_THR 0.75
param set VT_IDLE_PWM_MC 1080
param set VT_MOT_ID 1234
param set VT_FW_MOT_OFFID 1234
param set VT_TYPE 2
fi
param set-default PWM_AUX_DIS5 950
param set-default PWM_AUX_REV1 1
param set-default PWM_AUX_REV2 1
param set-default PWM_MAIN_RATE 400
param set-default VT_ARSP_TRANS 15
param set-default VT_ARSP_BLEND 8
param set-default VT_B_TRANS_DUR 4
param set-default VT_F_TRANS_THR 0.75
param set-default VT_IDLE_PWM_MC 1080
param set-default VT_MOT_ID 1234
param set-default VT_FW_MOT_OFFID 1234
param set-default VT_TYPE 2
set MAV_TYPE 22
set MIXER quad_x

117
ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger
View File

@@ -14,75 +14,72 @@
. ${R}etc/init.d/rc.vtol_defaults
if [ $AUTOCNF = yes ]
then
param set FW_AIRSPD_MAX 22
param set FW_AIRSPD_MIN 14
param set FW_AIRSPD_TRIM 16
param set FW_L1_PERIOD 25
param set FW_PR_P 0.060
param set FW_P_RMAX_NEG 40
param set FW_P_RMAX_POS 40
param set FW_RR_FF 0.4
param set FW_RR_P 0.04
param set FW_R_RMAX 40
param set MC_PITCHRATE_D 0.004
param set MC_PITCHRATE_I 0
param set MC_PITCHRATE_MAX 60
param set MC_PITCHRATE_P 0.21
param set MC_PITCH_P 4
param set MC_ROLLRATE_D 0.004
param set MC_ROLLRATE_I 0.002
param set MC_ROLLRATE_MAX 60
param set MC_ROLLRATE_P 0.24
param set MC_ROLL_P 4
param set MC_YAWRATE_I 0.02
param set MC_YAWRATE_MAX 40
param set MC_YAWRATE_P 0.18
param set-default FW_AIRSPD_MAX 22
param set-default FW_AIRSPD_MIN 14
param set-default FW_AIRSPD_TRIM 16
param set-default FW_L1_PERIOD 25
param set-default FW_PR_P 0.060
param set-default FW_P_RMAX_NEG 40
param set-default FW_P_RMAX_POS 40
param set-default FW_RR_FF 0.4
param set-default FW_RR_P 0.04
param set-default FW_R_RMAX 40
param set MIS_TAKEOFF_ALT 2.5
param set MIS_YAW_TMT 20
param set-default MC_PITCHRATE_D 0.004
param set-default MC_PITCHRATE_I 0
param set-default MC_PITCHRATE_MAX 60
param set-default MC_PITCHRATE_P 0.21
param set-default MC_PITCH_P 4
param set-default MC_ROLLRATE_D 0.004
param set-default MC_ROLLRATE_I 0.002
param set-default MC_ROLLRATE_MAX 60
param set-default MC_ROLLRATE_P 0.24
param set-default MC_ROLL_P 4
param set-default MC_YAWRATE_I 0.02
param set-default MC_YAWRATE_MAX 40
param set-default MC_YAWRATE_P 0.18
param set MPC_ACC_HOR_MAX 1
param set MPC_HOLD_MAX_XY 0.5
param set MPC_HOLD_MAX_Z 0.5
param set MPC_LAND_SPEED 1
param set MPC_MANTHR_MIN 0.05
param set MPC_MAN_Y_MAX 120
param set MPC_THR_MIN 0.07
param set MPC_TILTMAX_AIR 35
param set MPC_TILTMAX_LND 20
param set MPC_TKO_SPEED 1
param set MPC_XY_P 0.3
param set MPC_XY_VEL_MAX 3
param set MPC_XY_VEL_P_ACC 1
param set MPC_Z_P 0.5
param set MPC_Z_VEL_P_ACC 2
param set MPC_YAWRAUTO_MAX 40
param set-default MIS_TAKEOFF_ALT 2.5
param set-default MIS_YAW_TMT 20
param set NAV_ACC_RAD 3
param set-default MPC_ACC_HOR_MAX 1
param set-default MPC_HOLD_MAX_XY 0.5
param set-default MPC_HOLD_MAX_Z 0.5
param set-default MPC_LAND_SPEED 1
param set-default MPC_MANTHR_MIN 0.05
param set-default MPC_MAN_Y_MAX 120
param set-default MPC_THR_MIN 0.07
param set-default MPC_TILTMAX_AIR 35
param set-default MPC_TILTMAX_LND 20
param set-default MPC_TKO_SPEED 1
param set-default MPC_XY_P 0.3
param set-default MPC_XY_VEL_MAX 3
param set-default MPC_XY_VEL_P_ACC 1
param set-default MPC_Z_P 0.5
param set-default MPC_Z_VEL_P_ACC 2
param set-default MPC_YAWRAUTO_MAX 40
param set PWM_AUX_REV1 1
param set PWM_AUX_REV2 1
param set PWM_AUX_REV3 1
param set PWM_AUX_REV4 1
param set-default NAV_ACC_RAD 3
param set PWM_AUX_DIS5 950
param set-default PWM_AUX_REV1 1
param set-default PWM_AUX_REV2 1
param set-default PWM_AUX_REV3 1
param set-default PWM_AUX_REV4 1
param set PWM_MAIN_RATE 400
param set-default PWM_AUX_DIS5 950
param set VT_ARSP_TRANS 15
param set VT_B_TRANS_DUR 4
param set VT_F_TRANS_THR 0.6
param set VT_IDLE_PWM_MC 1180
param set VT_MOT_ID 1234
param set VT_FW_MOT_OFFID 1234
param set VT_TRANS_MIN_TM 5
param set VT_TRANS_TIMEOUT 30
param set VT_TYPE 2
param set-default PWM_MAIN_RATE 400
fi
param set-default VT_ARSP_TRANS 15
param set-default VT_B_TRANS_DUR 4
param set-default VT_F_TRANS_THR 0.6
param set-default VT_IDLE_PWM_MC 1180
param set-default VT_MOT_ID 1234
param set-default VT_FW_MOT_OFFID 1234
param set-default VT_TRANS_MIN_TM 5
param set-default VT_TRANS_TIMEOUT 30
param set-default VT_TYPE 2
set MAV_TYPE 22

31
ROMFS/px4fmu_common/init.d/airframes/13010_claire
View File

@@ -14,26 +14,23 @@
. ${R}etc/init.d/rc.vtol_defaults
if [ $AUTOCNF = yes ]
then
param set PWM_AUX_DISARMED 1000
param set PWM_AUX_MAX 2000
param set PWM_AUX_MIN 1000
param set PWM_AUX_RATE 50
param set PWM_MAIN_MAX 2000
param set PWM_MAIN_RATE 400
param set-default PWM_AUX_DISARMED 1000
param set-default PWM_AUX_MAX 2000
param set-default PWM_AUX_MIN 1000
param set-default PWM_AUX_RATE 50
param set VT_MOT_ID 1234
param set VT_FW_MOT_OFFID 13
param set VT_IDLE_PWM_MC 1080
param set VT_TILT_FW 0.9
param set VT_TILT_MC 0.08
param set VT_TILT_TRANS 0.5
param set VT_ELEV_MC_LOCK 0
param set VT_TYPE 1
fi
param set-default PWM_MAIN_MAX 2000
param set-default PWM_MAIN_RATE 400
param set-default VT_MOT_ID 1234
param set-default VT_FW_MOT_OFFID 13
param set-default VT_IDLE_PWM_MC 1080
param set-default VT_TILT_FW 0.9
param set-default VT_TILT_MC 0.08
param set-default VT_TILT_TRANS 0.5
param set-default VT_ELEV_MC_LOCK 0
param set-default VT_TYPE 1
set MAV_TYPE 21
set MIXER claire

101
ROMFS/px4fmu_common/init.d/airframes/13012_convergence
View File

@@ -23,66 +23,63 @@
. ${R}etc/init.d/rc.vtol_defaults
if [ $AUTOCNF = yes ]
then
param set CBRK_AIRSPD_CHK 162128
param set FW_ARSP_MODE 1
param set-default CBRK_AIRSPD_CHK 162128
param set FW_L1_PERIOD 17
param set FW_MAN_R_MAX 50
param set FW_ACRO_X_MAX 270
param set FW_ACRO_Y_MAX 270
param set FW_ACRO_Z_MAX 180
param set FW_PR_FF 0.5
param set FW_PR_P 0.08
param set FW_PSP_OFF 5
param set FW_P_LIM_MAX 30
param set FW_P_LIM_MIN -30
param set FW_P_RMAX_NEG 60
param set FW_P_RMAX_POS 60
param set FW_RR_FF 0.33
param set FW_RR_P 0.11
param set FW_YR_FF 0.3
param set FW_YR_P 0.05
param set-default FW_ARSP_MODE 1
param set MC_PITCHRATE_D 0.003
param set MC_PITCHRATE_P 0.15
param set MC_PITCH_P 6
param set MC_ROLLRATE_D 0.003
param set MC_ROLLRATE_P 0.15
param set MC_ROLL_P 6
param set MC_YAWRATE_MAX 120
param set MC_YAWRATE_P 0.27
param set MC_YAW_P 2.5
param set-default FW_L1_PERIOD 17
param set-default FW_MAN_R_MAX 50
param set-default FW_ACRO_X_MAX 270
param set-default FW_ACRO_Y_MAX 270
param set-default FW_ACRO_Z_MAX 180
param set-default FW_PR_FF 0.5
param set-default FW_PR_P 0.08
param set-default FW_PSP_OFF 5
param set-default FW_P_LIM_MAX 30
param set-default FW_P_LIM_MIN -30
param set-default FW_P_RMAX_NEG 60
param set-default FW_P_RMAX_POS 60
param set-default FW_RR_FF 0.33
param set-default FW_RR_P 0.11
param set-default FW_YR_FF 0.3
param set-default FW_YR_P 0.05
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
param set-default MC_PITCHRATE_D 0.003
param set-default MC_PITCHRATE_P 0.15
param set-default MC_PITCH_P 6
param set-default MC_ROLLRATE_D 0.003
param set-default MC_ROLLRATE_P 0.15
param set-default MC_ROLL_P 6
param set-default MC_YAWRATE_MAX 120
param set-default MC_YAWRATE_P 0.27
param set-default MC_YAW_P 2.5
param set PWM_MAIN_RATE 400
param set-default MC_YAWRATE_P 0.3
param set-default MPC_LAND_SPEED 1.2
param set-default MPC_TKO_SPEED 2.5
param set-default MPC_Z_VEL_MAX_UP 3
param set SENS_BOARD_ROT 8
param set-default PWM_MAIN_RATE 400
param set VT_B_TRANS_DUR 1
param set VT_F_TRANS_DUR 1.2
param set VT_F_TR_OL_TM 4
param set VT_FW_DIFTHR_EN 1
param set VT_FW_DIFTHR_SC 0.17
param set VT_FW_MOT_OFFID 3
param set VT_FW_PERM_STAB 0
param set VT_IDLE_PWM_MC 1200
param set VT_MOT_ID 123
param set VT_TILT_FW 1
param set VT_TILT_MC 0
param set VT_TILT_TRANS 0.45
param set VT_TRANS_MIN_TM 1.2
param set VT_TRANS_P2_DUR 1.3
param set VT_ELEV_MC_LOCK 0
param set VT_TYPE 1
fi
param set-default SENS_BOARD_ROT 8
param set-default VT_B_TRANS_DUR 1
param set-default VT_F_TRANS_DUR 1.2
param set-default VT_F_TR_OL_TM 4
param set-default VT_FW_DIFTHR_EN 1
param set-default VT_FW_DIFTHR_SC 0.17
param set-default VT_FW_MOT_OFFID 3
param set-default VT_FW_PERM_STAB 0
param set-default VT_IDLE_PWM_MC 1200
param set-default VT_MOT_ID 123
param set-default VT_TILT_FW 1
param set-default VT_TILT_MC 0
param set-default VT_TILT_TRANS 0.45
param set-default VT_TRANS_MIN_TM 1.2
param set-default VT_TRANS_P2_DUR 1.3
param set-default VT_ELEV_MC_LOCK 0
param set-default VT_TYPE 1
set MAV_TYPE 21
set MIXER vtol_convergence

227
ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
View File

@@ -23,137 +23,134 @@
. ${R}etc/init.d/rc.vtol_defaults
if [ $AUTOCNF = yes ]
then
param set BAT_CAPACITY 23000
param set BAT_N_CELLS 4
param set BAT_R_INTERNAL 0.0025
param set CBRK_AIRSPD_CHK 162128
param set CBRK_IO_SAFETY 22027
param set-default BAT_CAPACITY 23000
param set-default BAT_N_CELLS 4
param set-default BAT_R_INTERNAL 0.0025
param set EKF2_GPS_POS_X -0.12
param set EKF2_IMU_POS_X -0.12
param set EKF2_TAU_VEL 0.5
param set EKF2_GPS_P_GATE 10
param set EKF2_GPS_V_GATE 10
param set-default CBRK_AIRSPD_CHK 162128
param set-default CBRK_IO_SAFETY 22027
param set FW_ARSP_MODE 1
param set FW_L1_PERIOD 25
param set FW_PR_FF 0.7
param set FW_PR_I 0.18
param set FW_PR_P 0.15
param set FW_P_TC 0.5
param set FW_PSP_OFF 5
param set FW_R_LIM 35
param set FW_RR_FF 0.9
param set FW_RR_I 0.08
param set FW_RR_P 0.18
param set FW_T_HRATE_FF 0.5
param set FW_T_CLMB_MAX 3
param set FW_T_SINK_MAX 3
param set FW_T_SINK_MIN 1
param set FW_T_VERT_ACC 6
param set FW_THR_CRUISE 0.70
param set FW_THR_SLEW_MAX 1
param set FW_MAN_P_MAX 30
param set FW_P_LIM_MAX 15
param set FW_P_LIM_MIN -25
param set FW_P_RMAX_NEG 45
param set FW_P_RMAX_POS 45
param set FW_R_RMAX 50
param set FW_THR_MIN 0.55
param set FW_BAT_SCALE_EN 1
param set FW_THR_ALT_SCL 2.7
param set FW_T_RLL2THR 20
param set-default EKF2_GPS_POS_X -0.12
param set-default EKF2_IMU_POS_X -0.12
param set-default EKF2_TAU_VEL 0.5
param set-default EKF2_GPS_P_GATE 10
param set-default EKF2_GPS_V_GATE 10
param set LNDMC_ALT_MAX 9999
param set LNDMC_XY_VEL_MAX 1
param set LNDMC_Z_VEL_MAX 0.7
param set-default FW_ARSP_MODE 1
param set-default FW_L1_PERIOD 25
param set-default FW_PR_FF 0.7
param set-default FW_PR_I 0.18
param set-default FW_PR_P 0.15
param set-default FW_P_TC 0.5
param set-default FW_PSP_OFF 5
param set-default FW_R_LIM 35
param set-default FW_RR_FF 0.9
param set-default FW_RR_I 0.08
param set-default FW_RR_P 0.18
param set-default FW_T_HRATE_FF 0.5
param set-default FW_T_CLMB_MAX 3
param set-default FW_T_SINK_MAX 3
param set-default FW_T_SINK_MIN 1
param set-default FW_T_VERT_ACC 6
param set-default FW_THR_CRUISE 0.70
param set-default FW_THR_SLEW_MAX 1
param set-default FW_MAN_P_MAX 30
param set-default FW_P_LIM_MAX 15
param set-default FW_P_LIM_MIN -25
param set-default FW_P_RMAX_NEG 45
param set-default FW_P_RMAX_POS 45
param set-default FW_R_RMAX 50
param set-default FW_THR_MIN 0.55
param set-default FW_BAT_SCALE_EN 1
param set-default FW_THR_ALT_SCL 2.7
param set-default FW_T_RLL2THR 20
param set MC_ROLL_P 6.5
param set MC_ROLLRATE_P 0.16
param set MC_ROLLRATE_I 0.01
param set MC_ROLLRATE_D 0.003
param set MC_ROLLRATE_FF 0
param set MC_ROLLRATE_MAX 80
param set MC_PITCH_P 6.5
param set MC_PITCHRATE_P 0.15
param set MC_PITCHRATE_I 0.05
param set MC_PITCHRATE_D 0.003
param set MC_PITCHRATE_FF 0
param set MC_PITCHRATE_MAX 80
param set MC_YAW_P 3.5
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0
param set MC_YAWRATE_FF 0
param set MC_YAWRATE_MAX 20
param set MC_AIRMODE 1
param set-default LNDMC_ALT_MAX 9999
param set-default LNDMC_XY_VEL_MAX 1
param set-default LNDMC_Z_VEL_MAX 0.7
param set MIS_DIST_1WP 100
param set MIS_DIST_WPS 100000
param set MIS_TAKEOFF_ALT 15
param set-default MC_ROLL_P 6.5
param set-default MC_ROLLRATE_P 0.16
param set-default MC_ROLLRATE_I 0.01
param set-default MC_ROLLRATE_D 0.003
param set-default MC_ROLLRATE_FF 0
param set-default MC_ROLLRATE_MAX 80
param set-default MC_PITCH_P 6.5
param set-default MC_PITCHRATE_P 0.15
param set-default MC_PITCHRATE_I 0.05
param set-default MC_PITCHRATE_D 0.003
param set-default MC_PITCHRATE_FF 0
param set-default MC_PITCHRATE_MAX 80
param set-default MC_YAW_P 3.5
param set-default MC_YAWRATE_P 0.2
param set-default MC_YAWRATE_I 0.1
param set-default MC_YAWRATE_D 0
param set-default MC_YAWRATE_FF 0
param set-default MC_YAWRATE_MAX 20
param set-default MC_AIRMODE 1
param set MPC_XY_P 0.8
param set MPC_XY_VEL_P_ACC 2
param set MPC_XY_VEL_MAX 5
param set MPC_ACC_HOR_MAX 2
param set MPC_LAND_SPEED 1.2
param set MPC_TILTMAX_LND 35
param set MPC_Z_VEL_MAX_UP 1.5
param set MPC_Z_VEL_MAX_DN 1.5
param set MPC_HOLD_MAX_XY 0.5
param set MPC_HOLD_MAX_Z 0.5
param set MPC_TKO_RAMP_T 0.8
param set MPC_XY_CRUISE 5
param set MPC_TILTMAX_AIR 25
param set MPC_TILTMAX_LND 25
param set MPC_YAWRAUTO_MAX 20
param set-default MIS_DIST_1WP 100
param set-default MIS_DIST_WPS 100000
param set-default MIS_TAKEOFF_ALT 15
param set NAV_DLL_ACT 0
param set NAV_LOITER_RAD 100
param set-default MPC_XY_P 0.8
param set-default MPC_XY_VEL_P_ACC 2
param set-default MPC_XY_VEL_MAX 5
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_LAND_SPEED 1.2
param set-default MPC_TILTMAX_LND 35
param set-default MPC_Z_VEL_MAX_UP 1.5
param set-default MPC_Z_VEL_MAX_DN 1.5
param set-default MPC_HOLD_MAX_XY 0.5
param set-default MPC_HOLD_MAX_Z 0.5
param set-default MPC_TKO_RAMP_T 0.8
param set-default MPC_XY_CRUISE 5
param set-default MPC_TILTMAX_AIR 25
param set-default MPC_TILTMAX_LND 25
param set-default MPC_YAWRAUTO_MAX 20
param set PWM_AUX_DISARMED 950
param set-default NAV_DLL_ACT 0
param set-default NAV_LOITER_RAD 100
param set PWM_MAIN_DIS5 1500
param set PWM_MAIN_DIS6 1500
param set PWM_MAIN_DIS7 900
param set PWM_MAIN_DIS8 900
param set-default PWM_AUX_DISARMED 950
param set PWM_MAIN_RATE 400
param set-default PWM_MAIN_DIS5 1500
param set-default PWM_MAIN_DIS6 1500
param set-default PWM_MAIN_DIS7 900
param set-default PWM_MAIN_DIS8 900
param set SENS_BOARD_ROT 18
param set-default PWM_MAIN_RATE 400
# TELEM2 config
param set MAV_1_CONFIG 102
param set MAV_1_RATE 5000
param set MAV_1_FORWARD 1
param set SER_TEL2_BAUD 57600
param set-default SENS_BOARD_ROT 18
param set VT_TYPE 2
param set VT_MOT_ID 1234
param set VT_FW_MOT_OFFID 1234
param set VT_F_TRANS_THR 1
param set VT_DWN_PITCH_MAX 8
param set VT_FW_QC_P 55
param set VT_FW_QC_R 55
param set VT_TRANS_MIN_TM 15
param set VT_B_TRANS_DUR 8
param set VT_WV_LND_EN 1
param set VT_WV_LTR_EN 1
param set VT_FWD_THRUST_SC 4
param set VT_F_TRANS_DUR 1
param set VT_IDLE_PWM_MC 1025
param set VT_B_REV_OUT 0.5
param set VT_B_TRANS_THR 0.7
param set VT_FW_PERM_STAB 1
param set VT_TRANS_TIMEOUT 22
param set VT_F_TRANS_RAMP 4
# TELEM2 config
param set-default MAV_1_CONFIG 102
param set-default MAV_1_RATE 5000
param set-default MAV_1_FORWARD 1
param set-default SER_TEL2_BAUD 57600
param set COM_RC_OVERRIDE 0
fi
param set-default VT_TYPE 2
param set-default VT_MOT_ID 1234
param set-default VT_FW_MOT_OFFID 1234
param set-default VT_F_TRANS_THR 1
param set-default VT_DWN_PITCH_MAX 8
param set-default VT_FW_QC_P 55
param set-default VT_FW_QC_R 55
param set-default VT_TRANS_MIN_TM 15
param set-default VT_B_TRANS_DUR 8
param set-default VT_WV_LND_EN 1
param set-default VT_WV_LTR_EN 1
param set-default VT_FWD_THRUST_SC 4
param set-default VT_F_TRANS_DUR 1
param set-default VT_IDLE_PWM_MC 1025
param set-default VT_B_REV_OUT 0.5
param set-default VT_B_TRANS_THR 0.7
param set-default VT_FW_PERM_STAB 1
param set-default VT_TRANS_TIMEOUT 22
param set-default VT_F_TRANS_RAMP 4
param set-default COM_RC_OVERRIDE 0
set MAV_TYPE 22
set MIXER deltaquad

