From 943bcc6773c9437f399cc01268c8551b61022097 Mon Sep 17 00:00:00 2001 From: neo-nb3 Date: Tue, 30 Apr 2024 20:41:35 +0200 Subject: [PATCH] dev --- README.md | 140 +------------- .../init.d/airframes/0001_main_fts | 23 +++ .../init.d/airframes/0002_auto_fts | 23 +++ .../init.d/airframes/1001_rc_quad_x.hil | 40 ---- .../init.d/airframes/1002_standard_vtol.hil | 102 ----------- .../init.d/airframes/11001_hexa_cox | 47 ----- .../init.d/airframes/1100_rc_quad_x_sih.hil | 44 ----- .../init.d/airframes/1101_rc_plane_sih.hil | 58 ------ .../airframes/1102_tailsitter_duo_sih.hil | 79 -------- .../init.d/airframes/12001_octo_cox | 55 ------ .../airframes/13000_generic_vtol_standard | 39 ---- .../init.d/airframes/13013_deltaquad | 133 -------------- .../init.d/airframes/13014_vtol_babyshark | 121 ------------ .../13030_generic_vtol_quad_tiltrotor | 48 ----- .../airframes/13100_generic_vtol_tiltrotor | 42 ----- .../airframes/13200_generic_vtol_tailsitter | 34 ---- .../airframes/14001_generic_mc_with_tilt | 35 ---- .../init.d/airframes/16001_helicopter | 28 --- .../init.d/airframes/17002_TF-AutoG2 | 62 ------- .../init.d/airframes/17003_TF-G2 | 58 ------ .../init.d/airframes/18001_TF-B1 | 26 --- .../init.d/airframes/2100_standard_plane | 24 --- .../init.d/airframes/2106_albatross | 75 -------- .../init.d/airframes/24001_dodeca_cox | 69 ------- .../init.d/airframes/2507_cloudship | 41 ----- .../init.d/airframes/3000_generic_wing | 23 --- .../init.d/airframes/4001_quad_x | 24 --- .../px4fmu_common/init.d/airframes/4014_s500 | 31 ---- .../init.d/airframes/4015_holybro_s500 | 35 ---- .../init.d/airframes/4016_holybro_px4vision | 123 ------------- .../init.d/airframes/4017_nxp_hovergames | 34 ---- .../init.d/airframes/4019_x500_v2 | 40 ---- .../airframes/4020_holybro_px4vision_v1_5 | 124 ------------- .../init.d/airframes/4040_reaper | 65 ------- .../init.d/airframes/4041_beta75x | 67 ------- .../init.d/airframes/4050_generic_250 | 51 ------ .../init.d/airframes/4052_holybro_qav250 | 65 ------- .../init.d/airframes/4053_holybro_kopis2 | 76 -------- .../init.d/airframes/4061_atl_mantis_edu | 173 ------------------ ROMFS/px4fmu_common/init.d/airframes/4071_ifo | 95 ---------- .../px4fmu_common/init.d/airframes/4073_ifo-s | 112 ------------ .../init.d/airframes/4500_clover4 | 45 ----- .../init.d/airframes/4900_crazyflie | 91 --------- .../init.d/airframes/4901_crazyflie21 | 90 --------- .../airframes/50000_generic_ground_vehicle | 52 ------ .../airframes/50003_aion_robotics_r1_rover | 61 ------ .../airframes/50004_nxpcup_car_dfrobot_gpx | 64 ------- .../init.d/airframes/5001_quad_+ | 26 --- .../init.d/airframes/60000_uuv_generic | 47 ----- .../init.d/airframes/60001_uuv_hippocampus | 51 ------ .../init.d/airframes/60002_uuv_bluerov2_heavy | 92 ---------- .../init.d/airframes/6001_hexa_x | 35 ---- .../init.d/airframes/6002_draco_r | 126 ------------- .../init.d/airframes/7001_hexa_+ | 35 ---- .../init.d/airframes/8001_octo_x | 40 ---- .../init.d/airframes/9001_octo_+ | 39 ---- .../init.d/airframes/CMakeLists.txt | 127 +------------ upload.sh | 5 + 58 files changed, 56 insertions(+), 3554 deletions(-) create mode 100644 ROMFS/px4fmu_common/init.d/airframes/0001_main_fts create mode 100644 ROMFS/px4fmu_common/init.d/airframes/0002_auto_fts delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/11001_hexa_cox delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/12001_octo_cox delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/13100_generic_vtol_tiltrotor delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/14001_generic_mc_with_tilt delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/16001_helicopter delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2 delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2 delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1 delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/2106_albatross delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/2507_cloudship delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/3000_generic_wing delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/4001_quad_x delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/4014_s500 delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500 delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/4019_x500_v2 delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/4020_holybro_px4vision_v1_5 delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/4040_reaper delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/4041_beta75x delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/4050_generic_250 delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250 delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2 delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/4071_ifo delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/4500_clover4 delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21 delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/5001_quad_+ delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/6002_draco_r delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+ delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/8001_octo_x delete mode 100644 ROMFS/px4fmu_common/init.d/airframes/9001_octo_+ create mode 100755 upload.sh diff --git a/README.md b/README.md index 0665aef..c4e2e59 100644 --- a/README.md +++ b/README.md @@