147
ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
View File

@@ -23,92 +23,89 @@
. ${R}etc/init.d/rc.vtol_defaults
if [ $AUTOCNF = yes ]
then
param set BAT_N_CELLS 6
param set FW_AIRSPD_MAX 30
param set FW_AIRSPD_MIN 19
param set FW_AIRSPD_TRIM 23
param set FW_L1_R_SLEW_MAX 40
param set FW_LND_EARLYCFG 1
param set FW_MAN_P_MAX 30
param set FW_PR_I 0.1
param set FW_PSP_OFF 3
param set FW_P_LIM_MAX 18
param set FW_P_LIM_MIN -25
param set FW_RLL_TO_YAW_FF 0.1
param set FW_RR_I 0.1
param set FW_RR_P 0.08
param set FW_R_LIM 45
param set FW_R_RMAX 50
param set FW_THR_CRUISE 0.65
param set FW_THR_MIN 0.3
param set FW_THR_SLEW_MAX 0.6
param set FW_T_HRATE_FF 0
param set FW_T_SINK_MAX 15
param set FW_T_SINK_MIN 3
param set FW_YR_I 0.1
param set FW_YR_P 0.15
param set-default BAT_N_CELLS 6
param set IMU_GYRO_CUTOFF 40
param set-default FW_AIRSPD_MAX 30
param set-default FW_AIRSPD_MIN 19
param set-default FW_AIRSPD_TRIM 23
param set-default FW_L1_R_SLEW_MAX 40
param set-default FW_LND_EARLYCFG 1
param set-default FW_MAN_P_MAX 30
param set-default FW_PR_I 0.1
param set-default FW_PSP_OFF 3
param set-default FW_P_LIM_MAX 18
param set-default FW_P_LIM_MIN -25
param set-default FW_RLL_TO_YAW_FF 0.1
param set-default FW_RR_I 0.1
param set-default FW_RR_P 0.08
param set-default FW_R_LIM 45
param set-default FW_R_RMAX 50
param set-default FW_THR_CRUISE 0.65
param set-default FW_THR_MIN 0.3
param set-default FW_THR_SLEW_MAX 0.6
param set-default FW_T_HRATE_FF 0
param set-default FW_T_SINK_MAX 15
param set-default FW_T_SINK_MIN 3
param set-default FW_YR_I 0.1
param set-default FW_YR_P 0.15
param set IMU_DGYRO_CUTOFF 15
param set MC_PITCHRATE_I 0.2
param set MC_PITCHRATE_MAX 60
param set MC_ROLLRATE_I 0.2
param set MC_ROLLRATE_MAX 60
param set MC_YAWRATE_I 0.15
param set MC_YAWRATE_MAX 40
param set MC_YAWRATE_P 0.3
param set-default IMU_GYRO_CUTOFF 40
param set MIS_TAKEOFF_ALT 30
param set-default IMU_DGYRO_CUTOFF 15
param set-default MC_PITCHRATE_I 0.2
param set-default MC_PITCHRATE_MAX 60
param set-default MC_ROLLRATE_I 0.2
param set-default MC_ROLLRATE_MAX 60
param set-default MC_YAWRATE_I 0.15
param set-default MC_YAWRATE_MAX 40
param set-default MC_YAWRATE_P 0.3
param set MPC_ACC_DOWN_MAX 2
param set MPC_ACC_HOR_MAX 2
param set MPC_ACC_UP_MAX 3
param set MC_AIRMODE 1
param set MPC_JERK_AUTO 4
param set MPC_LAND_SPEED 1
param set MPC_MAN_TILT_MAX 25
param set MPC_MAN_Y_MAX 40
param set MPC_POS_MODE 3
param set MPC_SPOOLUP_TIME 1.5
param set MPC_THR_HOVER 0.45
param set MPC_TILTMAX_AIR 25
param set MPC_TKO_RAMP_T 1.8
param set MPC_TKO_SPEED 1
param set MPC_VEL_MANUAL 3
param set MPC_XY_CRUISE 3
param set MPC_XY_VEL_MAX 3.5
param set MPC_YAWRAUTO_MAX 40
param set MPC_Z_VEL_MAX_DN 1.5
param set MPC_Z_VEL_MAX_UP 2
param set-default MIS_TAKEOFF_ALT 30
param set NAV_ACC_RAD 3
param set-default MPC_ACC_DOWN_MAX 2
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_ACC_UP_MAX 3
param set-default MC_AIRMODE 1
param set-default MPC_JERK_AUTO 4
param set-default MPC_LAND_SPEED 1
param set-default MPC_MAN_TILT_MAX 25
param set-default MPC_MAN_Y_MAX 40
param set-default MPC_POS_MODE 3
param set-default MPC_SPOOLUP_TIME 1.5
param set-default MPC_THR_HOVER 0.45
param set-default MPC_TILTMAX_AIR 25
param set-default MPC_TKO_RAMP_T 1.8
param set-default MPC_TKO_SPEED 1
param set-default MPC_VEL_MANUAL 3
param set-default MPC_XY_CRUISE 3
param set-default MPC_XY_VEL_MAX 3.5
param set-default MPC_YAWRAUTO_MAX 40
param set-default MPC_Z_VEL_MAX_DN 1.5
param set-default MPC_Z_VEL_MAX_UP 2
param set PWM_MAIN_DIS3 1000
param set PWM_MAIN_MIN3 1120
param set PWM_MAIN_MIN 950
param set-default NAV_ACC_RAD 3
param set SENS_BOARD_ROT 4
param set-default PWM_MAIN_DIS3 1000
param set-default PWM_MAIN_MIN3 1120
param set-default PWM_MAIN_MIN 950
param set VT_ARSP_BLEND 10
param set VT_ARSP_TRANS 21
param set VT_B_DEC_MSS 1.5
param set VT_B_TRANS_DUR 12
param set VT_ELEV_MC_LOCK 0
param set VT_FWD_THRUST_SC 1.2
param set VT_FW_MOT_OFFID 5678
param set VT_F_TR_OL_TM 8
param set VT_IDLE_PWM_MC 1000
param set VT_MOT_ID 5678
param set VT_PSHER_RMP_DT 2
param set VT_TRANS_MIN_TM 4
param set VT_TYPE 2
param set-default SENS_BOARD_ROT 4
fi
param set-default VT_ARSP_BLEND 10
param set-default VT_ARSP_TRANS 21
param set-default VT_B_DEC_MSS 1.5
param set-default VT_B_TRANS_DUR 12
param set-default VT_ELEV_MC_LOCK 0
param set-default VT_FWD_THRUST_SC 1.2
param set-default VT_FW_MOT_OFFID 5678
param set-default VT_F_TR_OL_TM 8
param set-default VT_IDLE_PWM_MC 1000
param set-default VT_MOT_ID 5678
param set-default VT_PSHER_RMP_DT 2
param set-default VT_TRANS_MIN_TM 4
param set-default VT_TYPE 2
set MAV_TYPE 22

45
ROMFS/px4fmu_common/init.d/airframes/13015_generic_vtol_standard
View File

@@ -24,35 +24,32 @@
. ${R}etc/init.d/rc.vtol_defaults
if [ $AUTOCNF = yes ]
then
param set PWM_MAIN_RATE 400
param set PWM_MAIN_MIN1 1100
param set PWM_MAIN_MIN2 1100
param set PWM_MAIN_MIN3 1100
param set PWM_MAIN_MIN4 1100
param set-default PWM_MAIN_RATE 400
param set PWM_MAIN_MAX1 1900
param set PWM_MAIN_MAX2 1900
param set PWM_MAIN_MAX3 1900
param set PWM_MAIN_MAX4 1900
param set-default PWM_MAIN_MIN1 1100
param set-default PWM_MAIN_MIN2 1100
param set-default PWM_MAIN_MIN3 1100
param set-default PWM_MAIN_MIN4 1100
param set PWM_MAIN_DIS1 900
param set PWM_MAIN_DIS2 900
param set PWM_MAIN_DIS3 900
param set PWM_MAIN_DIS4 900
param set PWM_MAIN_DIS5 1500
param set PWM_MAIN_DIS6 1500
param set PWM_MAIN_DIS7 1500
param set PWM_MAIN_DIS8 1500
param set PWM_MAIN_DIS9 900
param set-default PWM_MAIN_MAX1 1900
param set-default PWM_MAIN_MAX2 1900
param set-default PWM_MAIN_MAX3 1900
param set-default PWM_MAIN_MAX4 1900
param set VT_TYPE 2
param set VT_MOT_ID 1234
param set VT_FW_MOT_OFFID 1234
fi
param set-default PWM_MAIN_DIS1 900
param set-default PWM_MAIN_DIS2 900
param set-default PWM_MAIN_DIS3 900
param set-default PWM_MAIN_DIS4 900
param set-default PWM_MAIN_DIS5 1500
param set-default PWM_MAIN_DIS6 1500
param set-default PWM_MAIN_DIS7 1500
param set-default PWM_MAIN_DIS8 1500
param set-default PWM_MAIN_DIS9 900
param set-default VT_TYPE 2
param set-default VT_MOT_ID 1234
param set-default VT_FW_MOT_OFFID 1234
set MAV_TYPE 22
set MIXER quad_x_vtol_AAERT

13
ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo
View File

@@ -26,16 +26,13 @@
. ${R}etc/init.d/rc.vtol_defaults
if [ $AUTOCNF = yes ]
then
param set PWM_AUX_DIS5 950
param set PWM_MAIN_RATE 400
param set VT_TYPE 2
param set VT_MOT_ID 12345678
param set VT_FW_MOT_OFFID 12345678
fi
param set-default PWM_AUX_DIS5 950
param set-default PWM_MAIN_RATE 400
param set-default VT_TYPE 2
param set-default VT_MOT_ID 12345678
param set-default VT_FW_MOT_OFFID 12345678
set MAV_TYPE 22
set MIXER octo_cox

11
ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter
View File

@@ -19,15 +19,12 @@
. ${R}etc/init.d/rc.vtol_defaults
if [ $AUTOCNF = yes ]
then
param set VT_ELEV_MC_LOCK 0
param set VT_MOT_COUNT 2
param set VT_TYPE 0
param set MAV_TYPE 19
fi
param set-default VT_ELEV_MC_LOCK 0
param set-default VT_MOT_COUNT 2
param set-default VT_TYPE 0
param set-default MAV_TYPE 19
set MAV_TYPE 19
set MIXER vtol_tailsitter_duo

49
ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli
View File

@@ -20,36 +20,33 @@
. ${R}etc/init.d/rc.mc_defaults
set MIXER coax
if [ $AUTOCNF = yes ]
then
param set MC_ROLL_P 6.5
param set MC_ROLLRATE_P 0.17
param set MC_ROLLRATE_I 0.05
param set MC_ROLLRATE_D 0.005
param set MC_ROLLRATE_FF 0
param set MC_PITCH_P 6.5
param set MC_PITCHRATE_P 0.17
param set MC_PITCHRATE_I 0.05
param set MC_PITCHRATE_D 0.005
param set MC_PITCHRATE_FF 0
param set MC_YAW_P 2
param set MC_YAWRATE_P 0.1
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0
param set MC_YAWRATE_FF 0
param set NAV_ACC_RAD 2
param set-default MC_ROLL_P 6.5
param set-default MC_ROLLRATE_P 0.17
param set-default MC_ROLLRATE_I 0.05
param set-default MC_ROLLRATE_D 0.005
param set-default MC_ROLLRATE_FF 0
param set-default MC_PITCH_P 6.5
param set-default MC_PITCHRATE_P 0.17
param set-default MC_PITCHRATE_I 0.05
param set-default MC_PITCHRATE_D 0.005
param set-default MC_PITCHRATE_FF 0
param set-default MC_YAW_P 2
param set-default MC_YAWRATE_P 0.1
param set-default MC_YAWRATE_I 0.1
param set-default MC_YAWRATE_D 0
param set-default MC_YAWRATE_FF 0
param set PWM_AUX_RATE 50
param set PWM_MAIN_DISARM 900
param set PWM_MAIN_MIN 1075
param set PWM_MAIN_MAX 1950
param set PWM_MAIN_RATE 400
param set-default NAV_ACC_RAD 2
param set RTL_RETURN_ALT 30
param set RTL_DESCEND_ALT 10
fi
param set-default PWM_AUX_RATE 50
param set-default PWM_MAIN_DISARM 900
param set-default PWM_MAIN_MIN 1075
param set-default PWM_MAIN_MAX 1950
param set-default PWM_MAIN_RATE 400
param set-default RTL_RETURN_ALT 30
param set-default RTL_DESCEND_ALT 10
# This is the gimbal pass mixer
set MIXER_AUX pass

52
ROMFS/px4fmu_common/init.d/airframes/16001_helicopter
View File

@@ -27,34 +27,32 @@ set MIXER blade130
#set PWM_OUT 1234
if [ $AUTOCNF = yes ]
then
param set ATT_BIAS_MAX 0
param set CBRK_IO_SAFETY 22027
param set-default ATT_BIAS_MAX 0
param set MC_ROLL_P 5
param set MC_ROLLRATE_P 0
param set MC_ROLLRATE_I 0
param set MC_ROLLRATE_D 0
param set MC_ROLLRATE_FF 0.15
param set MC_PITCH_P 6.5
param set MC_PITCHRATE_P 0
param set MC_PITCHRATE_I 0
param set MC_PITCHRATE_D 0
param set MC_PITCHRATE_FF 0.15
param set MC_YAW_P 3
param set MC_YAWRATE_P 0.1
param set MC_YAWRATE_I 0
param set MC_YAWRATE_D 0
param set MC_ROLLRATE_MAX 720
param set MC_PITCHRATE_MAX 720
param set MC_YAWRATE_MAX 400
param set MC_ACRO_R_MAX 360
param set MC_ACRO_P_MAX 360
param set-default CBRK_IO_SAFETY 22027
param set MPC_THR_MIN 0.06
param set MPC_MANTHR_MIN 0.06
param set-default MC_ROLL_P 5
param set-default MC_ROLLRATE_P 0
param set-default MC_ROLLRATE_I 0
param set-default MC_ROLLRATE_D 0
param set-default MC_ROLLRATE_FF 0.15
param set-default MC_PITCH_P 6.5
param set-default MC_PITCHRATE_P 0
param set-default MC_PITCHRATE_I 0
param set-default MC_PITCHRATE_D 0
param set-default MC_PITCHRATE_FF 0.15
param set-default MC_YAW_P 3
param set-default MC_YAWRATE_P 0.1
param set-default MC_YAWRATE_I 0
param set-default MC_YAWRATE_D 0
param set-default MC_ROLLRATE_MAX 720
param set-default MC_PITCHRATE_MAX 720
param set-default MC_YAWRATE_MAX 400
param set-default MC_ACRO_R_MAX 360
param set-default MC_ACRO_P_MAX 360
param set PWM_MAIN_MIN 1075
fi
param set-default MPC_THR_MIN 0.06
param set-default MPC_MANTHR_MIN 0.06
param set-default PWM_MAIN_MIN 1075

35
ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2
View File

@@ -26,29 +26,26 @@
. ${R}etc/init.d/rc.fw_defaults
if [ $AUTOCNF = yes ]
then
param set BAT_CAPACITY 2500
param set BAT_N_CELLS 3
param set PWM_AUX_RATE 50
param set PWM_MAIN_RATE 50
param set-default BAT_CAPACITY 2500
param set-default BAT_N_CELLS 3
param set SENS_BOARD_ROT 8
param set-default PWM_AUX_RATE 50
param set-default PWM_MAIN_RATE 50
param set FW_AIRSPD_MAX 20
param set FW_AIRSPD_MIN 7
param set FW_AIRSPD_TRIM 13
param set FW_THR_CRUISE 0.8
param set-default SENS_BOARD_ROT 8
param set FW_MAN_P_MAX 25
param set FW_MAN_R_MAX 25
param set FW_PR_I 0.02
param set FW_R_LIM 40
param set FW_P_LIM_MAX 25
param set FW_P_LIM_MIN -5
param set FW_P_RMAX_NEG 20
fi
param set-default FW_AIRSPD_MAX 20
param set-default FW_AIRSPD_MIN 7
param set-default FW_AIRSPD_TRIM 13
param set-default FW_THR_CRUISE 0.8
param set-default FW_MAN_P_MAX 25
param set-default FW_MAN_R_MAX 25
param set-default FW_PR_I 0.02
param set-default FW_R_LIM 40
param set-default FW_P_LIM_MAX 25
param set-default FW_P_LIM_MIN -5
param set-default FW_P_RMAX_NEG 20
set MIXER TF-AutoG2
set MIXER_AUX pass

35
ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2
View File

@@ -21,29 +21,26 @@
. ${R}etc/init.d/rc.fw_defaults
if [ $AUTOCNF = yes ]
then
param set BAT_CAPACITY 3300
param set BAT_N_CELLS 3
param set PWM_AUX_RATE 50
param set PWM_MAIN_RATE 50
param set-default BAT_CAPACITY 3300
param set-default BAT_N_CELLS 3
param set SENS_BOARD_ROT 4
param set-default PWM_AUX_RATE 50
param set-default PWM_MAIN_RATE 50
param set FW_AIRSPD_MAX 20
param set FW_AIRSPD_MIN 7
param set FW_AIRSPD_TRIM 13
param set FW_THR_CRUISE 0.8
param set-default SENS_BOARD_ROT 4
param set FW_MAN_P_MAX 25
param set FW_MAN_R_MAX 25
param set FW_PR_I 0.02
param set FW_R_LIM 40
param set FW_P_LIM_MAX 25
param set FW_P_LIM_MIN -5
param set FW_P_RMAX_NEG 20
fi
param set-default FW_AIRSPD_MAX 20
param set-default FW_AIRSPD_MIN 7
param set-default FW_AIRSPD_TRIM 13
param set-default FW_THR_CRUISE 0.8
param set-default FW_MAN_P_MAX 25
param set-default FW_MAN_R_MAX 25
param set-default FW_PR_I 0.02
param set-default FW_R_LIM 40
param set-default FW_P_LIM_MAX 25
param set-default FW_P_LIM_MIN -5
param set-default FW_P_RMAX_NEG 20
set MIXER TF-G2
set MIXER_AUX pass

23
ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1
View File

@@ -16,22 +16,19 @@
. ${R}etc/init.d/rc.balloon_defaults
if [ $AUTOCNF = yes ]
then
param set COM_PREARM_MODE 2 # always in prearm state
param set CBRK_IO_SAFETY 22027
param set SDLOG_PROFILE 17
param set SDLOG_MODE 2
param set MAV_0_MODE 1
param set MAV_0_CONFIG 102
param set GPS_UBX_DYNMODEL 8
param set SER_TEL2_BAUD 9600
param set SENS_BOARD_ROT 0
param set-default COM_PREARM_MODE 2 # always in prearm state
param set-default CBRK_IO_SAFETY 22027
param set-default SDLOG_PROFILE 17
param set-default SDLOG_MODE 2
param set-default MAV_0_MODE 1
param set-default MAV_0_CONFIG 102
param set-default GPS_UBX_DYNMODEL 8
param set-default SER_TEL2_BAUD 9600
param set-default SENS_BOARD_ROT 0
param set MAV_TYPE 8 # MAV_TYPE_FREE_BALLOON
fi
set MIXER IO_pass
set MIXER_AUX pass

7
ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane
View File

@@ -24,11 +24,8 @@
. ${R}etc/init.d/rc.fw_defaults
if [ $AUTOCNF = yes ]
then
param set PWM_AUX_RATE 50
param set PWM_MAIN_RATE 50
fi
param set-default PWM_AUX_RATE 50
param set-default PWM_MAIN_RATE 50
set MIXER AETRFG

30
ROMFS/px4fmu_common/init.d/airframes/2105_maja
View File

@@ -26,25 +26,23 @@
. ${R}etc/init.d/rc.fw_defaults
if [ $AUTOCNF = yes ]
then
param set FW_AIRSPD_MIN 10
param set FW_AIRSPD_TRIM 15
param set FW_AIRSPD_MAX 20
param set-default FW_AIRSPD_MIN 10
param set-default FW_AIRSPD_TRIM 15
param set-default FW_AIRSPD_MAX 20
param set FW_MAN_P_MAX 55
param set FW_MAN_R_MAX 55
param set FW_R_LIM 55
param set-default FW_MAN_P_MAX 55
param set-default FW_MAN_R_MAX 55
param set-default FW_R_LIM 55
param set FW_WR_FF 0.2
param set FW_WR_I 0.2
param set FW_WR_IMAX 0.8
param set FW_WR_P 1
param set FW_W_RMAX 0
param set-default FW_WR_FF 0.2
param set-default FW_WR_I 0.2
param set-default FW_WR_IMAX 0.8
param set-default FW_WR_P 1
param set-default FW_W_RMAX 0
# set disarmed value for the ESC
param set-default PWM_MAIN_DISARM 1000
# set disarmed value for the ESC
param set PWM_MAIN_DISARM 1000
fi
set MIXER AAERTWF

30
ROMFS/px4fmu_common/init.d/airframes/2106_albatross
View File

@@ -26,25 +26,23 @@
. ${R}etc/init.d/rc.fw_defaults
if [ $AUTOCNF = yes ]
then
param set FW_AIRSPD_MIN 10
param set FW_AIRSPD_TRIM 15
param set FW_AIRSPD_MAX 20
param set-default FW_AIRSPD_MIN 10
param set-default FW_AIRSPD_TRIM 15
param set-default FW_AIRSPD_MAX 20
param set FW_MAN_P_MAX 55
param set FW_MAN_R_MAX 55
param set FW_R_LIM 55
param set-default FW_MAN_P_MAX 55
param set-default FW_MAN_R_MAX 55
param set-default FW_R_LIM 55
param set FW_WR_FF 0.2
param set FW_WR_I 0.2
param set FW_WR_IMAX 0.8
param set FW_WR_P 1
param set FW_W_RMAX 0
param set-default FW_WR_FF 0.2
param set-default FW_WR_I 0.2
param set-default FW_WR_IMAX 0.8
param set-default FW_WR_P 1
param set-default FW_W_RMAX 0
# set disarmed value for the ESC
param set-default PWM_MAIN_DISARM 1000
# set disarmed value for the ESC
param set PWM_MAIN_DISARM 1000
fi
set MIXER AAVVTWFF

29
ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon
View File

@@ -27,25 +27,22 @@
. ${R}etc/init.d/rc.fw_defaults
if [ $AUTOCNF = yes ]
then
param set FW_AIRSPD_MIN 10
param set FW_AIRSPD_TRIM 15
param set FW_AIRSPD_MAX 20
param set-default FW_AIRSPD_MIN 10
param set-default FW_AIRSPD_TRIM 15
param set-default FW_AIRSPD_MAX 20
param set FW_MAN_P_MAX 55
param set FW_MAN_R_MAX 55
param set FW_R_LIM 55
param set-default FW_MAN_P_MAX 55
param set-default FW_MAN_R_MAX 55
param set-default FW_R_LIM 55
param set FW_WR_FF 0.2
param set FW_WR_I 0.2
param set FW_WR_IMAX 0.8
param set FW_WR_P 1
param set FW_W_RMAX 0
param set-default FW_WR_FF 0.2
param set-default FW_WR_I 0.2
param set-default FW_WR_IMAX 0.8
param set-default FW_WR_P 1
param set-default FW_W_RMAX 0
# set disarmed value for the ESC
param set PWM_MAIN_DISARM 1000
fi
# set disarmed value for the ESC
param set-default PWM_MAIN_DISARM 1000
# The Mini Talon does not have a wheel and
# no flaps. I leave them here because the mixer

23
ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox
View File

@@ -28,23 +28,20 @@
set VEHICLE_TYPE mc
if [ $AUTOCNF = yes ]
then
param set NAV_ACC_RAD 2
param set PWM_AUX_RATE 400
param set PWM_AUX_DISARMED 900
param set PWM_AUX_MIN 1075
param set PWM_AUX_MAX 1950
param set-default NAV_ACC_RAD 2
param set PWM_MAIN_MIN 1075
param set PWM_MAIN_MAX 1950
param set PWM_MAIN_RATE 400
param set-default PWM_AUX_RATE 400
param set-default PWM_AUX_DISARMED 900
param set-default PWM_AUX_MIN 1075
param set-default PWM_AUX_MAX 1950
param set RTL_DESCEND_ALT 10
param set RTL_RETURN_ALT 30
fi
param set-default PWM_MAIN_MIN 1075
param set-default PWM_MAIN_MAX 1950
param set-default PWM_MAIN_RATE 400
param set-default RTL_DESCEND_ALT 10
param set-default RTL_RETURN_ALT 30
set MIXER dodeca_top_cox
set MIXER_AUX dodeca_bottom_cox

8
ROMFS/px4fmu_common/init.d/airframes/2507_cloudship
View File

@@ -16,11 +16,9 @@
. ${R}etc/init.d/rc.airship_defaults
if [ $AUTOCNF = yes ]
then
param set COM_PREARM_MODE 2
param set CBRK_IO_SAFETY 22027
fi
param set-default COM_PREARM_MODE 2
param set-default CBRK_IO_SAFETY 22027
set MIXER cloudship
set PWM_OUT 1234

44
ROMFS/px4fmu_common/init.d/airframes/3030_io_camflyer
View File

@@ -22,30 +22,28 @@
. ${R}etc/init.d/rc.fw_defaults
if [ $AUTOCNF = yes ]
then
param set FW_AIRSPD_MAX 15
param set FW_AIRSPD_MIN 10
param set FW_AIRSPD_TRIM 13
param set FW_R_TC 0.3
param set FW_P_TC 0.3
param set FW_L1_DAMPING 0.74
param set FW_L1_PERIOD 16
param set FW_LND_ANG 15
param set FW_LND_FLALT 5
param set FW_LND_HHDIST 15
param set FW_LND_HVIRT 13
param set FW_LND_TLALT 5
param set FW_THR_LND_MAX 0
param set FW_PR_FF 0.35
param set FW_PR_IMAX 0.4
param set FW_PR_P 0.08
param set FW_RR_FF 0.6
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.04
param set-default FW_AIRSPD_MAX 15
param set-default FW_AIRSPD_MIN 10
param set-default FW_AIRSPD_TRIM 13
param set-default FW_R_TC 0.3
param set-default FW_P_TC 0.3
param set-default FW_L1_DAMPING 0.74
param set-default FW_L1_PERIOD 16
param set-default FW_LND_ANG 15
param set-default FW_LND_FLALT 5
param set-default FW_LND_HHDIST 15
param set-default FW_LND_HVIRT 13
param set-default FW_LND_TLALT 5
param set-default FW_THR_LND_MAX 0
param set-default FW_PR_FF 0.35
param set-default FW_PR_IMAX 0.4
param set-default FW_PR_P 0.08
param set-default FW_RR_FF 0.6
param set-default FW_RR_IMAX 0.2
param set-default FW_RR_P 0.04
param set-default PWM_MAIN_DISARM 1000
param set PWM_MAIN_DISARM 1000
fi
set MIXER fw_generic_wing

48
ROMFS/px4fmu_common/init.d/airframes/3031_phantom
View File

@@ -24,33 +24,31 @@
. ${R}etc/init.d/rc.fw_defaults
if [ $AUTOCNF = yes ]
then
param set FW_AIRSPD_MIN 13
param set FW_AIRSPD_TRIM 15
param set FW_AIRSPD_MAX 25
param set FW_R_TC 0.3
param set FW_P_TC 0.3
param set FW_L1_DAMPING 0.75
param set FW_L1_PERIOD 15
param set FW_PR_FF 0.2
param set FW_PR_IMAX 0.2
param set FW_PR_P 0.03
param set FW_P_LIM_MAX 50
param set FW_P_LIM_MIN -50
param set FW_P_ROLLFF 1
param set FW_RR_FF 0.5
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.08
param set FW_R_LIM 50
param set FW_R_RMAX 50
param set-default FW_AIRSPD_MIN 13
param set-default FW_AIRSPD_TRIM 15
param set-default FW_AIRSPD_MAX 25
param set-default FW_R_TC 0.3
param set-default FW_P_TC 0.3
param set-default FW_L1_DAMPING 0.75
param set-default FW_L1_PERIOD 15
param set-default FW_PR_FF 0.2
param set-default FW_PR_IMAX 0.2
param set-default FW_PR_P 0.03
param set-default FW_P_LIM_MAX 50
param set-default FW_P_LIM_MIN -50
param set-default FW_P_ROLLFF 1
param set-default FW_RR_FF 0.5
param set-default FW_RR_IMAX 0.2
param set-default FW_RR_P 0.08
param set-default FW_R_LIM 50
param set-default FW_R_RMAX 50
param set PWM_MAIN_DISARM 1000
param set-default PWM_MAIN_DISARM 1000
# Bottom of bay and nominal zero-pitch attitude differ
# the payload bay is pitched up about 7 degrees
param set-default SENS_BOARD_Y_OFF 7
# Bottom of bay and nominal zero-pitch attitude differ
# the payload bay is pitched up about 7 degrees
param set SENS_BOARD_Y_OFF 7
fi
set MIXER phantom

36
ROMFS/px4fmu_common/init.d/airframes/3032_skywalker_x5
View File

@@ -22,24 +22,22 @@
. ${R}etc/init.d/rc.fw_defaults
if [ $AUTOCNF = yes ]
then
param set FW_AIRSPD_MIN 15
param set FW_AIRSPD_TRIM 20
param set FW_AIRSPD_MAX 40
param set FW_R_TC 0.3
param set FW_P_TC 0.3
param set FW_L1_DAMPING 0.74
param set FW_L1_PERIOD 16
param set FW_LND_ANG 15
param set FW_LND_FLALT 5
param set FW_LND_HHDIST 15
param set FW_LND_HVIRT 13
param set FW_LND_TLALT 5
param set FW_THR_LND_MAX 0
param set FW_PR_FF 0.35
param set FW_RR_FF 0.6
param set FW_RR_P 0.04
fi
param set-default FW_AIRSPD_MIN 15
param set-default FW_AIRSPD_TRIM 20
param set-default FW_AIRSPD_MAX 40
param set-default FW_R_TC 0.3
param set-default FW_P_TC 0.3
param set-default FW_L1_DAMPING 0.74
param set-default FW_L1_PERIOD 16
param set-default FW_LND_ANG 15
param set-default FW_LND_FLALT 5
param set-default FW_LND_HHDIST 15
param set-default FW_LND_HVIRT 13
param set-default FW_LND_TLALT 5
param set-default FW_THR_LND_MAX 0
param set-default FW_PR_FF 0.35
param set-default FW_RR_FF 0.6
param set-default FW_RR_P 0.04
set MIXER fw_generic_wing

40
ROMFS/px4fmu_common/init.d/airframes/3033_wingwing
View File

@@ -24,28 +24,26 @@
. ${R}etc/init.d/rc.fw_defaults
if [ $AUTOCNF = yes ]
then
param set BAT_N_CELLS 2
param set FW_AIRSPD_MAX 15
param set FW_AIRSPD_MIN 10
param set FW_AIRSPD_TRIM 13
param set FW_R_TC 0.3
param set FW_P_TC 0.3
param set FW_L1_DAMPING 0.74
param set FW_L1_PERIOD 16
param set FW_LND_ANG 15
param set FW_LND_FLALT 5
param set FW_LND_HHDIST 15
param set FW_LND_HVIRT 13
param set FW_LND_TLALT 5
param set FW_THR_LND_MAX 0
param set FW_PR_FF 0.35
param set FW_RR_FF 0.6
param set FW_RR_P 0.04
param set-default BAT_N_CELLS 2
param set-default FW_AIRSPD_MAX 15
param set-default FW_AIRSPD_MIN 10
param set-default FW_AIRSPD_TRIM 13
param set-default FW_R_TC 0.3
param set-default FW_P_TC 0.3
param set-default FW_L1_DAMPING 0.74
param set-default FW_L1_PERIOD 16
param set-default FW_LND_ANG 15
param set-default FW_LND_FLALT 5
param set-default FW_LND_HHDIST 15
param set-default FW_LND_HVIRT 13
param set-default FW_LND_TLALT 5
param set-default FW_THR_LND_MAX 0
param set-default FW_PR_FF 0.35
param set-default FW_RR_FF 0.6
param set-default FW_RR_P 0.04
param set-default PWM_MAIN_DISARM 1000
param set PWM_MAIN_DISARM 1000
fi
# Configure this as plane.
set MAV_TYPE 1

12
ROMFS/px4fmu_common/init.d/airframes/3034_fx79
View File

@@ -21,13 +21,11 @@
. ${R}etc/init.d/rc.fw_defaults
if [ $AUTOCNF = yes ]
then
param set FW_AIRSPD_MAX 30
param set FW_AIRSPD_MIN 13
param set FW_AIRSPD_TRIM 15
param set-default FW_AIRSPD_MAX 30
param set-default FW_AIRSPD_MIN 13
param set-default FW_AIRSPD_TRIM 15
param set-default NAV_LOITER_RAD 150
param set NAV_LOITER_RAD 150
fi
set MIXER FX79

50
ROMFS/px4fmu_common/init.d/airframes/3036_pigeon
View File

@@ -23,34 +23,32 @@
. ${R}etc/init.d/rc.fw_defaults
if [ $AUTOCNF = yes ]
then
param set FW_AIRSPD_MIN 15
param set FW_AIRSPD_TRIM 20
param set FW_AIRSPD_MAX 27
param set FW_ATT_TC 0.3
param set FW_L1_DAMPING 0.75
param set FW_L1_PERIOD 20
param set FW_PR_FF 0.35
param set FW_PR_IMAX 0.2
param set FW_PR_P 0.05
param set FW_P_LIM_MAX 45
param set FW_P_LIM_MIN -45
param set FW_P_ROLLFF 1
param set FW_P_TC 0.3
param set FW_RR_FF 0.3
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.03
param set FW_R_LIM 40
param set FW_R_RMAX 50
param set FW_R_TC 0.3
param set-default FW_AIRSPD_MIN 15
param set-default FW_AIRSPD_TRIM 20
param set-default FW_AIRSPD_MAX 27
param set-default FW_ATT_TC 0.3
param set-default FW_L1_DAMPING 0.75
param set-default FW_L1_PERIOD 20
param set-default FW_PR_FF 0.35
param set-default FW_PR_IMAX 0.2
param set-default FW_PR_P 0.05
param set-default FW_P_LIM_MAX 45
param set-default FW_P_LIM_MIN -45
param set-default FW_P_ROLLFF 1
param set-default FW_P_TC 0.3
param set-default FW_RR_FF 0.3
param set-default FW_RR_IMAX 0.2
param set-default FW_RR_P 0.03
param set-default FW_R_LIM 40
param set-default FW_R_RMAX 50
param set-default FW_R_TC 0.3
param set PWM_MAIN_DISARM 1000
param set-default PWM_MAIN_DISARM 1000
# Bottom of bay and nominal zero-pitch attitude differ
# the payload bay is pitched up about 7 degrees
param set-default SENS_BOARD_Y_OFF 11.9
# Bottom of bay and nominal zero-pitch attitude differ
# the payload bay is pitched up about 7 degrees
param set SENS_BOARD_Y_OFF 11.9
fi
set MIXER phantom

89
ROMFS/px4fmu_common/init.d/airframes/3037_parrot_disco_mod
View File

@@ -23,70 +23,65 @@
. ${R}etc/init.d/rc.fw_defaults
if [ $AUTOCNF = yes ]
then
####################################
# Airspeed
####################################
param set-default FW_AIRSPD_MIN 15 # = 29 knots
param set-default FW_AIRSPD_TRIM 20 # = 39 knots
param set-default FW_AIRSPD_MAX 27 # = 52 knots
####################################
# Airspeed
####################################
####################################
# The Main L1 Controller
####################################
param set-default FW_L1_PERIOD 20 #units of meters
param set FW_AIRSPD_MIN 15 # = 29 knots
param set FW_AIRSPD_TRIM 20 # = 39 knots
param set FW_AIRSPD_MAX 27 # = 52 knots
# Damping factor for L1 control (def = 0.75)
param set-default FW_L1_DAMPING 0.75
####################################
# The Main L1 Controller
####################################
####################################
# Pitch
####################################
param set FW_L1_PERIOD 20 #units of meters
# Basic limits (def = +/- 45 deg)
param set-default FW_P_LIM_MAX 45
param set-default FW_P_LIM_MIN -45
# Damping factor for L1 control (def = 0.75)
param set FW_L1_DAMPING 0.75
# Time Constant (def = 0.4s)
param set-default FW_P_TC 0.4
####################################
# Pitch
####################################
# Pitch rate feed forward (def = 0.5 %/rad/sec)
param set-default FW_PR_FF 0.35
# Basic limits (def = +/- 45 deg)
param set FW_P_LIM_MAX 45
param set FW_P_LIM_MIN -45
# Pitch rate integrator limit (def = 0.4)
param set-default FW_PR_IMAX 0.4
# Time Constant (def = 0.4s)
param set FW_P_TC 0.4
# Pitch rate proportional gain (def = 0.08 %/rad/sec)
param set-default FW_PR_P 0.08
# Pitch rate feed forward (def = 0.5 %/rad/sec)
param set FW_PR_FF 0.35
####################################
# Roll
####################################
# Pitch rate integrator limit (def = 0.4)
param set FW_PR_IMAX 0.4
# Basic limits (def = 50 deg)
param set-default FW_R_LIM 40
# Pitch rate proportional gain (def = 0.08 %/rad/sec)
param set FW_PR_P 0.08
# Roll rate upper limit (def = 70 deg/s)
param set-default FW_R_RMAX 50
####################################
# Roll
####################################
# Roll Time Constant (def = 0.4 s)
param set-default FW_R_TC 0.4
# Basic limits (def = 50 deg)
param set FW_R_LIM 40
# Roll rate feed forward (def = 0.5 %/rad/sec)
param set-default FW_RR_FF 0.5
# Roll rate upper limit (def = 70 deg/s)
param set FW_R_RMAX 50
# Roll rate proportional Gain (def = 0.05 %/rad/sec)
param set-default FW_RR_P 0.05
# Roll Time Constant (def = 0.4 s)
param set FW_R_TC 0.4
# Roll Integrator Anti-Windup
param set-default FW_RR_IMAX 0.2
# Roll rate feed forward (def = 0.5 %/rad/sec)
param set FW_RR_FF 0.5
param set-default PWM_MAIN_DISARM 1000
# Roll rate proportional Gain (def = 0.05 %/rad/sec)
param set FW_RR_P 0.05
# Roll Integrator Anti-Windup
param set FW_RR_IMAX 0.2
param set PWM_MAIN_DISARM 1000
fi
set MIXER fw_generic_wing.main.mix

77
ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha
View File

@@ -21,49 +21,48 @@
. ${R}etc/init.d/rc.fw_defaults
if [ $AUTOCNF = yes ]
then
param set FW_AIRSPD_MAX 25
param set FW_AIRSPD_MIN 12.5
param set FW_AIRSPD_TRIM 16.5
param set FW_L1_DAMPING 0.75
param set FW_L1_PERIOD 15
param set FW_LND_ANG 15
param set FW_LND_FLALT 8
param set FW_LND_HHDIST 15
param set FW_LND_HVIRT 13
param set FW_LND_TLALT 10
param set FW_THR_LND_MAX 0
param set FW_P_LIM_MAX 20
param set FW_P_LIM_MIN -30
param set FW_R_LIM 45
param set FW_R_TC 0.4
param set FW_P_TC 0.4
param set FW_PR_FF 0.45
param set FW_PR_IMAX 0.4
param set FW_PR_P 0.005
param set FW_RR_FF 0.45
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.013
param set FW_P_RMAX_NEG 70
param set FW_P_RMAX_POS 70
param set FW_R_RMAX 70
param set FW_THR_CRUISE 0.55
param set LNDFW_AIRSPD_MAX 6
param set LNDFW_XYACC_MAX 4
param set LNDFW_VEL_XY_MAX 3
param set LNDFW_VEL_Z_MAX 5
param set-default FW_AIRSPD_MAX 25
param set-default FW_AIRSPD_MIN 12.5
param set-default FW_AIRSPD_TRIM 16.5
param set-default FW_L1_DAMPING 0.75
param set-default FW_L1_PERIOD 15
param set-default FW_LND_ANG 15
param set-default FW_LND_FLALT 8
param set-default FW_LND_HHDIST 15
param set-default FW_LND_HVIRT 13
param set-default FW_LND_TLALT 10
param set-default FW_THR_LND_MAX 0
param set-default FW_P_LIM_MAX 20
param set-default FW_P_LIM_MIN -30
param set-default FW_R_LIM 45
param set-default FW_R_TC 0.4
param set-default FW_P_TC 0.4
param set-default FW_PR_FF 0.45
param set-default FW_PR_IMAX 0.4
param set-default FW_PR_P 0.005
param set-default FW_RR_FF 0.45
param set-default FW_RR_IMAX 0.2
param set-default FW_RR_P 0.013
param set-default FW_P_RMAX_NEG 70
param set-default FW_P_RMAX_POS 70
param set-default FW_R_RMAX 70
param set-default FW_THR_CRUISE 0.55
param set MIS_TAKEOFF_ALT 50
param set-default LNDFW_AIRSPD_MAX 6
param set-default LNDFW_XYACC_MAX 4
param set-default LNDFW_VEL_XY_MAX 3
param set-default LNDFW_VEL_Z_MAX 5
param set NAV_LOITER_RAD 30
param set-default MIS_TAKEOFF_ALT 50
param set-default NAV_LOITER_RAD 30
param set-default PWM_MAIN_REV1 1
param set-default PWM_MAIN_REV2 1
param set-default PWM_MAIN_MIN 900
param set-default PWM_MAIN_MAX 2100
param set PWM_MAIN_REV1 1
param set PWM_MAIN_REV2 1
param set PWM_MAIN_MIN 900
param set PWM_MAIN_MAX 2100
fi
set MIXER caipi
set PWM_OUT 1234

34
ROMFS/px4fmu_common/init.d/airframes/4003_qavr5
View File

@@ -16,23 +16,21 @@
set MIXER quad_x
set PWM_OUT 1234
if [ $AUTOCNF = yes ]
then
param set MC_ROLL_P 8
param set MC_ROLLRATE_P 0.08
param set MC_ROLLRATE_I 0.16
param set MC_ROLLRATE_D 0.003
param set MC_PITCH_P 8
param set MC_PITCHRATE_P 0.1
param set MC_PITCHRATE_I 0.2
param set MC_PITCHRATE_D 0.003
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.15
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0
param set MPC_THR_MIN 0.06
param set MPC_MANTHR_MIN 0.06
param set-default MC_ROLL_P 8
param set-default MC_ROLLRATE_P 0.08
param set-default MC_ROLLRATE_I 0.16
param set-default MC_ROLLRATE_D 0.003
param set-default MC_PITCH_P 8
param set-default MC_PITCHRATE_P 0.1
param set-default MC_PITCHRATE_I 0.2
param set-default MC_PITCHRATE_D 0.003
param set-default MC_YAW_P 2.8
param set-default MC_YAWRATE_P 0.15
param set-default MC_YAWRATE_I 0.1
param set-default MC_YAWRATE_D 0
param set PWM_MAIN_MIN 1075
fi
param set-default MPC_THR_MIN 0.06
param set-default MPC_MANTHR_MIN 0.06
param set-default PWM_MAIN_MIN 1075

38
ROMFS/px4fmu_common/init.d/airframes/4009_qav250
View File

@@ -16,26 +16,24 @@
set MIXER quad_x
set PWM_OUT 1234
if [ $AUTOCNF = yes ]
then
param set ATT_BIAS_MAX 0
param set CBRK_IO_SAFETY 22027
param set-default ATT_BIAS_MAX 0
param set MPC_MANTHR_MIN 0.06
param set MC_ROLL_P 6
param set MC_ROLLRATE_P 0.14
param set MC_ROLLRATE_I 0.23
param set MC_ROLLRATE_D 0.0025
param set MC_PITCH_P 7
param set MC_PITCHRATE_P 0.235
param set MC_PITCHRATE_I 0.17
param set MC_PITCHRATE_D 0.004
param set MC_YAW_P 4
param set MC_YAWRATE_P 0.3
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0
param set MPC_THR_MIN 0.06
param set-default CBRK_IO_SAFETY 22027
param set PWM_MAIN_MIN 1075
fi
param set-default MPC_MANTHR_MIN 0.06
param set-default MC_ROLL_P 6
param set-default MC_ROLLRATE_P 0.14
param set-default MC_ROLLRATE_I 0.23
param set-default MC_ROLLRATE_D 0.0025
param set-default MC_PITCH_P 7
param set-default MC_PITCHRATE_P 0.235
param set-default MC_PITCHRATE_I 0.17
param set-default MC_PITCHRATE_D 0.004
param set-default MC_YAW_P 4
param set-default MC_YAWRATE_P 0.3
param set-default MC_YAWRATE_I 0.2
param set-default MC_YAWRATE_D 0
param set-default MPC_THR_MIN 0.06
param set-default PWM_MAIN_MIN 1075

31
ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330
View File

@@ -13,21 +13,18 @@
set MIXER quad_x
set PWM_OUT 1234
if [ $AUTOCNF = yes ]
then
param set MC_ROLL_P 7
param set MC_ROLLRATE_P 0.15
param set MC_ROLLRATE_I 0.05
param set MC_ROLLRATE_D 0.003
param set MC_PITCH_P 7
param set MC_PITCHRATE_P 0.15
param set MC_PITCHRATE_I 0.05
param set MC_PITCHRATE_D 0.003
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0
param set-default MC_ROLL_P 7
param set-default MC_ROLLRATE_P 0.15
param set-default MC_ROLLRATE_I 0.05
param set-default MC_ROLLRATE_D 0.003
param set-default MC_PITCH_P 7
param set-default MC_PITCHRATE_P 0.15
param set-default MC_PITCHRATE_I 0.05
param set-default MC_PITCHRATE_D 0.003
param set-default MC_YAW_P 2.8
param set-default MC_YAWRATE_P 0.2
param set-default MC_YAWRATE_I 0.1
param set-default MC_YAWRATE_D 0
# DJI ESCs do not support calibration and need a higher min
param set PWM_MAIN_MIN 1230
fi
# DJI ESCs do not support calibration and need a higher min
param set-default PWM_MAIN_MIN 1230

31
ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450
View File

@@ -13,21 +13,18 @@
set MIXER quad_x
set PWM_OUT 1234
if [ $AUTOCNF = yes ]
then
param set MC_ROLL_P 7
param set MC_ROLLRATE_P 0.15
param set MC_ROLLRATE_I 0.05
param set MC_ROLLRATE_D 0.003
param set MC_PITCH_P 7
param set MC_PITCHRATE_P 0.15
param set MC_PITCHRATE_I 0.05
param set MC_PITCHRATE_D 0.003
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.3
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0
param set-default MC_ROLL_P 7
param set-default MC_ROLLRATE_P 0.15
param set-default MC_ROLLRATE_I 0.05
param set-default MC_ROLLRATE_D 0.003
param set-default MC_PITCH_P 7
param set-default MC_PITCHRATE_P 0.15
param set-default MC_PITCHRATE_I 0.05
param set-default MC_PITCHRATE_D 0.003
param set-default MC_YAW_P 2.8
param set-default MC_YAWRATE_P 0.3
param set-default MC_YAWRATE_I 0.1
param set-default MC_YAWRATE_D 0
# DJI ESCs do not support calibration and need a higher min
param set PWM_MAIN_MIN 1230
fi
# DJI ESCs do not support calibration and need a higher min
param set-default PWM_MAIN_MIN 1230

16
ROMFS/px4fmu_common/init.d/airframes/4014_s500
View File

@@ -16,12 +16,10 @@
set MIXER quad_x
set PWM_OUT 1234
if [ $AUTOCNF = yes ]
then
param set MC_ROLLRATE_P 0.18
param set MC_PITCHRATE_P 0.18
param set MC_ROLLRATE_I 0.15
param set MC_PITCHRATE_I 0.15
param set MC_ROLLRATE_D 0.003
param set MC_PITCHRATE_D 0.003
fi
param set-default MC_ROLLRATE_P 0.18
param set-default MC_PITCHRATE_P 0.18
param set-default MC_ROLLRATE_I 0.15
param set-default MC_PITCHRATE_I 0.15
param set-default MC_ROLLRATE_D 0.003
param set-default MC_PITCHRATE_D 0.003

21
ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500
View File

@@ -16,14 +16,13 @@
set MIXER quad_x
set PWM_OUT 1234
if [ $AUTOCNF = yes ]
then
param set IMU_GYRO_CUTOFF 60
param set IMU_DGYRO_CUTOFF 30
param set MC_ROLLRATE_P 0.14
param set MC_PITCHRATE_P 0.14
param set MC_ROLLRATE_I 0.3
param set MC_PITCHRATE_I 0.3
param set MC_ROLLRATE_D 0.004
param set MC_PITCHRATE_D 0.004
fi
param set-default IMU_GYRO_CUTOFF 30
param set-default IMU_DGYRO_CUTOFF 30
param set-default MC_ROLLRATE_P 0.14
param set-default MC_PITCHRATE_P 0.14
param set-default MC_ROLLRATE_I 0.3
param set-default MC_PITCHRATE_I 0.3
param set-default MC_ROLLRATE_D 0.004
param set-default MC_PITCHRATE_D 0.004

206
ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
View File

@@ -19,121 +19,119 @@
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
# System parameters
# use FMU motor outputs for less delay in the rate control loop
param set-default SYS_USE_IO 0
# 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
# Commander Parameters
param set-default COM_OBS_AVOID 1
param set-default COM_DISARM_LAND 0.5
# 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
# EKF2 parameters
param set-default EKF2_AID_MASK 35
param set-default EKF2_IMU_POS_X 0.02
param set-default EKF2_GPS_POS_X 0.055
param set-default EKF2_GPS_POS_Z -0.15
param set-default EKF2_HGT_MODE 0
param set-default EKF2_MIN_RNG 0.03
param set-default EKF2_OF_POS_X 0.055
param set-default EKF2_OF_POS_Y 0.02
param set-default EKF2_OF_POS_Z 0.065
param set-default EKF2_REQ_HDRIFT 0.3
param set-default EKF2_REQ_SACC 1
param set-default EKF2_REQ_VDRIFT 0.3
param set-default EKF2_RNG_AID 1
param set-default EKF2_RNG_A_HMAX 8
param set-default EKF2_RNG_A_VMAX 2
param set-default EKF2_RNG_POS_X 0.055
param set-default EKF2_RNG_POS_Y -0.01
param set-default EKF2_RNG_POS_Z 0.065
param set-default EKF2_PCOEF_XP -0.25
param set-default EKF2_PCOEF_YN -0.55
param set-default EKF2_PCOEF_YP -0.55
# 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 IMU_DGYRO_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
# MAVLink parameters
param set-default MAV_0_CONFIG 101
param set-default MAV_1_CONFIG 102
param set-default MAV_1_RATE 80000
param set-default MAV_1_MODE 9
param set-default SER_TEL1_BAUD 921600
# Position Control Tuning
param set CP_DIST 6
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_ACC 1.58
param set MPC_XY_TRAJ_P 0.3
param set MPC_Z_TRAJ_P 0.3
param set MPC_Z_VEL_P_ACC 5
param set MPC_Z_VEL_I_ACC 3
param set MPC_LAND_ALT1 3
param set MPC_LAND_ALT2 1
# Vehicle attitude PID tuning
param set-default MC_ACRO_EXPO 0
param set-default MC_ACRO_EXPO_Y 0
param set-default MC_ACRO_P_MAX 200
param set-default MC_ACRO_R_MAX 200
param set-default MC_ACRO_SUPEXPO 0
param set-default MC_ACRO_SUPEXPOY 0
param set-default MC_ACRO_Y_MAX 150
param set-default IMU_DGYRO_CUTOFF 30
param set-default MC_PITCHRATE_D 0.0015
param set-default MC_PITCHRATE_I 0.2
param set-default MC_PITCHRATE_K 1
param set-default MC_PITCHRATE_P 0.15
param set-default MC_ROLLRATE_D 0.0015
param set-default MC_ROLLRATE_I 0.2
param set-default MC_ROLLRATE_K 1
param set-default MC_ROLLRATE_P 0.15
param set-default MC_YAWRATE_P 0.3
# Navigator Parameters
param set NAV_ACC_RAD 2
# Position Control Tuning
param set-default CP_DIST 6
param set-default MPC_ACC_DOWN_MAX 5
param set-default MPC_ACC_HOR_MAX 10
param set-default MPC_ACC_UP_MAX 4
param set-default MPC_MANTHR_MIN 0
param set-default MPC_MAN_Y_MAX 120
param set-default MPC_TILTMAX_AIR 45
param set-default MPC_THR_HOVER 0.3
param set-default MPC_THR_MIN 0.12
param set-default MPC_TKO_SPEED 1
param set-default MPC_VEL_MANUAL 5
param set-default MPC_XY_CRUISE 5
param set-default MPC_XY_VEL_MAX 5
param set-default MPC_XY_VEL_P_ACC 1.58
param set-default MPC_XY_TRAJ_P 0.3
param set-default MPC_Z_TRAJ_P 0.3
param set-default MPC_Z_VEL_P_ACC 5
param set-default MPC_Z_VEL_I_ACC 3
param set-default MPC_LAND_ALT1 3
param set-default MPC_LAND_ALT2 1
# PWM and RC Parameters
param set PWM_MAIN_MAX 1950
param set PWM_MAIN_MIN 1075
# Navigator Parameters
param set-default NAV_ACC_RAD 2
# use oneshot motor output protocol
param set PWM_MAIN_RATE 0
# PWM and RC Parameters
param set-default PWM_MAIN_MAX 1950
param set-default PWM_MAIN_MIN 1075
# RTL Parameters
param set RTL_DESCEND_ALT 5
param set RTL_RETURN_ALT 5
param set RTL_CONE_ANG 45
# use oneshot motor output protocol
param set-default PWM_MAIN_RATE 0
# Logging Parameters
param set SDLOG_PROFILE 131
# RTL Parameters
param set-default RTL_DESCEND_ALT 5
param set-default RTL_RETURN_ALT 5
param set-default RTL_CONE_ANG 45
# 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
# Logging Parameters
param set-default SDLOG_PROFILE 131
# Power Parameters
param set BAT_N_CELLS 4
param set BAT_A_PER_V 36.364
param set BAT_V_DIV 18.182
# Sensors Parameters
param set-default SENS_BOARD_ROT 0
param set-default SENS_CM8JL65_CFG 104
param set-default SENS_FLOW_MAXHGT 25
param set-default SENS_FLOW_MINHGT 0.5
param set-default SENS_FLOW_ROT 0
param set-default IMU_GYRO_CUTOFF 100
param set-default SENS_EN_PMW3901 1
# Circuit breakers
param set CBRK_IO_SAFETY 22027
# Power Parameters
param set-default BAT_N_CELLS 4
param set-default BAT_A_PER_V 36.364
param set-default BAT_V_DIV 18.182
param set THR_MDL_FAC 0.3
fi
# Circuit breakers
param set-default CBRK_IO_SAFETY 22027
param set-default THR_MDL_FAC 0.3

21
ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames
View File

@@ -21,19 +21,16 @@
set MIXER quad_x
set PWM_OUT 1234
if [ $AUTOCNF = yes ]
then
param set IMU_GYRO_CUTOFF 40
param set IMU_DGYRO_CUTOFF 20
param set IMU_GYRO_RATEMAX 400
param set MC_ROLLRATE_P 0.18
param set MC_ROLLRATE_I 0.15
param set MC_ROLLRATE_D 0.003
param set-default IMU_GYRO_CUTOFF 40
param set-default IMU_DGYRO_CUTOFF 20
param set-default IMU_GYRO_RATEMAX 400
param set MC_PITCHRATE_P 0.18
param set MC_PITCHRATE_I 0.15
param set MC_PITCHRATE_D 0.003
param set-default MC_ROLLRATE_P 0.18
param set-default MC_ROLLRATE_I 0.15
param set-default MC_ROLLRATE_D 0.003
fi
param set-default MC_PITCHRATE_P 0.18
param set-default MC_PITCHRATE_I 0.15
param set-default MC_PITCHRATE_D 0.003

65
ROMFS/px4fmu_common/init.d/airframes/4018_s500_ctrlalloc
View File

@@ -13,44 +13,41 @@
. ${R}etc/init.d/rc.mc_defaults
. ${R}etc/init.d/rc.ctrlalloc
if [ $AUTOCNF = yes ]
then
param set MPC_USE_HTE 0
param set VM_MASS 1.5
param set VM_INERTIA_XX 0.03
param set VM_INERTIA_YY 0.03
param set VM_INERTIA_ZZ 0.05
param set-default MPC_USE_HTE 0
param set CA_AIRFRAME 0
param set CA_METHOD 1
param set CA_ACT0_MIN 0.0
param set CA_ACT1_MIN 0.0
param set CA_ACT2_MIN 0.0
param set CA_ACT3_MIN 0.0
param set CA_ACT0_MAX 1.0
param set CA_ACT1_MAX 1.0
param set CA_ACT2_MAX 1.0
param set CA_ACT3_MAX 1.0
param set-default VM_MASS 1.5
param set-default VM_INERTIA_XX 0.03
param set-default VM_INERTIA_YY 0.03
param set-default VM_INERTIA_ZZ 0.05
param set CA_MC_R0_PX 0.177
param set CA_MC_R0_PY 0.177
param set CA_MC_R0_CT 6.5
param set CA_MC_R0_KM 0.05
param set CA_MC_R1_PX -0.177
param set CA_MC_R1_PY -0.177
param set CA_MC_R1_CT 6.5
param set CA_MC_R1_KM 0.05
param set CA_MC_R2_PX 0.177
param set CA_MC_R2_PY -0.177
param set CA_MC_R2_CT 6.5
param set CA_MC_R2_KM -0.05
param set CA_MC_R3_PX -0.177
param set CA_MC_R3_PY 0.177
param set CA_MC_R3_CT 6.5
param set CA_MC_R3_KM -0.05
param set-default CA_AIRFRAME 0
param set-default CA_METHOD 1
param set-default CA_ACT0_MIN 0.0
param set-default CA_ACT1_MIN 0.0
param set-default CA_ACT2_MIN 0.0
param set-default CA_ACT3_MIN 0.0
param set-default CA_ACT0_MAX 1.0
param set-default CA_ACT1_MAX 1.0
param set-default CA_ACT2_MAX 1.0
param set-default CA_ACT3_MAX 1.0
fi
param set-default CA_MC_R0_PX 0.177
param set-default CA_MC_R0_PY 0.177
param set-default CA_MC_R0_CT 6.5
param set-default CA_MC_R0_KM 0.05
param set-default CA_MC_R1_PX -0.177
param set-default CA_MC_R1_PY -0.177
param set-default CA_MC_R1_CT 6.5
param set-default CA_MC_R1_KM 0.05
param set-default CA_MC_R2_PX 0.177
param set-default CA_MC_R2_PY -0.177
param set-default CA_MC_R2_CT 6.5
param set-default CA_MC_R2_KM -0.05
param set-default CA_MC_R3_PX -0.177
param set-default CA_MC_R3_PY 0.177
param set-default CA_MC_R3_CT 6.5
param set-default CA_MC_R3_KM -0.05
set MIXER direct
set PWM_OUT 1234

30
ROMFS/px4fmu_common/init.d/airframes/4020_hk_micro_pcb
View File

@@ -22,20 +22,18 @@
set MIXER quad_x
set PWM_OUT 1234
if [ $AUTOCNF = yes ]
then
param set MC_ROLL_P 7
param set MC_ROLLRATE_P 0.1
param set MC_ROLLRATE_I 0.05
param set MC_ROLLRATE_D 0.003
param set MC_PITCH_P 7
param set MC_PITCHRATE_P 0.1
param set MC_PITCHRATE_I 0.05
param set MC_PITCHRATE_D 0.003
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0
param set PWM_MAIN_MIN 1200
fi
param set-default MC_ROLL_P 7
param set-default MC_ROLLRATE_P 0.1
param set-default MC_ROLLRATE_I 0.05
param set-default MC_ROLLRATE_D 0.003
param set-default MC_PITCH_P 7
param set-default MC_PITCHRATE_P 0.1
param set-default MC_PITCHRATE_I 0.05
param set-default MC_PITCHRATE_D 0.003
param set-default MC_YAW_P 2.8
param set-default MC_YAWRATE_P 0.2
param set-default MC_YAWRATE_I 0.1
param set-default MC_YAWRATE_D 0
param set-default PWM_MAIN_MIN 1200

124
ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo
View File

@@ -19,77 +19,73 @@
. ${R}etc/init.d/rc.mc_defaults
if [ $AUTOCNF = yes ]
then
# tuning
param set MC_PITCHRATE_P 0.11
param set MC_ROLLRATE_P 0.11
param set MPC_MANTHR_MIN 0.08
param set MPC_XY_VEL_MAX 3
param set MPC_Z_VEL_MAX_DN 2
# takeoff, land and RTL settings
param set MIS_TAKEOFF_ALT 4
param set RTL_LAND_DELAY 1
param set RTL_DESCEND_ALT 5
param set RTL_RETURN_ALT 15
param set MPC_TILTMAX_LND 8
param set MPC_LAND_SPEED 0.4
param set MPC_HOLD_MAX_Z 1.5
param set MPC_TKO_JMPSPD 2
param set MPC_TKO_SPEED 1.5
# tuning
param set-default MC_PITCHRATE_P 0.11
param set-default MC_ROLLRATE_P 0.11
param set-default MPC_MANTHR_MIN 0.08
param set-default MPC_XY_VEL_MAX 3
param set-default MPC_Z_VEL_MAX_DN 2
# setup
# main board rotation: pitch 180
param set SENS_BOARD_ROT 12
# solo external mag rotation
param set CAL_MAG0_ROT 38
# no safety switch
param set CBRK_IO_SAFETY 22027
# battery voltage not available yet
param set CBRK_SUPPLY_CHK 894281
# takeoff, land and RTL settings
param set-default MIS_TAKEOFF_ALT 4
param set-default RTL_LAND_DELAY 1
param set-default RTL_DESCEND_ALT 5
param set-default RTL_RETURN_ALT 15
param set-default MPC_TILTMAX_LND 8
param set-default MPC_LAND_SPEED 0.4
param set-default MPC_HOLD_MAX_Z 1.5
param set-default MPC_TKO_JMPSPD 2
param set-default MPC_TKO_SPEED 1.5
# RC configuration
param set RC_MAP_MODE_SW 5
param set RC_MAP_PITCH 2
param set RC_MAP_ROLL 1
param set RC_MAP_THROTTLE 3
param set RC_MAP_YAW 4
# setup
# main board rotation: pitch 180
param set-default SENS_BOARD_ROT 12
# solo external mag rotation
param set-default CAL_MAG0_ROT 38
# no safety switch
param set-default CBRK_IO_SAFETY 22027
# battery voltage not available yet
param set-default CBRK_SUPPLY_CHK 894281
param set RC1_DZ 10
param set RC1_MAX 1988
param set RC1_MIN 1003
param set RC1_REV 1
param set RC1_TRIM 1499
param set RC2_DZ 10
param set RC2_MAX 1987
param set RC2_MIN 1023
param set RC2_REV -1
param set RC2_TRIM 1499
param set RC3_DZ 10
param set RC3_MAX 1877
param set RC3_MIN 1023
param set RC3_REV 1
param set RC3_TRIM 1023
param set RC4_DZ 10
param set RC4_MAX 1998
param set RC4_MIN 1012
param set RC4_REV 1
param set RC4_TRIM 1500
param set RC5_DZ 10
param set RC5_MAX 2000
param set RC5_MIN 1000
param set RC5_REV 1
param set RC5_TRIM 1500
# RC configuration
param set-default RC_MAP_MODE_SW 5
param set-default RC_MAP_PITCH 2
param set-default RC_MAP_ROLL 1
param set-default RC_MAP_THROTTLE 3
param set-default RC_MAP_YAW 4
# enable high-speed link on telem 1
param set MAV_0_RATE 80000
param set MAV_0_MODE 2
param set SER_TEL1_BAUD 921600
fi
param set-default RC1_DZ 10
param set-default RC1_MAX 1988
param set-default RC1_MIN 1003
param set-default RC1_REV 1
param set-default RC1_TRIM 1499
param set-default RC2_DZ 10
param set-default RC2_MAX 1987
param set-default RC2_MIN 1023
param set-default RC2_REV -1
param set-default RC2_TRIM 1499
param set-default RC3_DZ 10
param set-default RC3_MAX 1877
param set-default RC3_MIN 1023
param set-default RC3_REV 1
param set-default RC3_TRIM 1023
param set-default RC4_DZ 10
param set-default RC4_MAX 1998
param set-default RC4_MIN 1012
param set-default RC4_REV 1
param set-default RC4_TRIM 1500
param set-default RC5_DZ 10
param set-default RC5_MAX 2000
param set-default RC5_MIN 1000
param set-default RC5_REV 1
param set-default RC5_TRIM 1500
# enable high-speed link on telem 1
param set-default MAV_0_RATE 80000
param set-default MAV_0_MODE 2
param set-default SER_TEL1_BAUD 921600
set MIXER quad_x
set PWM_OUT 1234
set MIXER_AUX none

22
ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad
View File

@@ -17,15 +17,13 @@
set MIXER quad_x
set PWM_OUT 1234
if [ $AUTOCNF = yes ]
then
param set MC_ROLL_P 6.5
param set MC_ROLLRATE_P 0.14
param set MC_ROLLRATE_I 0.1
param set MC_ROLLRATE_D 0.004
param set MC_PITCH_P 6
param set MC_PITCHRATE_P 0.14
param set MC_PITCHRATE_I 0.09
param set MC_PITCHRATE_D 0.004
param set MC_YAW_P 4
fi
param set-default MC_ROLL_P 6.5
param set-default MC_ROLLRATE_P 0.14
param set-default MC_ROLLRATE_I 0.1
param set-default MC_ROLLRATE_D 0.004
param set-default MC_PITCH_P 6
param set-default MC_PITCHRATE_P 0.14
param set-default MC_PITCHRATE_I 0.09
param set-default MC_PITCHRATE_D 0.004
param set-default MC_YAW_P 4

38
ROMFS/px4fmu_common/init.d/airframes/4040_reaper
View File

@@ -21,29 +21,27 @@
. ${R}etc/init.d/rc.mc_defaults
if [ $AUTOCNF = yes ]
then
param set MC_ROLL_P 6.5
param set MC_ROLLRATE_P 0.14
param set MC_ROLLRATE_I 0.1
param set MC_ROLLRATE_D 0.004
param set MC_PITCH_P 6
param set MC_PITCHRATE_P 0.14
param set MC_PITCHRATE_I 0.09
param set MC_PITCHRATE_D 0.004
param set MC_YAW_P 4
param set NAV_ACC_RAD 2
param set-default MC_ROLL_P 6.5
param set-default MC_ROLLRATE_P 0.14
param set-default MC_ROLLRATE_I 0.1
param set-default MC_ROLLRATE_D 0.004
param set-default MC_PITCH_P 6
param set-default MC_PITCHRATE_P 0.14
param set-default MC_PITCHRATE_I 0.09
param set-default MC_PITCHRATE_D 0.004
param set-default MC_YAW_P 4
param set PWM_AUX_DISARMED 950
param set PWM_AUX_RATE 50
param set PWM_MAIN_MIN 1100
param set PWM_MAIN_MAX 1900
param set PWM_MAIN_RATE 50
param set-default NAV_ACC_RAD 2
param set RTL_RETURN_ALT 30
param set RTL_DESCEND_ALT 10
fi
param set-default PWM_AUX_DISARMED 950
param set-default PWM_AUX_RATE 50
param set-default PWM_MAIN_MIN 1100
param set-default PWM_MAIN_MAX 1900
param set-default PWM_MAIN_RATE 50
param set-default RTL_RETURN_ALT 30
param set-default RTL_DESCEND_ALT 10
set MIXER quad_h

53
ROMFS/px4fmu_common/init.d/airframes/4041_beta75x
View File

@@ -24,41 +24,38 @@
. ${R}etc/init.d/rc.mc_defaults
if [ $AUTOCNF = yes ]
then
param set CBRK_SUPPLY_CHK 894281
param set CBRK_USB_CHK 197848
param set IMU_GYRO_CUTOFF 100
param set IMU_DGYRO_CUTOFF 60
param set-default CBRK_SUPPLY_CHK 894281
param set-default CBRK_USB_CHK 197848
param set MC_AIRMODE 2
param set MC_PITCHRATE_D 0.001
param set MC_PITCHRATE_I 0.5
param set MC_PITCHRATE_MAX 600
param set MC_PITCHRATE_P 0.075
param set MC_PITCH_P 6
param set MC_ROLLRATE_D 0.001
param set MC_ROLLRATE_I 0.4
param set MC_ROLLRATE_MAX 600
param set MC_ROLLRATE_P 0.075
param set MC_YAWRATE_I 0.3
param set MC_YAWRATE_MAX 400
param set MC_YAWRATE_P 0.12
param set MC_YAW_P 4
param set-default IMU_GYRO_CUTOFF 100
param set-default IMU_DGYRO_CUTOFF 60
param set MPC_MANTHR_MIN 0
param set MPC_MAN_TILT_MAX 60
param set-default MC_AIRMODE 2
param set-default MC_PITCHRATE_D 0.001
param set-default MC_PITCHRATE_I 0.5
param set-default MC_PITCHRATE_MAX 600
param set-default MC_PITCHRATE_P 0.075
param set-default MC_PITCH_P 6
param set-default MC_ROLLRATE_D 0.001
param set-default MC_ROLLRATE_I 0.4
param set-default MC_ROLLRATE_MAX 600
param set-default MC_ROLLRATE_P 0.075
param set-default MC_YAWRATE_I 0.3
param set-default MC_YAWRATE_MAX 400
param set-default MC_YAWRATE_P 0.12
param set-default MC_YAW_P 4
param set MOT_ORDERING 1
param set DSHOT_CONFIG 600
param set-default MPC_MANTHR_MIN 0
param set-default MPC_MAN_TILT_MAX 60
param set SYS_HAS_BARO 0
param set SYS_HAS_MAG 0
param set-default MOT_ORDERING 1
param set-default DSHOT_CONFIG 600
param set BAT_N_CELLS 2
fi
param set-default SYS_HAS_BARO 0
param set-default SYS_HAS_MAG 0
param set-default BAT_N_CELLS 2
# The Whoop uses reversed props
set MIXER quad_h
set PWM_OUT 1234

58
ROMFS/px4fmu_common/init.d/airframes/4050_generic_250
View File

@@ -16,40 +16,38 @@
set MIXER quad_x
set PWM_OUT 1234
if [ $AUTOCNF = yes ]
then
param set MC_ROLL_P 8
param set MC_ROLLRATE_P 0.08
param set MC_ROLLRATE_I 0.25
param set MC_ROLLRATE_D 0.001
param set MC_PITCH_P 8
param set MC_PITCHRATE_P 0.08
param set MC_PITCHRATE_I 0.25
param set MC_PITCHRATE_D 0.001
param set MC_YAW_P 4
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0
param set MC_ROLLRATE_MAX 1600
param set MC_PITCHRATE_MAX 1600
param set MC_YAWRATE_MAX 1000
param set-default MC_ROLL_P 8
param set-default MC_ROLLRATE_P 0.08
param set-default MC_ROLLRATE_I 0.25
param set-default MC_ROLLRATE_D 0.001
param set-default MC_PITCH_P 8
param set-default MC_PITCHRATE_P 0.08
param set-default MC_PITCHRATE_I 0.25
param set-default MC_PITCHRATE_D 0.001
param set-default MC_YAW_P 4
param set-default MC_YAWRATE_P 0.2
param set-default MC_YAWRATE_I 0.1
param set-default MC_YAWRATE_D 0
param set MPC_MANTHR_MIN 0
param set MPC_MAN_TILT_MAX 60
param set-default MC_ROLLRATE_MAX 1600
param set-default MC_PITCHRATE_MAX 1600
param set-default MC_YAWRATE_MAX 1000
# use thrust curve factor (instead of TPA)
param set THR_MDL_FAC 0.3
param set-default MPC_MANTHR_MIN 0
param set-default MPC_MAN_TILT_MAX 60
param set PWM_MAIN_MIN 1075
# enable one-shot
param set PWM_MAIN_RATE 0
# use thrust curve factor (instead of TPA)
param set-default THR_MDL_FAC 0.3
# enable high-rate logging profile (helps with tuning)
param set SDLOG_PROFILE 19
param set-default PWM_MAIN_MIN 1075
# enable one-shot
param set-default PWM_MAIN_RATE 0
param set IMU_DGYRO_CUTOFF 50
param set IMU_GYRO_CUTOFF 90
# enable high-rate logging profile (helps with tuning)
param set-default SDLOG_PROFILE 19
param set CBRK_IO_SAFETY 22027
fi
param set-default IMU_DGYRO_CUTOFF 50
param set-default IMU_GYRO_CUTOFF 90
param set-default CBRK_IO_SAFETY 22027

48
ROMFS/px4fmu_common/init.d/airframes/4051_s250aq
View File

@@ -28,32 +28,30 @@ set MAV_TYPE 2
set PWM_OUT 1234
if [ $AUTOCNF = yes ]
then
param set ATT_BIAS_MAX 0
param set CBRK_IO_SAFETY 22027
param set-default ATT_BIAS_MAX 0
param set MC_ROLL_P 8
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
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
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0
param set MC_ROLLRATE_MAX 720
param set MC_PITCHRATE_MAX 720
param set MC_YAWRATE_MAX 400
param set MC_ACRO_R_MAX 360
param set MC_ACRO_P_MAX 360
param set-default CBRK_IO_SAFETY 22027
param set MPC_THR_MIN 0.06
param set MPC_MANTHR_MIN 0.06
param set-default MC_ROLL_P 8
param set-default MC_ROLLRATE_P 0.19
param set-default MC_ROLLRATE_I 0.1
param set-default MC_ROLLRATE_D 0.0055
param set-default MC_PITCH_P 8
param set-default MC_PITCHRATE_P 0.19
param set-default MC_PITCHRATE_I 0.1
param set-default MC_PITCHRATE_D 0.0055
param set-default MC_YAW_P 4
param set-default MC_YAWRATE_P 0.2
param set-default MC_YAWRATE_I 0.1
param set-default MC_YAWRATE_D 0
param set-default MC_ROLLRATE_MAX 720
param set-default MC_PITCHRATE_MAX 720
param set-default MC_YAWRATE_MAX 400
param set-default MC_ACRO_R_MAX 360
param set-default MC_ACRO_P_MAX 360
param set PWM_MAIN_MIN 1075
fi
param set-default MPC_THR_MIN 0.06
param set-default MPC_MANTHR_MIN 0.06
param set-default PWM_MAIN_MIN 1075

61
ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250
View File

@@ -19,41 +19,38 @@
set MIXER quad_x
set PWM_OUT 1234
if [ $AUTOCNF = yes ]
then
# The set does not include a battery, but most people will probably use 4S
param set BAT_N_CELLS 4
param set IMU_GYRO_CUTOFF 120
param set IMU_DGYRO_CUTOFF 45
# The set does not include a battery, but most people will probably use 4S
param set-default BAT_N_CELLS 4
param set MC_AIRMODE 1
param set MC_PITCHRATE_D 0.0012
param set MC_PITCHRATE_I 0.35
param set MC_PITCHRATE_MAX 1200
param set MC_PITCHRATE_P 0.082
param set MC_PITCH_P 8
param set MC_ROLLRATE_D 0.0012
param set MC_ROLLRATE_I 0.3
param set MC_ROLLRATE_MAX 1200
param set MC_ROLLRATE_P 0.076
param set MC_ROLL_P 8
param set MC_YAWRATE_I 0.3
param set MC_YAWRATE_MAX 600
param set MC_YAWRATE_P 0.25
param set MC_YAW_P 4
param set-default IMU_GYRO_CUTOFF 120
param set-default IMU_DGYRO_CUTOFF 45
param set MPC_MANTHR_MIN 0
param set MPC_MAN_TILT_MAX 60
param set MPC_THR_CURVE 1
param set MPC_THR_HOVER 0.25
param set MPC_THR_MIN 0.05
param set MPC_Z_VEL_I_ACC 1.7
param set-default MC_AIRMODE 1
param set-default MC_PITCHRATE_D 0.0012
param set-default MC_PITCHRATE_I 0.35
param set-default MC_PITCHRATE_MAX 1200
param set-default MC_PITCHRATE_P 0.082
param set-default MC_PITCH_P 8
param set-default MC_ROLLRATE_D 0.0012
param set-default MC_ROLLRATE_I 0.3
param set-default MC_ROLLRATE_MAX 1200
param set-default MC_ROLLRATE_P 0.076
param set-default MC_ROLL_P 8
param set-default MC_YAWRATE_I 0.3
param set-default MC_YAWRATE_MAX 600
param set-default MC_YAWRATE_P 0.25
param set-default MC_YAW_P 4
param set PWM_MAIN_MAX 1950
param set PWM_MAIN_MIN 1050
param set-default MPC_MANTHR_MIN 0
param set-default MPC_MAN_TILT_MAX 60
param set-default MPC_THR_CURVE 1
param set-default MPC_THR_HOVER 0.25
param set-default MPC_THR_MIN 0.05
param set-default MPC_Z_VEL_I_ACC 1.7
param set PWM_MAIN_RATE 0
param set THR_MDL_FAC 0.3
fi
param set-default PWM_MAIN_MAX 1950
param set-default PWM_MAIN_MIN 1050
param set-default PWM_MAIN_RATE 0
param set-default THR_MDL_FAC 0.3

63
ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2
View File

@@ -19,49 +19,46 @@ set PWM_OUT 1234
set PARAM_DEFAULTS_VER 2
if [ $AUTOCNF = yes ]
then
param set BAT_N_CELLS 4
param set GPS_1_CONFIG 0
param set RC_PORT_CONFIG 201
param set-default BAT_N_CELLS 4
param set IMU_GYRO_CUTOFF 80
param set IMU_DGYRO_CUTOFF 50
param set IMU_GYRO_RATEMAX 2000
param set-default GPS_1_CONFIG 0
param set-default RC_PORT_CONFIG 201
param set MC_ROLLRATE_P 0.085
param set MC_ROLLRATE_I 0.25
param set MC_ROLLRATE_D 0.0008
param set MC_ROLLRATE_MAX 1600
param set MC_ROLL_P 10
param set-default IMU_GYRO_CUTOFF 80
param set-default IMU_DGYRO_CUTOFF 50
param set-default IMU_GYRO_RATEMAX 2000
param set MC_PITCHRATE_P 0.085
param set MC_PITCHRATE_I 0.32
param set MC_PITCHRATE_D 0.0008
param set MC_PITCHRATE_MAX 1600
param set MC_PITCH_P 10
param set-default MC_ROLLRATE_P 0.085
param set-default MC_ROLLRATE_I 0.25
param set-default MC_ROLLRATE_D 0.0008
param set-default MC_ROLLRATE_MAX 1600
param set-default MC_ROLL_P 10
param set MC_YAWRATE_MAX 1000
param set MC_YAWRATE_P 0.15
param set MC_YAW_P 4
param set-default MC_PITCHRATE_P 0.085
param set-default MC_PITCHRATE_I 0.32
param set-default MC_PITCHRATE_D 0.0008
param set-default MC_PITCHRATE_MAX 1600
param set-default MC_PITCH_P 10
param set MOT_ORDERING 1
param set MPC_MANTHR_MIN 0
param set MPC_MAN_TILT_MAX 60
param set-default MC_YAWRATE_MAX 1000
param set-default MC_YAWRATE_P 0.15
param set-default MC_YAW_P 4
param set DSHOT_CONFIG 1200
param set-default MOT_ORDERING 1
param set-default MPC_MANTHR_MIN 0
param set-default MPC_MAN_TILT_MAX 60
param set OSD_ATXXXX_CFG 1
param set TEL_FRSKY_CONFIG 300
param set-default DSHOT_CONFIG 1200
param set THR_MDL_FAC 0.35
param set-default OSD_ATXXXX_CFG 1
param set-default TEL_FRSKY_CONFIG 300
param set MPC_THR_CURVE 1
param set MPC_THR_HOVER 0.12
param set-default THR_MDL_FAC 0.35
param set MC_AIRMODE 1
param set-default MPC_THR_CURVE 1
param set-default MPC_THR_HOVER 0.12
param set EV_TSK_RC_LOSS 1
fi
param set-default MC_AIRMODE 1
param set-default EV_TSK_RC_LOSS 1

30
ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100
View File

@@ -17,21 +17,19 @@
set MIXER quad_x
set PWM_OUT 1234
if [ $AUTOCNF = yes ]
then
param set BAT_N_CELLS 6
param set MC_ROLL_P 6.5
param set MC_ROLLRATE_P 0.05
param set MC_ROLLRATE_I 0.05
param set MC_ROLLRATE_D 0.001
param set MC_PITCH_P 6.5
param set MC_PITCHRATE_P 0.05
param set MC_PITCHRATE_I 0.05
param set MC_PITCHRATE_D 0.001
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0
param set MC_YAWRATE_D 0
param set-default BAT_N_CELLS 6
param set PWM_MAIN_MIN 1200
fi
param set-default MC_ROLL_P 6.5
param set-default MC_ROLLRATE_P 0.05
param set-default MC_ROLLRATE_I 0.05
param set-default MC_ROLLRATE_D 0.001
param set-default MC_PITCH_P 6.5
param set-default MC_PITCHRATE_P 0.05
param set-default MC_PITCHRATE_I 0.05
param set-default MC_PITCHRATE_D 0.001
param set-default MC_YAWRATE_P 0.2
param set-default MC_YAWRATE_I 0
param set-default MC_YAWRATE_D 0
param set-default PWM_MAIN_MIN 1200

90
ROMFS/px4fmu_common/init.d/airframes/4070_aerofc
View File

@@ -21,61 +21,59 @@
#
# Load default params for this platform
#
if [ $AUTOCNF = yes ]
then
# Set all params here, then disable autoconfig
param set EKF2_GPS_POS_X -0.06
param set EKF2_GPS_POS_Z -0.1
param set EKF2_MIN_OBS_DT 50
param set EKF2_BARO_GATE 10
param set EKF2_BARO_NOISE 5
param set EKF2_ACC_NOISE 0.7
# Set all params here, then disable autoconfig
param set-default EKF2_GPS_POS_X -0.06
param set-default EKF2_GPS_POS_Z -0.1
param set-default EKF2_MIN_OBS_DT 50
param set LNDMC_Z_VEL_MAX 2
param set-default EKF2_BARO_GATE 10
param set-default EKF2_BARO_NOISE 5
param set-default EKF2_ACC_NOISE 0.7
param set MC_ROLL_P 8
param set MC_ROLLRATE_P 0.13
param set MC_ROLLRATE_I 0.07
param set MC_ROLLRATE_D 0.0012
param set MC_ROLLRATE_MAX 360
param set MC_PITCH_P 8
param set MC_PITCHRATE_P 0.13
param set MC_PITCHRATE_I 0.07
param set MC_PITCHRATE_D 0.0012
param set MC_PITCHRATE_MAX 360
param set MC_YAW_P 4
param set MC_YAWRATE_P 0.12
param set MC_YAWRATE_I 0.05
param set MC_YAWRATE_D 0
param set-default LNDMC_Z_VEL_MAX 2
param set MPC_LAND_SPEED 0.7
param set MPC_MANTHR_MIN 0.04
param set MPC_THR_HOVER 0.5
param set MPC_THR_MAX 0.94
param set MPC_THR_MIN 0.1
param set MPC_XY_CRUISE 8
param set MPC_XY_P 1.5
param set MPC_XY_VEL_P_ACC 3
param set MPC_Z_P 1.5
param set MPC_Z_VEL_P_ACC 16
param set MPC_Z_VEL_I_ACC 3
param set MPC_Z_VEL_MAX_DN 4
param set MPC_Z_VEL_MAX_UP 5
param set-default MC_ROLL_P 8
param set-default MC_ROLLRATE_P 0.13
param set-default MC_ROLLRATE_I 0.07
param set-default MC_ROLLRATE_D 0.0012
param set-default MC_ROLLRATE_MAX 360
param set-default MC_PITCH_P 8
param set-default MC_PITCHRATE_P 0.13
param set-default MC_PITCHRATE_I 0.07
param set-default MC_PITCHRATE_D 0.0012
param set-default MC_PITCHRATE_MAX 360
param set-default MC_YAW_P 4
param set-default MC_YAWRATE_P 0.12
param set-default MC_YAWRATE_I 0.05
param set-default MC_YAWRATE_D 0
# TELEM2 config
param set MAV_1_CONFIG 102
param set MAV_1_RATE 80000
param set MAV_1_FORWARD 1
param set SER_TEL2_BAUD 921600
fi
param set-default MPC_LAND_SPEED 0.7
param set-default MPC_MANTHR_MIN 0.04
param set-default MPC_THR_HOVER 0.5
param set-default MPC_THR_MAX 0.94
param set-default MPC_THR_MIN 0.1
param set-default MPC_XY_CRUISE 8
param set-default MPC_XY_P 1.5
param set-default MPC_XY_VEL_P_ACC 3
param set-default MPC_Z_P 1.5
param set-default MPC_Z_VEL_P_ACC 16
param set-default MPC_Z_VEL_I_ACC 3
param set-default MPC_Z_VEL_MAX_DN 4
param set-default MPC_Z_VEL_MAX_UP 5
# TELEM2 config
param set-default MAV_1_CONFIG 102
param set-default MAV_1_RATE 80000
param set-default MAV_1_FORWARD 1
param set-default SER_TEL2_BAUD 921600
if ! param greater SYS_HITL 0
then
tap_esc start -d /dev/ttyS0 -n 4
usleep 300000
tap_esc start -d /dev/ttyS0 -n 4
usleep 300000
set OUTPUT_MODE tap_esc
set OUTPUT_MODE tap_esc
fi
set MIXER quad_x

154
ROMFS/px4fmu_common/init.d/airframes/4071_ifo
View File

@@ -25,99 +25,97 @@ set VEHICLE_TYPE mc
set MIXER quad_x
set PWM_OUT 1234
if [ $AUTOCNF = yes ]
then
# Attitude & rate gains
#param set MC_ROLL_P 7
param set MC_ROLLRATE_P 0.15
#param set MC_ROLLRATE_I 0.9
param set MC_ROLLRATE_D 0.0013
#param set MC_PITCH_P 7
param set MC_PITCHRATE_P 0.15
#param set MC_PITCHRATE_I 1.1
param set MC_PITCHRATE_D 0.0016
# Attitude & rate gains
#param set MC_ROLL_P 7
param set-default MC_ROLLRATE_P 0.15
#param set MC_ROLLRATE_I 0.9
param set-default MC_ROLLRATE_D 0.0013
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.2
#param set MC_YAWRATE_I 0.15
param set MC_YAWRATE_D 0
param set MC_YAW_FF 0.5
#param set MC_PITCH_P 7
param set-default MC_PITCHRATE_P 0.15
#param set MC_PITCHRATE_I 1.1
param set-default MC_PITCHRATE_D 0.0016
#param set MC_ROLL_TC 0.19
#param set MC_PITCH_TC 0.16
param set-default MC_YAW_P 2.8
param set-default MC_YAWRATE_P 0.2
#param set MC_YAWRATE_I 0.15
param set-default MC_YAWRATE_D 0
param set-default MC_YAW_FF 0.5
# Manual mode settings: Unleash Draco R's power :)
#param set MPC_MAN_TILT_MAX 70
#param set MC_PITCHRATE_MAX 1600
#param set MC_ROLLRATE_MAX 1600
#param set MC_YAWRATE_MAX 700
param set MPC_MANTHR_MAX 0.9
param set MPC_MANTHR_MIN 0.08
#param set MPC_MAN_TILT_MAX 35
#param set MPC_TILTMAX_AIR 20
#param set MC_ROLL_TC 0.19
#param set MC_PITCH_TC 0.16
# Filter settings
param set IMU_DGYRO_CUTOFF 90
param set IMU_GYRO_CUTOFF 100
# Manual mode settings: Unleash Draco R's power :)
#param set MPC_MAN_TILT_MAX 70
#param set MC_PITCHRATE_MAX 1600
#param set MC_ROLLRATE_MAX 1600
#param set MC_YAWRATE_MAX 700
param set-default MPC_MANTHR_MAX 0.9
param set-default MPC_MANTHR_MIN 0.08
#param set MPC_MAN_TILT_MAX 35
#param set MPC_TILTMAX_AIR 20
# Thrust curve (avoids the need for TPA)
#param set THR_MDL_FAC 0.25
# Filter settings
param set-default IMU_DGYRO_CUTOFF 90
param set-default IMU_GYRO_CUTOFF 100
# System
param set PWM_MAIN_MAX 1950
param set PWM_MAIN_MIN 1100
param set PWM_MAIN_RATE 0
# Thrust curve (avoids the need for TPA)
#param set THR_MDL_FAC 0.25
#param set SYS_FMU_TASK 1
param set SENS_BOARD_ROT 10
# System
param set-default PWM_MAIN_MAX 1950
param set-default PWM_MAIN_MIN 1100
param set-default PWM_MAIN_RATE 0
# EKF2
param set EKF2_GND_EFF_DZ 6
param set EKF2_HGT_MODE 1
#param set SYS_FMU_TASK 1
param set-default SENS_BOARD_ROT 10
# Position control
param set MPC_Z_P 1
param set MPC_Z_VEL_P_ACC 4
param set MPC_Z_VEL_I_ACC 0.4
# EKF2
param set-default EKF2_GND_EFF_DZ 6
param set-default EKF2_HGT_MODE 1
param set MPC_THR_MIN 0.06
param set MPC_THR_HOVER 0.3
# Position control
param set-default MPC_Z_P 1
param set-default MPC_Z_VEL_P_ACC 4
param set-default MPC_Z_VEL_I_ACC 0.4
param set MIS_TAKEOFF_ALT 1.1
param set MPC_XY_P 1.7
param set MPC_XY_VEL_P_ACC 2.6
param set MPC_XY_VEL_I_ACC 1.2
param set MPC_XY_VEL_D_ACC 0.2
param set MPC_TKO_RAMP_T 1
param set MPC_TKO_SPEED 1.1
param set MPC_VEL_MANUAL 3
param set-default MPC_THR_MIN 0.06
param set-default MPC_THR_HOVER 0.3
param set BAT_SOURCE 0
param set BAT_N_CELLS 4
param set BAT_V_DIV 10.14
param set BAT_A_PER_V 18.18
#param set CBRK_IO_SAFETY 22027
param set COM_DISARM_LAND 2
param set-default MIS_TAKEOFF_ALT 1.1
param set-default MPC_XY_P 1.7
param set-default MPC_XY_VEL_P_ACC 2.6
param set-default MPC_XY_VEL_I_ACC 1.2
param set-default MPC_XY_VEL_D_ACC 0.2
param set-default MPC_TKO_RAMP_T 1
param set-default MPC_TKO_SPEED 1.1
param set-default MPC_VEL_MANUAL 3
# Filter settings
param set IMU_GYRO_CUTOFF 90
param set IMU_DGYRO_CUTOFF 70
param set-default BAT_SOURCE 0
param set-default BAT_N_CELLS 4
param set-default BAT_V_DIV 10.14
param set-default BAT_A_PER_V 18.18
#param set CBRK_IO_SAFETY 22027
param set-default COM_DISARM_LAND 2
# Don't try to be intelligent on RC loss: just cut the motors
param set NAV_RCL_ACT 6
# Filter settings
param set-default IMU_GYRO_CUTOFF 90
param set-default IMU_DGYRO_CUTOFF 70
# enable to use high-rate logging for better rate tracking analysis
# param set SDLOG_PROFILE 19
# Don't try to be intelligent on RC loss: just cut the motors
param set-default NAV_RCL_ACT 6
# TELEM1 ttyS1 - Wifi module
param set MAV_0_CONFIG 101
param set MAV_0_RATE 0
param set MAV_0_MODE 2 # onboard
param set SER_TEL1_BAUD 921600
# enable to use high-rate logging for better rate tracking analysis
# param set SDLOG_PROFILE 19
# TELEM2 ttyS2 - Sub 1-Ghz
param set MAV_1_CONFIG 102
param set MAV_1_MODE 0 # normal
param set SER_TEL2_BAUD 57600
fi
# TELEM1 ttyS1 - Wifi module
param set-default MAV_0_CONFIG 101
param set-default MAV_0_RATE 0
param set-default MAV_0_MODE 2 # onboard
param set-default SER_TEL1_BAUD 921600
# TELEM2 ttyS2 - Sub 1-Ghz
param set-default MAV_1_CONFIG 102
param set-default MAV_1_MODE 0 # normal
param set-default SER_TEL2_BAUD 57600

112
ROMFS/px4fmu_common/init.d/airframes/4072_draco
View File

@@ -26,75 +26,73 @@
set MIXER quad_x
set PWM_OUT 1234
if [ $AUTOCNF = yes ]
then
# use the Q attitude estimator, it works w/o mag or GPS.
param set SYS_MC_EST_GROUP 3
param set ATT_ACC_COMP 0
param set ATT_W_ACC 0.4
param set ATT_W_GYRO_BIAS 0
param set SYS_HAS_MAG 0
# Attitude & rate gains
param set MC_ROLL_P 8.0
param set MC_ROLLRATE_P 0.11
param set MC_ROLLRATE_I 0.3
param set MC_ROLLRATE_D 0.0015
param set MC_ROLLRATE_MAX 1600
# use the Q attitude estimator, it works w/o mag or GPS.
param set-default SYS_MC_EST_GROUP 3
param set-default ATT_ACC_COMP 0
param set-default ATT_W_ACC 0.4
param set-default ATT_W_GYRO_BIAS 0
param set-default SYS_HAS_MAG 0
param set MC_PITCH_P 8
param set MC_PITCHRATE_P 0.13
param set MC_PITCHRATE_I 0.35
param set MC_PITCHRATE_D 0.0015
param set MC_PITCHRATE_MAX 1600
# Attitude & rate gains
param set-default MC_ROLL_P 8.0
param set-default MC_ROLLRATE_P 0.11
param set-default MC_ROLLRATE_I 0.3
param set-default MC_ROLLRATE_D 0.0015
param set-default MC_ROLLRATE_MAX 1600
param set MC_YAW_P 4
param set MC_YAWRATE_P 0.21
param set MC_YAWRATE_I 0.3
param set MC_YAWRATE_D 0.0
param set MC_YAW_FF 0.5
param set MC_YAWRATE_MAX 600
param set-default MC_PITCH_P 8
param set-default MC_PITCHRATE_P 0.13
param set-default MC_PITCHRATE_I 0.35
param set-default MC_PITCHRATE_D 0.0015
param set-default MC_PITCHRATE_MAX 1600
param set MC_ROLL_TC 0.19
param set MC_PITCH_TC 0.16
param set MC_AIRMODE 1
param set-default MC_YAW_P 4
param set-default MC_YAWRATE_P 0.21
param set-default MC_YAWRATE_I 0.3
param set-default MC_YAWRATE_D 0.0
param set-default MC_YAW_FF 0.5
param set-default MC_YAWRATE_MAX 600
param set MPC_MAN_TILT_MAX 60
param set MPC_THR_CURVE 1
param set MPC_THR_HOVER 0.25
param set-default MC_ROLL_TC 0.19
param set-default MC_PITCH_TC 0.16
param set-default MC_AIRMODE 1
# Thrust curve (avoids the need for TPA)
param set THR_MDL_FAC 0.3
param set-default MPC_MAN_TILT_MAX 60
param set-default MPC_THR_CURVE 1
param set-default MPC_THR_HOVER 0.25
# System
param set PWM_MAIN_MAX 1950
param set PWM_MAIN_MIN 1180
# Thrust curve (avoids the need for TPA)
param set-default THR_MDL_FAC 0.3
# enable one-shot
param set PWM_MAIN_RATE 0
# System
param set-default PWM_MAIN_MAX 1950
param set-default PWM_MAIN_MIN 1180
param set SENS_BOARD_ROT 2
# enable one-shot
param set-default PWM_MAIN_RATE 0
param set BAT_SOURCE 0
param set CBRK_IO_SAFETY 22027
#param set COM_DISARM_LAND 3
param set-default SENS_BOARD_ROT 2
# Filter settings
param set IMU_GYRO_CUTOFF 90
param set IMU_DGYRO_CUTOFF 100
param set-default BAT_SOURCE 0
param set-default CBRK_IO_SAFETY 22027
#param set COM_DISARM_LAND 3
# Don't try to be intelligent on RC loss: just cut the motors
#param set NAV_RCL_ACT 6
# Filter settings
param set-default IMU_GYRO_CUTOFF 90
param set-default IMU_DGYRO_CUTOFF 100
# enable to use high-rate logging for better rate tracking analysis
param set SDLOG_PROFILE 27
# Don't try to be intelligent on RC loss: just cut the motors
#param set NAV_RCL_ACT 6
# TELEM1 ttyS1
#param set MAV_0_CONFIG 101
#param set MAV_0_MODE 2 # onboard
#param set MAV_0_RATE 20000
#param set SER_TEL1_BAUD 921600
# enable to use high-rate logging for better rate tracking analysis
param set-default SDLOG_PROFILE 27
# TELEM2 ttyS2
#param set MAV_1_CONFIG 0
fi
# TELEM1 ttyS1
#param set MAV_0_CONFIG 101
#param set MAV_0_MODE 2 # onboard
#param set MAV_0_RATE 20000
#param set SER_TEL1_BAUD 921600
# TELEM2 ttyS2
#param set MAV_1_CONFIG 0

184
ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s
View File

@@ -24,119 +24,117 @@ set VEHICLE_TYPE mc
set MIXER quad_x
set PWM_OUT 1234
if [ $AUTOCNF = yes ]
then
# Attitude & rate gains
#param set MC_ROLL_P 7
param set MC_ROLLRATE_P 0.15
#param set MC_ROLLRATE_I 0.9
param set MC_ROLLRATE_D 0.0013
#param set MC_PITCH_P 7
param set MC_PITCHRATE_P 0.15
#param set MC_PITCHRATE_I 1.1
param set MC_PITCHRATE_D 0.0016
# Attitude & rate gains
#param set MC_ROLL_P 7
param set-default MC_ROLLRATE_P 0.15
#param set MC_ROLLRATE_I 0.9
param set-default MC_ROLLRATE_D 0.0013
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.2
#param set MC_YAWRATE_I 0.15
param set MC_YAWRATE_D 0
#param set MC_PITCH_P 7
param set-default MC_PITCHRATE_P 0.15
#param set MC_PITCHRATE_I 1.1
param set-default MC_PITCHRATE_D 0.0016
#param set MC_ROLL_TC 0.19
#param set MC_PITCH_TC 0.16
param set-default MC_YAW_P 2.8
param set-default MC_YAWRATE_P 0.2
#param set MC_YAWRATE_I 0.15
param set-default MC_YAWRATE_D 0
# Manual mode settings: Unleash Draco R's power :)
#param set MPC_MAN_TILT_MAX 70
#param set MC_PITCHRATE_MAX 1600
#param set MC_ROLLRATE_MAX 1600
#param set MC_YAWRATE_MAX 700
param set MPC_MANTHR_MIN 0.08
#param set MPC_MAN_TILT_MAX 35
#param set MPC_TILTMAX_AIR 20
#param set MC_ROLL_TC 0.19
#param set MC_PITCH_TC 0.16
# Filter settings
param set IMU_GYRO_CUTOFF 100
# Manual mode settings: Unleash Draco R's power :)
#param set MPC_MAN_TILT_MAX 70
#param set MC_PITCHRATE_MAX 1600
#param set MC_ROLLRATE_MAX 1600
#param set MC_YAWRATE_MAX 700
param set-default MPC_MANTHR_MIN 0.08
#param set MPC_MAN_TILT_MAX 35
#param set MPC_TILTMAX_AIR 20
# Thrust curve (avoids the need for TPA)
#param set THR_MDL_FAC 0.25
# Filter settings
param set-default IMU_GYRO_CUTOFF 100
# Obsolete
#param set PWM_MAIN_MAX 1950
#param set PWM_MAIN_MIN 1100
#param set PWM_MAIN_RATE 0
# Thrust curve (avoids the need for TPA)
#param set THR_MDL_FAC 0.25
# Sensors
param set SENS_BOARD_ROT 10
# Yaw 180
param set SENS_FLOW_ROT 4
# TFMini on TELEM3
param set SENS_TFMINI_CFG 103
# Obsolete
#param set PWM_MAIN_MAX 1950
#param set PWM_MAIN_MIN 1100
#param set PWM_MAIN_RATE 0
# Smart Battery
param set SENS_EN_BATT 1
# Sensors
param set-default SENS_BOARD_ROT 10
# Yaw 180
param set-default SENS_FLOW_ROT 4
# TFMini on TELEM3
param set-default SENS_TFMINI_CFG 103
# EKF2
param set EKF2_AID_MASK 3
param set EKF2_GND_EFF_DZ 6
param set EKF2_HGT_MODE 1
param set EKF2_MIN_RNG 0.3
param set EKF2_RNG_AID 1
# Smart Battery
param set-default SENS_EN_BATT 1
# Flow
param set EKF2_OF_QMIN 70
# EKF2
param set-default EKF2_AID_MASK 3
param set-default EKF2_GND_EFF_DZ 6
param set-default EKF2_HGT_MODE 1
param set-default EKF2_MIN_RNG 0.3
param set-default EKF2_RNG_AID 1
# Position control
param set MPC_Z_P 1.1
param set MPC_Z_VEL_P_ACC 6
param set MPC_Z_VEL_I_ACC 1
# Flow
param set-default EKF2_OF_QMIN 70
param set MPC_THR_MIN 0.06
param set MPC_THR_HOVER 0.44
# Position control
param set-default MPC_Z_P 1.1
param set-default MPC_Z_VEL_P_ACC 6
param set-default MPC_Z_VEL_I_ACC 1
param set MIS_TAKEOFF_ALT 1.1
param set MPC_XY_P 1.7
param set MPC_XY_VEL_P_ACC 2.6
param set MPC_XY_VEL_I_ACC 1.2
param set MPC_XY_VEL_D_ACC 0.2
param set MPC_TKO_RAMP_T 1
param set MPC_TKO_SPEED 1.1
param set MPC_VEL_MANUAL 3
param set-default MPC_THR_MIN 0.06
param set-default MPC_THR_HOVER 0.44
param set BAT_SOURCE 0
param set BAT_N_CELLS 4
param set BAT_V_DIV 10.14
param set BAT_A_PER_V 18.18
#param set CBRK_IO_SAFETY 22027
param set COM_DISARM_LAND 2
param set-default MIS_TAKEOFF_ALT 1.1
param set-default MPC_XY_P 1.7
param set-default MPC_XY_VEL_P_ACC 2.6
param set-default MPC_XY_VEL_I_ACC 1.2
param set-default MPC_XY_VEL_D_ACC 0.2
param set-default MPC_TKO_RAMP_T 1
param set-default MPC_TKO_SPEED 1.1
param set-default MPC_VEL_MANUAL 3
# Filter settings
param set IMU_GYRO_CUTOFF 90
param set-default BAT_SOURCE 0
param set-default BAT_N_CELLS 4
param set-default BAT_V_DIV 10.14
param set-default BAT_A_PER_V 18.18
#param set CBRK_IO_SAFETY 22027
param set-default COM_DISARM_LAND 2
# Don't try to be intelligent on RC loss: just cut the motors
param set NAV_RCL_ACT 6
# Filter settings
param set-default IMU_GYRO_CUTOFF 90
# enable to use high-rate logging for better rate tracking analysis
# param set SDLOG_PROFILE 19
# Don't try to be intelligent on RC loss: just cut the motors
param set-default NAV_RCL_ACT 6
# TELEM1 ttyS1 - Wifi module
param set MAV_0_CONFIG 101
param set MAV_0_RATE 0
param set MAV_0_MODE 2 # onboard
param set SER_TEL1_BAUD 921600
# enable to use high-rate logging for better rate tracking analysis
# param set SDLOG_PROFILE 19
# TELEM2 ttyS2 - Sub 1-Ghz
param set MAV_1_CONFIG 102
param set MAV_1_MODE 0 # normal
param set SER_TEL2_BAUD 57600
# TELEM1 ttyS1 - Wifi module
param set-default MAV_0_CONFIG 101
param set-default MAV_0_RATE 0
param set-default MAV_0_MODE 2 # onboard
param set-default SER_TEL1_BAUD 921600
# DSHOT
param set DSHOT_CONFIG 600
# TELEM2 ttyS2 - Sub 1-Ghz
param set-default MAV_1_CONFIG 102
param set-default MAV_1_MODE 0 # normal
param set-default SER_TEL2_BAUD 57600
# EKF OF POSITION
param set EKF2_OF_POS_X 0.06
param set EKF2_OF_POS_Y 0.03
param set EKF2_OF_POS_Z -0.07
# DSHOT
param set-default DSHOT_CONFIG 600
# Failsafe
param set COM_LOW_BAT_ACT 3
fi
# EKF OF POSITION
param set-default EKF2_OF_POS_X 0.06
param set-default EKF2_OF_POS_Y 0.03
param set-default EKF2_OF_POS_Z -0.07
# Failsafe
param set-default COM_LOW_BAT_ACT 3

44
ROMFS/px4fmu_common/init.d/airframes/4080_zmr250
View File

@@ -17,32 +17,30 @@
set MIXER quad_x
set PWM_OUT 1234
if [ $AUTOCNF = yes ]
then
param set CBRK_IO_SAFETY 22027
param set MC_ROLL_P 2.2
param set MC_ROLLRATE_P 0.06
param set MC_ROLLRATE_I 0.2
param set MC_ROLLRATE_D 0.0017
param set-default CBRK_IO_SAFETY 22027
param set MC_PITCH_P 2.2
param set MC_PITCHRATE_P 0.06
param set MC_PITCHRATE_I 0.2
param set MC_PITCHRATE_D 0.0017
param set-default MC_ROLL_P 2.2
param set-default MC_ROLLRATE_P 0.06
param set-default MC_ROLLRATE_I 0.2
param set-default MC_ROLLRATE_D 0.0017
param set MC_YAW_P 1
param set MC_YAWRATE_P 0.15
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0
param set-default MC_PITCH_P 2.2
param set-default MC_PITCHRATE_P 0.06
param set-default MC_PITCHRATE_I 0.2
param set-default MC_PITCHRATE_D 0.0017
param set MC_ACRO_R_MAX 1000
param set MC_ACRO_P_MAX 1000
param set MC_ACRO_Y_MAX 1000
param set-default MC_YAW_P 1
param set-default MC_YAWRATE_P 0.15
param set-default MC_YAWRATE_I 0.2
param set-default MC_YAWRATE_D 0
# param set NAV_RCL_ACT 6 # Lockdown
param set-default MC_ACRO_R_MAX 1000
param set-default MC_ACRO_P_MAX 1000
param set-default MC_ACRO_Y_MAX 1000
param set PWM_MAIN_MIN 1075
param set PWM_MAIN_RATE 400
param set PWM_MAIN_DISARM 900
fi
# param set NAV_RCL_ACT 6 # Lockdown
param set-default PWM_MAIN_MIN 1075
param set-default PWM_MAIN_RATE 400
param set-default PWM_MAIN_DISARM 900

36
ROMFS/px4fmu_common/init.d/airframes/4090_nanomind
View File

@@ -21,24 +21,22 @@
set MIXER quad_x
set PWM_OUT 1234
if [ $AUTOCNF = yes ]
then
param set BAT_N_CELLS 1
param set MC_ROLL_P 8
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
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
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0
param set-default BAT_N_CELLS 1
param set PWM_MAIN_DISARM 0
param set PWM_MAIN_MIN 500
param set PWM_MAIN_MAX 2200
fi
param set-default MC_ROLL_P 8
param set-default MC_ROLLRATE_P 0.19
param set-default MC_ROLLRATE_I 0.1
param set-default MC_ROLLRATE_D 0.0055
param set-default MC_PITCH_P 8
param set-default MC_PITCHRATE_P 0.19
param set-default MC_PITCHRATE_I 0.1
param set-default MC_PITCHRATE_D 0.0055
param set-default MC_YAW_P 4
param set-default MC_YAWRATE_P 0.2
param set-default MC_YAWRATE_I 0.1
param set-default MC_YAWRATE_D 0
param set-default PWM_MAIN_DISARM 0
param set-default PWM_MAIN_MIN 500
param set-default PWM_MAIN_MAX 2200

265
ROMFS/px4fmu_common/init.d/airframes/4250_teal
View File

@@ -28,169 +28,166 @@ echo "Executing 4250_teal script."
set MIXER quad_x
set PWM_OUT 1234
if [ $AUTOCNF = yes ]
then
# First thing, reset all params to default... EXCEPT THIS LIST
param reset_all SYS_AUTOSTART SYS_AUTOCONFIG RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* CAL_MAG* SENS_BOARD* EKF2_MAGBIAS*
# battery
param set BAT_CAPACITY 2750
param set BAT_CRIT_THR 0.15
param set BAT_EMERGEN_THR 0.075
param set BAT_LOW_THR 0.20
param set BAT_N_CELLS 4
param set BAT_R_INTERNAL 0.06
param set BAT_SOURCE 1
param set BAT_V_CHARGED 4.15
param set BAT_V_DIV 11.1625
param set BAT_V_EMPTY 3.65
param set BAT_V_OFFS_CURR -0.0045
# First thing, reset all params to default... EXCEPT THIS LIST
param reset_all SYS_AUTOSTART SYS_AUTOCONFIG RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* CAL_MAG* SENS_BOARD* EKF2_MAGBIAS*
# sensor calibration
param set CAL_MAG_SIDES 63
param set SENS_BOARD_ROT 0
# battery
param set-default BAT_CAPACITY 2750
param set-default BAT_CRIT_THR 0.15
param set-default BAT_EMERGEN_THR 0.075
param set-default BAT_LOW_THR 0.20
param set-default BAT_N_CELLS 4
param set-default BAT_R_INTERNAL 0.06
param set-default BAT_SOURCE 1
param set-default BAT_V_CHARGED 4.15
param set-default BAT_V_DIV 11.1625
param set-default BAT_V_EMPTY 3.65
param set-default BAT_V_OFFS_CURR -0.0045
# circuit breakers
param set CBRK_IO_SAFETY 22027
param set CBRK_USB_CHK 197848
# sensor calibration
param set-default CAL_MAG_SIDES 63
param set-default SENS_BOARD_ROT 0
# commander
param set COM_DISARM_LAND 0.1
# Return mode at critically low level, Land mode at current position if reaching dangerously low levels.
param set COM_LOW_BAT_ACT 3
# circuit breakers
param set-default CBRK_IO_SAFETY 22027
param set-default CBRK_USB_CHK 197848
# ekf2
param set EKF2_AID_MASK 1
param set EKF2_MAG_TYPE 1
param set EKF2_GPS_CHECK 511
param set EKF2_GPS_POS_X -0.04
param set EKF2_IMU_POS_X -0.06
param set EKF2_PCOEF_XN 0.1
param set EKF2_PCOEF_XP -0.5
param set EKF2_RNG_AID 1
param set EKF2_RNG_A_VMAX 20
param set EKF2_RNG_NOISE 0.2
param set EKF2_MIN_RNG 0.07
# commander
param set-default COM_DISARM_LAND 0.1
# Return mode at critically low level, Land mode at current position if reaching dangerously low levels.
param set-default COM_LOW_BAT_ACT 3
# gps
param set GPS_UBX_DYNMODEL 7
# ekf2
param set-default EKF2_AID_MASK 1
param set-default EKF2_MAG_TYPE 1
param set-default EKF2_GPS_CHECK 511
param set-default EKF2_GPS_POS_X -0.04
param set-default EKF2_IMU_POS_X -0.06
param set-default EKF2_PCOEF_XN 0.1
param set-default EKF2_PCOEF_XP -0.5
param set-default EKF2_RNG_AID 1
param set-default EKF2_RNG_A_VMAX 20
param set-default EKF2_RNG_NOISE 0.2
param set-default EKF2_MIN_RNG 0.07
# geofence
# Geofence violation action -- Warning.
param set GF_ACTION 1
# gps
param set-default GPS_UBX_DYNMODEL 7
# land detector
param set LNDMC_XY_VEL_MAX 1
# This is set high because we have lots of vibrations while in contact with ground.
param set LNDMC_ROT_MAX 50
# geofence
# Geofence violation action -- Warning.
param set-default GF_ACTION 1
# serial comms
param set SER_TEL1_BAUD 921600
param set SER_TEL2_BAUD 921600
# land detector
param set-default LNDMC_XY_VEL_MAX 1
# This is set high because we have lots of vibrations while in contact with ground.
param set-default LNDMC_ROT_MAX 50
# mavlink stream configuration
# TEL1 ttyS1 -- disabled. TX1 FTDI UART has issues.
param set MAV_0_CONFIG 0
param set MAV_0_RATE 800000
# serial comms
param set-default SER_TEL1_BAUD 921600
param set-default SER_TEL2_BAUD 921600
# TEL2 ttyS2 -- Primary MAVLINK stream to companion computer.
param set MAV_1_CONFIG 102
param set MAV_1_RATE 800000
# mavlink stream configuration
# TEL1 ttyS1 -- disabled. TX1 FTDI UART has issues.
param set-default MAV_0_CONFIG 0
param set-default MAV_0_RATE 800000
# mc_att_control
param set MC_ACRO_P_MAX 360
param set MC_ACRO_R_MAX 360
param set MC_ACRO_Y_MAX 360
# TEL2 ttyS2 -- Primary MAVLINK stream to companion computer.
param set-default MAV_1_CONFIG 102
param set-default MAV_1_RATE 800000
param set MC_ROLL_P 6
param set MC_ROLLRATE_P 0.055
param set MC_ROLLRATE_I 0.2
param set MC_ROLLRATE_D 0.0012
param set MC_ROLLRATE_MAX 180
# mc_att_control
param set-default MC_ACRO_P_MAX 360
param set-default MC_ACRO_R_MAX 360
param set-default MC_ACRO_Y_MAX 360
param set MC_PITCH_P 6.5
param set MC_PITCHRATE_P 0.06
param set MC_PITCHRATE_I 0.2
param set MC_PITCHRATE_D 0.0012
param set MC_PITCHRATE_MAX 180
param set-default MC_ROLL_P 6
param set-default MC_ROLLRATE_P 0.055
param set-default MC_ROLLRATE_I 0.2
param set-default MC_ROLLRATE_D 0.0012
param set-default MC_ROLLRATE_MAX 180
param set MC_YAW_P 1
param set MC_YAWRATE_P 0.08
param set MC_YAWRATE_I 0.08
param set MC_YAWRATE_D 0
param set MC_YAWRATE_MAX 180
param set-default MC_PITCH_P 6.5
param set-default MC_PITCHRATE_P 0.06
param set-default MC_PITCHRATE_I 0.2
param set-default MC_PITCHRATE_D 0.0012
param set-default MC_PITCHRATE_MAX 180
# Set to reduce voltage transients as seen by battery management system.
param set MOT_SLEW_MAX 0.15
param set-default MC_YAW_P 1
param set-default MC_YAWRATE_P 0.08
param set-default MC_YAWRATE_I 0.08
param set-default MC_YAWRATE_D 0
param set-default MC_YAWRATE_MAX 180
#### CONTROLLER ###
param set MPC_LAND_ALT1 8
param set MPC_LAND_ALT2 5
param set MPC_TKO_RAMP_T 0.75
param set MPC_TKO_SPEED 0.75
param set MPC_TILTMAX_LND 18
param set MPC_TILTMAX_AIR 45
param set MPC_MAN_TILT_MAX 45
# Set to reduce voltage transients as seen by battery management system.
param set-default MOT_SLEW_MAX 0.15
param set MPC_MANTHR_MAX 0.85
param set MPC_MANTHR_MIN 0.15
# Full throttle can trip over current protection on BMS.
param set MPC_THR_MAX 0.85
param set MPC_THR_MIN 0.15
#### CONTROLLER ###
param set-default MPC_LAND_ALT1 8
param set-default MPC_LAND_ALT2 5
param set-default MPC_TKO_RAMP_T 0.75
param set-default MPC_TKO_SPEED 0.75
param set-default MPC_TILTMAX_LND 18
param set-default MPC_TILTMAX_AIR 45
param set-default MPC_MAN_TILT_MAX 45
param set MPC_VEL_MANUAL 26.5
# RTL speed, it was too fast and scaring people.
param set MPC_XY_CRUISE 15
param set-default MPC_MANTHR_MAX 0.85
param set-default MPC_MANTHR_MIN 0.15
# Full throttle can trip over current protection on BMS.
param set-default MPC_THR_MAX 0.85
param set-default MPC_THR_MIN 0.15
param set MPC_MAN_Y_MAX 200
param set-default MPC_VEL_MANUAL 26.5
# RTL speed, it was too fast and scaring people.
param set-default MPC_XY_CRUISE 15
param set MPC_JERK_MAX 5
param set MPC_ACC_UP_MAX 10
param set MPC_ACC_DOWN_MAX 10
param set MPC_ACC_HOR 10
param set MPC_ACC_HOR_MAX 15
param set-default MPC_MAN_Y_MAX 200
param set MPC_XY_P 1.15
param set MPC_XY_VEL_P_ACC 2.8
param set MPC_XY_VEL_I_ACC 0.28
param set MPC_XY_VEL_D_ACC 0.28
param set MPC_XY_VEL_MAX 26.5
param set-default MPC_JERK_MAX 5
param set-default MPC_ACC_UP_MAX 10
param set-default MPC_ACC_DOWN_MAX 10
param set-default MPC_ACC_HOR 10
param set-default MPC_ACC_HOR_MAX 15
param set MPC_Z_P 0.85
param set MPC_Z_VEL_P_ACC 5
param set MPC_Z_VEL_I_ACC 1.7
param set MPC_Z_VEL_D_ACC 0.4
# Documentation says limit is 8.0, but does not seem to be enforced in code.
param set MPC_Z_VEL_MAX_UP 20
param set MPC_Z_VEL_MAX_DN 2.5
#### CONTROLLER ###
param set-default MPC_XY_P 1.15
param set-default MPC_XY_VEL_P_ACC 2.8
param set-default MPC_XY_VEL_I_ACC 0.28
param set-default MPC_XY_VEL_D_ACC 0.28
param set-default MPC_XY_VEL_MAX 26.5
# navigator
param set NAV_ACC_RAD 2.5
# RC loss failsafe behavior -- hold mode.
param set NAV_RCL_ACT 1
param set-default MPC_Z_P 0.85
param set-default MPC_Z_VEL_P_ACC 5
param set-default MPC_Z_VEL_I_ACC 1.7
param set-default MPC_Z_VEL_D_ACC 0.4
# Documentation says limit is 8.0, but does not seem to be enforced in code.
param set-default MPC_Z_VEL_MAX_UP 20
param set-default MPC_Z_VEL_MAX_DN 2.5
#### CONTROLLER ###
# pwm control
param set PWM_MAIN_DISARM 900
param set PWM_MAIN_MAX 1850
param set PWM_MAIN_MIN 1075
# Oneshot125
param set PWM_MAIN_RATE 0
# navigator
param set-default NAV_ACC_RAD 2.5
# RC loss failsafe behavior -- hold mode.
param set-default NAV_RCL_ACT 1
# rtl
param set RTL_DESCEND_ALT 5
param set RTL_LAND_DELAY 5
param set RTL_MIN_DIST 7.5
param set RTL_RETURN_ALT 25
# pwm control
param set-default PWM_MAIN_DISARM 900
param set-default PWM_MAIN_MAX 1850
param set-default PWM_MAIN_MIN 1075
# Oneshot125
param set-default PWM_MAIN_RATE 0
# calibration
param set CAL_ACC0_PRIO 255
param set CAL_ACC1_PRIO 0
# rtl
param set-default RTL_DESCEND_ALT 5
param set-default RTL_LAND_DELAY 5
param set-default RTL_MIN_DIST 7.5
param set-default RTL_RETURN_ALT 25
param set CAL_GYRO0_PRIO 255
param set CAL_GYRO1_PRIO 0
fi
# calibration
param set-default CAL_ACC0_PRIO 255
param set-default CAL_ACC1_PRIO 0
param set-default CAL_GYRO0_PRIO 255
param set-default CAL_GYRO1_PRIO 0
# Logger mode. Default(1) + estimator replay(2) + thermal calibration(4)
param set SDLOG_PROFILE 6

30
ROMFS/px4fmu_common/init.d/airframes/4500_clover4
View File

@@ -17,19 +17,17 @@
set MIXER quad_x
set PWM_OUT 1234
if [ $AUTOCNF = yes ]
then
param set MC_PITCHRATE_P 0.087
param set MC_PITCHRATE_I 0.037
param set MC_PITCHRATE_D 0.0044
param set MC_PITCH_P 8.5
param set MC_ROLLRATE_P 0.087
param set MC_ROLLRATE_I 0.037
param set MC_ROLLRATE_D 0.0044
param set MC_ROLL_P 8.5
param set MPC_XY_VEL_P_ACC 2.2
param set MPC_XY_VEL_D_ACC 0.26
param set MPC_XY_P 1.1
param set MPC_Z_VEL_P_ACC 4.8
param set MPC_Z_P 1.2
fi
param set-default MC_PITCHRATE_P 0.087
param set-default MC_PITCHRATE_I 0.037
param set-default MC_PITCHRATE_D 0.0044
param set-default MC_PITCH_P 8.5
param set-default MC_ROLLRATE_P 0.087
param set-default MC_ROLLRATE_I 0.037
param set-default MC_ROLLRATE_D 0.0044
param set-default MC_ROLL_P 8.5
param set-default MPC_XY_VEL_P_ACC 2.2
param set-default MPC_XY_VEL_D_ACC 0.26
param set-default MPC_XY_P 1.1
param set-default MPC_Z_VEL_P_ACC 4.8
param set-default MPC_Z_P 1.2

81
ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie
View File

@@ -19,59 +19,56 @@
set MIXER quad_x_cw
set PWM_OUT 1234
if [ $AUTOCNF = yes ]
then
param set BAT_N_CELLS 1
param set BAT_CAPACITY 240
param set BAT_SOURCE 1
param set CBRK_SUPPLY_CHK 894281
param set CBRK_USB_CHK 197848
param set COM_RC_IN_MODE 1
param set-default BAT_N_CELLS 1
param set-default BAT_CAPACITY 240
param set-default BAT_SOURCE 1
param set EKF2_ABL_LIM 2
param set EKF2_AID_MASK 3
param set EKF2_HGT_MODE 2
param set EKF2_MAG_TYPE 1
param set EKF2_OF_DELAY 10
param set-default CBRK_SUPPLY_CHK 894281
param set-default CBRK_USB_CHK 197848
param set-default COM_RC_IN_MODE 1
param set IMU_GYRO_CUTOFF 100
param set IMU_ACCEL_CUTOFF 30
param set-default EKF2_ABL_LIM 2
param set-default EKF2_AID_MASK 3
param set-default EKF2_HGT_MODE 2
param set-default EKF2_MAG_TYPE 1
param set-default EKF2_OF_DELAY 10
param set MC_AIRMODE 1
param set IMU_DGYRO_CUTOFF 70
param set MC_PITCHRATE_D 0.002
param set MC_PITCHRATE_I 0.2
param set MC_PITCHRATE_P 0.07
param set MC_PITCH_P 6.5
param set MC_ROLLRATE_D 0.002
param set MC_ROLLRATE_I 0.2
param set MC_ROLLRATE_P 0.07
param set MC_ROLL_P 6.5
param set MC_YAW_P 3
param set-default IMU_GYRO_CUTOFF 100
param set-default IMU_ACCEL_CUTOFF 30
param set MPC_THR_HOVER 0.7
param set MPC_THR_MAX 1
param set MPC_Z_P 1.5
param set MPC_Z_VEL_P_ACC 8
param set MPC_Z_VEL_I_ACC 6
param set MPC_HOLD_MAX_XY 0.1
param set MPC_MAX_FLOW_HGT 3
param set-default MC_AIRMODE 1
param set-default IMU_DGYRO_CUTOFF 70
param set-default MC_PITCHRATE_D 0.002
param set-default MC_PITCHRATE_I 0.2
param set-default MC_PITCHRATE_P 0.07
param set-default MC_PITCH_P 6.5
param set-default MC_ROLLRATE_D 0.002
param set-default MC_ROLLRATE_I 0.2
param set-default MC_ROLLRATE_P 0.07
param set-default MC_ROLL_P 6.5
param set-default MC_YAW_P 3
param set NAV_RCL_ACT 3
param set-default MPC_THR_HOVER 0.7
param set-default MPC_THR_MAX 1
param set-default MPC_Z_P 1.5
param set-default MPC_Z_VEL_P_ACC 8
param set-default MPC_Z_VEL_I_ACC 6
param set-default MPC_HOLD_MAX_XY 0.1
param set-default MPC_MAX_FLOW_HGT 3
param set PWM_MAIN_DISARM 0
param set PWM_MAIN_MIN 0
param set PWM_MAIN_MAX 255
param set-default NAV_RCL_ACT 3
# Run the motors at 328.125 kHz (recommended)
param set PWM_MAIN_RATE 3921
param set-default PWM_MAIN_DISARM 0
param set-default PWM_MAIN_MIN 0
param set-default PWM_MAIN_MAX 255
param set SDLOG_PROFILE 1
# Run the motors at 328.125 kHz (recommended)
param set-default PWM_MAIN_RATE 3921
param set SENS_FLOW_MINRNG 0.05
param set-default SDLOG_PROFILE 1
fi
param set-default SENS_FLOW_MINRNG 0.05
set PWM_MAIN_DISARM none
set PWM_MAIN_MAX none

79
ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21
View File

@@ -19,59 +19,56 @@
set MIXER quad_x_cw
set PWM_OUT 1234
if [ $AUTOCNF = yes ]
then
param set SYS_MC_EST_GROUP 3
param set SYS_HAS_MAG 0
param set BAT_N_CELLS 1
param set BAT1_N_CELLS 1
param set BAT1_SOURCE 1
param set-default SYS_MC_EST_GROUP 3
param set-default SYS_HAS_MAG 0
param set CBRK_SUPPLY_CHK 894281
param set CBRK_USB_CHK 197848
param set COM_RC_IN_MODE 1
param set-default BAT_N_CELLS 1
param set-default BAT1_N_CELLS 1
param set-default BAT1_SOURCE 1
param set IMU_GYRO_CUTOFF 100
param set IMU_ACCEL_CUTOFF 30
param set-default CBRK_SUPPLY_CHK 894281
param set-default CBRK_USB_CHK 197848
param set-default COM_RC_IN_MODE 1
param set MC_AIRMODE 1
param set IMU_DGYRO_CUTOFF 70
param set MC_PITCHRATE_D 0.002
param set MC_PITCHRATE_I 0.2
param set MC_PITCHRATE_P 0.07
param set MC_PITCH_P 6.5
param set MC_ROLLRATE_D 0.002
param set MC_ROLLRATE_I 0.2
param set MC_ROLLRATE_P 0.07
param set MC_ROLL_P 6.5
param set MC_YAW_P 3
param set-default IMU_GYRO_CUTOFF 100
param set-default IMU_ACCEL_CUTOFF 30
param set MPC_THR_HOVER 0.7
param set MPC_THR_MAX 1
param set MPC_Z_P 1.5
param set MPC_Z_VEL_P_ACC 8
param set MPC_Z_VEL_I_ACC 6
param set MPC_HOLD_MAX_XY 0.1
param set MPC_MAX_FLOW_HGT 3
#param set IMU_GYRO_NF_FREQ 10
#param set IMU_GYRO_NF_BW 20
param set-default MC_AIRMODE 1
param set-default IMU_DGYRO_CUTOFF 70
param set-default MC_PITCHRATE_D 0.002
param set-default MC_PITCHRATE_I 0.2
param set-default MC_PITCHRATE_P 0.07
param set-default MC_PITCH_P 6.5
param set-default MC_ROLLRATE_D 0.002
param set-default MC_ROLLRATE_I 0.2
param set-default MC_ROLLRATE_P 0.07
param set-default MC_ROLL_P 6.5
param set-default MC_YAW_P 3
param set NAV_RCL_ACT 3
param set-default MPC_THR_HOVER 0.7
param set-default MPC_THR_MAX 1
param set-default MPC_Z_P 1.5
param set-default MPC_Z_VEL_P_ACC 8
param set-default MPC_Z_VEL_I_ACC 6
param set-default MPC_HOLD_MAX_XY 0.1
param set-default MPC_MAX_FLOW_HGT 3
#param set IMU_GYRO_NF_FREQ 10
#param set IMU_GYRO_NF_BW 20
param set PWM_MAIN_DISARM 0
param set PWM_MAIN_MIN 0
param set PWM_MAIN_MAX 255
param set-default NAV_RCL_ACT 3
# Run the motors at 328.125 kHz (recommended)
param set PWM_MAIN_RATE 3921
param set-default PWM_MAIN_DISARM 0
param set-default PWM_MAIN_MIN 0
param set-default PWM_MAIN_MAX 255
param set SDLOG_PROFILE 1
# Run the motors at 328.125 kHz (recommended)
param set-default PWM_MAIN_RATE 3921
param set SENS_FLOW_MINRNG 0.05
param set-default SDLOG_PROFILE 1
param set-default SENS_FLOW_MINRNG 0.05
fi
set PWM_MAIN_DISARM none
set PWM_MAIN_MAX none

61
ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle
View File

@@ -16,45 +16,42 @@
. ${R}etc/init.d/rc.rover_defaults
if [ $AUTOCNF = yes ]
then
param set BAT_N_CELLS 2
param set EKF2_ANGERR_INIT 0.01
param set EKF2_GBIAS_INIT 0.01
param set EKF2_MAG_TYPE 1
param set-default BAT_N_CELLS 2
param set FW_AIRSPD_MAX 3
param set FW_AIRSPD_MIN 0
param set FW_AIRSPD_TRIM 1
param set-default EKF2_ANGERR_INIT 0.01
param set-default EKF2_GBIAS_INIT 0.01
param set-default EKF2_MAG_TYPE 1
param set GND_L1_DIST 10
param set GND_SP_CTRL_MODE 1
param set GND_SPEED_P 0.25
param set GND_SPEED_I 3
param set GND_SPEED_D 0.001
param set GND_SPEED_IMAX 0.125
param set GND_SPEED_THR_SC 1
param set GND_THR_IDLE 0
param set GND_THR_CRUISE 0.3
param set GND_THR_MAX 0.5
param set GND_THR_MIN 0
param set GND_WR_P 2
param set GND_WR_I 0.9674
param set GND_WR_IMAX 0.1
param set GND_WR_D 1.2
param set-default FW_AIRSPD_MAX 3
param set-default FW_AIRSPD_MIN 0
param set-default FW_AIRSPD_TRIM 1
param set MIS_LTRMIN_ALT 0.01
param set MIS_TAKEOFF_ALT 0.01
param set-default GND_L1_DIST 10
param set-default GND_SP_CTRL_MODE 1
param set-default GND_SPEED_P 0.25
param set-default GND_SPEED_I 3
param set-default GND_SPEED_D 0.001
param set-default GND_SPEED_IMAX 0.125
param set-default GND_SPEED_THR_SC 1
param set-default GND_THR_IDLE 0
param set-default GND_THR_CRUISE 0.3
param set-default GND_THR_MAX 0.5
param set-default GND_THR_MIN 0
param set-default GND_WR_P 2
param set-default GND_WR_I 0.9674
param set-default GND_WR_IMAX 0.1
param set-default GND_WR_D 1.2
param set NAV_ACC_RAD 0.5
param set-default MIS_LTRMIN_ALT 0.01
param set-default MIS_TAKEOFF_ALT 0.01
# Provide ESC a constant 1500 us pulse
param set PWM_MAIN_DISARM 1500
param set PWM_MAIN_MAX 2000
param set PWM_MAIN_MIN 1000
fi
param set-default NAV_ACC_RAD 0.5
# Provide ESC a constant 1500 us pulse
param set-default PWM_MAIN_DISARM 1500
param set-default PWM_MAIN_MAX 2000
param set-default PWM_MAIN_MIN 1000
# Configure this as rover
set MAV_TYPE 10

95
ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover
View File

@@ -21,67 +21,64 @@
. ${R}etc/init.d/rc.rover_defaults
if [ $AUTOCNF = yes ]
then
param set BAT_N_CELLS 4
param set EKF2_GBIAS_INIT 0.01
param set EKF2_ANGERR_INIT 0.01
param set EKF2_MAG_TYPE 1
param set-default BAT_N_CELLS 4
param set FW_AIRSPD_MIN 0
param set FW_AIRSPD_TRIM 1
param set FW_AIRSPD_MAX 3
param set-default EKF2_GBIAS_INIT 0.01
param set-default EKF2_ANGERR_INIT 0.01
param set-default EKF2_MAG_TYPE 1
param set GND_SP_CTRL_MODE 1
param set GND_L1_DIST 5
param set GND_L1_PERIOD 3
param set GND_THR_IDLE 0
param set GND_THR_CRUISE 0.7
param set GND_THR_MAX 0.5
param set-default FW_AIRSPD_MIN 0
param set-default FW_AIRSPD_TRIM 1
param set-default FW_AIRSPD_MAX 3
# Because this is differential drive, it can make a turn with radius 0.
# This corresponds to a turn angle of pi radians.
# If a special case is made for differential-drive, this will need to change.
param set GND_MAX_ANG 3.142
param set GND_WHEEL_BASE 0.3
param set-default GND_SP_CTRL_MODE 1
param set-default GND_L1_DIST 5
param set-default GND_L1_PERIOD 3
param set-default GND_THR_IDLE 0
param set-default GND_THR_CRUISE 0.7
param set-default GND_THR_MAX 0.5
# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase
# to support negative throttle.
param set GND_THR_MIN 0
param set GND_SPEED_P 0.25
param set GND_SPEED_I 3
param set GND_SPEED_D 0.001
param set GND_SPEED_IMAX 0.125
param set GND_SPEED_THR_SC 1
# Because this is differential drive, it can make a turn with radius 0.
# This corresponds to a turn angle of pi radians.
# If a special case is made for differential-drive, this will need to change.
param set-default GND_MAX_ANG 3.142
param set-default GND_WHEEL_BASE 0.3
param set MIS_LTRMIN_ALT 0.01
param set MIS_TAKEOFF_ALT 0.01
# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase
# to support negative throttle.
param set-default GND_THR_MIN 0
param set-default GND_SPEED_P 0.25
param set-default GND_SPEED_I 3
param set-default GND_SPEED_D 0.001
param set-default GND_SPEED_IMAX 0.125
param set-default GND_SPEED_THR_SC 1
param set NAV_ACC_RAD 0.5
param set-default MIS_LTRMIN_ALT 0.01
param set-default MIS_TAKEOFF_ALT 0.01
# Provide ESC a constant 1500 us pulse, which corresponds to
# idle on the Roboclaw motor controller on the Aion R1
param set PWM_MAIN_DISARM 1500
param set PWM_MAIN_DIS0 1500
param set PWM_MAIN_DIS1 1500
param set PWM_MAIN_MAX 2000
param set PWM_MAIN_MIN 1000
param set-default NAV_ACC_RAD 0.5
# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
param set CBRK_AIRSPD_CHK 162128
# Provide ESC a constant 1500 us pulse, which corresponds to
# idle on the Roboclaw motor controller on the Aion R1
param set-default PWM_MAIN_DISARM 1500
param set-default PWM_MAIN_DIS0 1500
param set-default PWM_MAIN_DIS1 1500
param set-default PWM_MAIN_MAX 2000
param set-default PWM_MAIN_MIN 1000
# Differential drive acts like ackermann steering with a maximum turn angle of 180 degrees, or pi radians
param set GND_MAX_ANG 3.1415
# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
param set-default CBRK_AIRSPD_CHK 162128
param set RBCLW_BAUD 8
param set RBCLW_COUNTS_REV 1200
param set RBCLW_ADDRESS 128
# param set SER_TEL4_BAUD 115200
# 104 corresponds to Telem 4
param set RBCLW_SER_CFG 104
fi
# Differential drive acts like ackermann steering with a maximum turn angle of 180 degrees, or pi radians
param set-default GND_MAX_ANG 3.1415
param set-default RBCLW_BAUD 8
param set-default RBCLW_COUNTS_REV 1200
param set-default RBCLW_ADDRESS 128
# param set SER_TEL4_BAUD 115200
# 104 corresponds to Telem 4
param set-default RBCLW_SER_CFG 104
# Start this driver after setting parameters, because the driver uses some of those parameters.
# roboclaw start /dev/ttyS3

75
ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx
View File

@@ -21,55 +21,52 @@
. ${R}etc/init.d/rc.rover_defaults
if [ $AUTOCNF = yes ]
then
param set BAT_N_CELLS 2
param set EKF2_GBIAS_INIT 0.01
param set EKF2_ANGERR_INIT 0.01
param set EKF2_MAG_TYPE 1
param set-default BAT_N_CELLS 2
param set FW_AIRSPD_MIN 0
param set FW_AIRSPD_TRIM 1
param set FW_AIRSPD_MAX 3
param set-default EKF2_GBIAS_INIT 0.01
param set-default EKF2_ANGERR_INIT 0.01
param set-default EKF2_MAG_TYPE 1
param set GND_THR_IDLE 0
param set GND_THR_CRUISE 0.3
param set GND_THR_MAX 0.5
param set-default FW_AIRSPD_MIN 0
param set-default FW_AIRSPD_TRIM 1
param set-default FW_AIRSPD_MAX 3
# Differential drive acts like ackermann steering with a maximum turn angle of 60 degrees, or pi/3 radians
param set GND_MAX_ANG 1.042
param set GND_WHEEL_BASE 0.17
param set-default GND_THR_IDLE 0
param set-default GND_THR_CRUISE 0.3
param set-default GND_THR_MAX 0.5
# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase
# to support negative throttle.
param set GND_THR_MIN 0.0
param set GND_SPEED_P 0.25
param set GND_SPEED_I 3
param set GND_SPEED_D 0.001
param set GND_SPEED_IMAX 0.125
param set GND_SPEED_THR_SC 1
# Differential drive acts like ackermann steering with a maximum turn angle of 60 degrees, or pi/3 radians
param set-default GND_MAX_ANG 1.042
param set-default GND_WHEEL_BASE 0.17
param set MIS_LTRMIN_ALT 0.01
param set MIS_TAKEOFF_ALT 0.01
# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase
# to support negative throttle.
param set-default GND_THR_MIN 0.0
param set-default GND_SPEED_P 0.25
param set-default GND_SPEED_I 3
param set-default GND_SPEED_D 0.001
param set-default GND_SPEED_IMAX 0.125
param set-default GND_SPEED_THR_SC 1
param set NAV_ACC_RAD 0.5
param set-default MIS_LTRMIN_ALT 0.01
param set-default MIS_TAKEOFF_ALT 0.01
# Provide ESC a constant 1500 us pulse to idle
param set PWM_MAIN_DISARM 1500
param set PWM_MAIN_DIS3 1485
param set PWM_MAIN_DIS4 1485
param set PWM_MAIN_FAIL3 1485
param set PWM_MAIN_FAIL4 1485
param set PWM_MAIN_MAX 2000
param set PWM_MAIN_MIN 1000
param set PWM_MAIN_MIN3 970
param set PWM_MAIN_MIN4 970
param set-default NAV_ACC_RAD 0.5
# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
param set CBRK_AIRSPD_CHK 162128
# Provide ESC a constant 1500 us pulse to idle
param set-default PWM_MAIN_DISARM 1500
param set-default PWM_MAIN_DIS3 1485
param set-default PWM_MAIN_DIS4 1485
param set-default PWM_MAIN_FAIL3 1485
param set-default PWM_MAIN_FAIL4 1485
param set-default PWM_MAIN_MAX 2000
param set-default PWM_MAIN_MIN 1000
param set-default PWM_MAIN_MIN3 970
param set-default PWM_MAIN_MIN4 970
fi
# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
param set-default CBRK_AIRSPD_CHK 162128
# Configure this as rover
set MAV_TYPE 10

13
ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic
View File

@@ -14,17 +14,14 @@
. ${R}etc/init.d/rc.uuv_defaults
if [ $AUTOCNF = yes ]
then
#Set data link loss failsafe mode (0: disabled)
param set NAV_DLL_ACT 0
# disable circuit breaker for airspeed sensor
param set CBRK_AIRSPD_CHK 162128
#Set data link loss failsafe mode (0: disabled)
param set-default NAV_DLL_ACT 0
#param set CBRK_GPSFAIL 240024
fi
# disable circuit breaker for airspeed sensor
param set-default CBRK_AIRSPD_CHK 162128
#param set CBRK_GPSFAIL 240024
set MAV_TYPE 12
param set MAV_TYPE ${MAV_TYPE}

13
ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus
View File

@@ -14,17 +14,14 @@
. ${R}etc/init.d/rc.uuv_defaults
if [ $AUTOCNF = yes ]
then
#Set data link loss failsafe mode (0: disabled)
param set NAV_DLL_ACT 0
# disable circuit breaker for airspeed sensor
param set CBRK_AIRSPD_CHK 162128
#Set data link loss failsafe mode (0: disabled)
param set-default NAV_DLL_ACT 0
#param set CBRK_GPSFAIL 240024
fi
# disable circuit breaker for airspeed sensor
param set-default CBRK_AIRSPD_CHK 162128
#param set CBRK_GPSFAIL 240024
set MAV_TYPE 12
param set MAV_TYPE ${MAV_TYPE}

31
ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy
View File

@@ -23,28 +23,25 @@
. ${R}etc/init.d/rc.uuv_defaults
if [ $AUTOCNF = yes ]
then
#Set data link loss failsafe mode (0: disabled)
param set NAV_DLL_ACT 0
# disable circuit breaker for airspeed sensor
param set CBRK_AIRSPD_CHK 162128
# companion computer is connected via USB permanently
param set CBRK_USB_CHK 197848
param set CBRK_IO_SAFETY 22027
#Set data link loss failsafe mode (0: disabled)
param set-default NAV_DLL_ACT 0
param set COM_PREARM_MODE 0
# disable circuit breaker for airspeed sensor
param set-default CBRK_AIRSPD_CHK 162128
# companion computer is connected via USB permanently
param set-default CBRK_USB_CHK 197848
param set-default CBRK_IO_SAFETY 22027
param set MAV_1_CONFIG 102
param set-default COM_PREARM_MODE 0
param set BAT1_A_PER_V 37.8798
param set BAT1_CAPACITY 18000
param set BAT1_V_DIV 11.0
param set BAT1_N_CELLS 4
param set BAT_V_OFFS_CURR 0.33
fi
param set-default MAV_1_CONFIG 102
param set-default BAT1_A_PER_V 37.8798
param set-default BAT1_CAPACITY 18000
param set-default BAT1_V_DIV 11.0
param set-default BAT1_N_CELLS 4
param set-default BAT_V_OFFS_CURR 0.33
set PWM_OUT 12345678
# set MIXER IO_pass
set MIXER vectored6dof

181
ROMFS/px4fmu_common/init.d/airframes/6002_draco_r
View File

@@ -30,109 +30,106 @@
set MIXER hexa_x
set PWM_OUT 12345678
if [ $AUTOCNF = yes ]
then
###############################################
# Attitude & rate gains
###############################################
# Roll
param set MC_ROLL_P 6.5
param set MC_ROLLRATE_P 0.15
param set MC_ROLLRATE_I 0.05
param set MC_ROLLRATE_D 0.0013
param set MC_ROLLRATE_MAX 800
# Pitch
param set MC_PITCH_P 6.5
param set MC_PITCHRATE_P 0.15
param set MC_PITCHRATE_I 0.05
param set MC_PITCHRATE_D 0.0016
param set MC_PITCHRATE_MAX 800
# Yaw
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0
param set MC_YAW_FF 0
param set MC_YAWRATE_MAX 700
###############################################
# Multirotor Position Gains
###############################################
param set MPC_ACC_HOR 8
param set MPC_THR_MIN 0.06
param set MPC_THR_HOVER 0.3
# altitude control gains
param set MPC_Z_P 1
param set MPC_Z_VEL_P_ACC 4
param set MPC_Z_VEL_I_ACC 0.4
# position control gains
param set MPC_XY_P 0.9500
param set MPC_XY_VEL_P_ACC 1.8
param set MPC_XY_VEL_I_ACC 0.4
param set MPC_XY_VEL_D_ACC 0.2
# etc gains
param set MPC_TKO_RAMP_T 0.4
param set MPC_TKO_SPEED 1.5
param set MPC_VEL_MANUAL 5
###############################################
# Attitude & rate gains
###############################################
# Roll
param set-default MC_ROLL_P 6.5
param set-default MC_ROLLRATE_P 0.15
param set-default MC_ROLLRATE_I 0.05
param set-default MC_ROLLRATE_D 0.0013
param set-default MC_ROLLRATE_MAX 800
# Pitch
param set-default MC_PITCH_P 6.5
param set-default MC_PITCHRATE_P 0.15
param set-default MC_PITCHRATE_I 0.05
param set-default MC_PITCHRATE_D 0.0016
param set-default MC_PITCHRATE_MAX 800
# Yaw
param set-default MC_YAW_P 2.8
param set-default MC_YAWRATE_P 0.2
param set-default MC_YAWRATE_I 0.1
param set-default MC_YAWRATE_D 0
param set-default MC_YAW_FF 0
param set-default MC_YAWRATE_MAX 700
# Filter settings
param set IMU_DGYRO_CUTOFF 90
param set IMU_GYRO_CUTOFF 100
###############################################
# Multirotor Position Gains
###############################################
param set-default MPC_ACC_HOR 8
param set-default MPC_THR_MIN 0.06
param set-default MPC_THR_HOVER 0.3
# altitude control gains
param set-default MPC_Z_P 1
param set-default MPC_Z_VEL_P_ACC 4
param set-default MPC_Z_VEL_I_ACC 0.4
# position control gains
param set-default MPC_XY_P 0.9500
param set-default MPC_XY_VEL_P_ACC 1.8
param set-default MPC_XY_VEL_I_ACC 0.4
param set-default MPC_XY_VEL_D_ACC 0.2
# etc gains
param set-default MPC_TKO_RAMP_T 0.4
param set-default MPC_TKO_SPEED 1.5
param set-default MPC_VEL_MANUAL 5
# Thrust curve (avoids the need for TPA)
param set THR_MDL_FAC 0.25
# Filter settings
param set-default IMU_DGYRO_CUTOFF 90
param set-default IMU_GYRO_CUTOFF 100
# System
param set PWM_MAIN_MAX 1950
param set PWM_MAIN_MIN 1100
param set PWM_MAIN_DIS5 980
param set PWM_MAIN_DIS6 980
# Thrust curve (avoids the need for TPA)
param set-default THR_MDL_FAC 0.25
# DSHOT
param set DSHOT_CONFIG 600
# System
param set-default PWM_MAIN_MAX 1950
param set-default PWM_MAIN_MIN 1100
param set-default PWM_MAIN_DIS5 980
param set-default PWM_MAIN_DIS6 980
param set MIS_TAKEOFF_ALT 1.1
# DSHOT
param set-default DSHOT_CONFIG 600
#####################################
# EKF
#####################################
# Height mode as GPS
param set EKF2_HGT_MODE 1
# Enable optical flow and GPS
param set EKF2_AID_MASK 1
param set EKF2_RNG_AID 1
param set EKF2_MAG_TYPE 1
param set EKF2_OF_QMIN 80
param set-default MIS_TAKEOFF_ALT 1.1
# default horizontal stablization sensors
param set SENS_EN_PMW3901 1
param set SENS_EN_PX4FLOW 1
param set SENS_EN_LL40LS 2
param set SENS_FLOW_ROT 2
#####################################
# EKF
#####################################
# Height mode as GPS
param set-default EKF2_HGT_MODE 1
# Enable optical flow and GPS
param set-default EKF2_AID_MASK 1
param set-default EKF2_RNG_AID 1
param set-default EKF2_MAG_TYPE 1
param set-default EKF2_OF_QMIN 80
#
param set CBRK_IO_SAFETY 22027
param set COM_DISARM_LAND 3
# default horizontal stablization sensors
param set-default SENS_EN_PMW3901 1
param set-default SENS_EN_PX4FLOW 1
param set-default SENS_EN_LL40LS 2
param set-default SENS_FLOW_ROT 2
# PWM ONESHOT
param set PWM_MAIN_RATE 0
#
param set-default CBRK_IO_SAFETY 22027
param set-default COM_DISARM_LAND 3
# Battery
param set BAT_SOURCE 0
param set BAT_N_CELLS 4
param set BAT_V_DIV 10.133
# PWM ONESHOT
param set-default PWM_MAIN_RATE 0
# TELEM1 ttyS1
param set MAV_0_CONFIG 101
param set MAV_0_MODE 0 # onboard
param set MAV_0_FORWARD 1
param set SER_TEL1_BAUD 57600
# Battery
param set-default BAT_SOURCE 0
param set-default BAT_N_CELLS 4
param set-default BAT_V_DIV 10.133
# TELEM2 ttyS2
param set MAV_1_CONFIG 102
param set MAV_1_MODE 2
param set MAV_1_FORWARD 1
param set MAV_1_RATE 800000
param set SER_TEL2_BAUD 921600
fi
# TELEM1 ttyS1
param set-default MAV_0_CONFIG 101
param set-default MAV_0_MODE 0 # onboard
param set-default MAV_0_FORWARD 1
param set-default SER_TEL1_BAUD 57600
# TELEM2 ttyS2
param set-default MAV_1_CONFIG 102
param set-default MAV_1_MODE 2
param set-default MAV_1_FORWARD 1
param set-default MAV_1_RATE 800000
param set-default SER_TEL2_BAUD 921600

89
ROMFS/px4fmu_common/init.d/airframes/6003_hexa_x_ctrlalloc
View File

@@ -13,62 +13,59 @@
. ${R}etc/init.d/rc.mc_defaults
. ${R}etc/init.d/rc.ctrlalloc
if [ $AUTOCNF = yes ]
then
param set MPC_USE_HTE 0
param set VM_MASS 1.5
param set VM_INERTIA_XX 0.03
param set VM_INERTIA_YY 0.03
param set VM_INERTIA_ZZ 0.05
param set-default MPC_USE_HTE 0
param set CA_AIRFRAME 0
param set CA_METHOD 1
param set CA_ACT0_MIN 0.0
param set CA_ACT1_MIN 0.0
param set CA_ACT2_MIN 0.0
param set CA_ACT3_MIN 0.0
param set CA_ACT4_MIN 0.0
param set CA_ACT5_MIN 0.0
param set-default VM_MASS 1.5
param set-default VM_INERTIA_XX 0.03
param set-default VM_INERTIA_YY 0.03
param set-default VM_INERTIA_ZZ 0.05
param set CA_ACT0_MAX 1.0
param set CA_ACT1_MAX 1.0
param set CA_ACT2_MAX 1.0
param set CA_ACT3_MAX 1.0
param set CA_ACT4_MAX 1.0
param set CA_ACT5_MAX 1.0
param set-default CA_AIRFRAME 0
param set-default CA_METHOD 1
param set-default CA_ACT0_MIN 0.0
param set-default CA_ACT1_MIN 0.0
param set-default CA_ACT2_MIN 0.0
param set-default CA_ACT3_MIN 0.0
param set-default CA_ACT4_MIN 0.0
param set-default CA_ACT5_MIN 0.0
param set CA_MC_R0_PX 0.0
param set CA_MC_R0_PY 0.275
param set CA_MC_R0_CT 6.5
param set CA_MC_R0_KM -0.05
param set-default CA_ACT0_MAX 1.0
param set-default CA_ACT1_MAX 1.0
param set-default CA_ACT2_MAX 1.0
param set-default CA_ACT3_MAX 1.0
param set-default CA_ACT4_MAX 1.0
param set-default CA_ACT5_MAX 1.0
param set CA_MC_R1_PX 0.0
param set CA_MC_R1_PY -0.275
param set CA_MC_R1_CT 6.5
param set CA_MC_R1_KM 0.05
param set-default CA_MC_R0_PX 0.0
param set-default CA_MC_R0_PY 0.275
param set-default CA_MC_R0_CT 6.5
param set-default CA_MC_R0_KM -0.05
param set CA_MC_R2_PX 0.238
param set CA_MC_R2_PY -0.1375
param set CA_MC_R2_CT 6.5
param set CA_MC_R2_KM -0.05
param set-default CA_MC_R1_PX 0.0
param set-default CA_MC_R1_PY -0.275
param set-default CA_MC_R1_CT 6.5
param set-default CA_MC_R1_KM 0.05
param set CA_MC_R3_PX -0.238
param set CA_MC_R3_PY 0.1375
param set CA_MC_R3_CT 6.5
param set CA_MC_R3_KM 0.05
param set-default CA_MC_R2_PX 0.238
param set-default CA_MC_R2_PY -0.1375
param set-default CA_MC_R2_CT 6.5
param set-default CA_MC_R2_KM -0.05
param set CA_MC_R4_PX 0.238
param set CA_MC_R4_PY 0.1375
param set CA_MC_R4_CT 6.5
param set CA_MC_R4_KM 0.05
param set-default CA_MC_R3_PX -0.238
param set-default CA_MC_R3_PY 0.1375
param set-default CA_MC_R3_CT 6.5
param set-default CA_MC_R3_KM 0.05
param set CA_MC_R5_PX -0.238
param set CA_MC_R5_PY -0.1375
param set CA_MC_R5_CT 6.5
param set CA_MC_R5_KM -0.05
param set-default CA_MC_R4_PX 0.238
param set-default CA_MC_R4_PY 0.1375
param set-default CA_MC_R4_CT 6.5
param set-default CA_MC_R4_KM 0.05
fi
param set-default CA_MC_R5_PX -0.238
param set-default CA_MC_R5_PY -0.1375
param set-default CA_MC_R5_CT 6.5
param set-default CA_MC_R5_KM -0.05
set MIXER direct
set PWM_OUT 123456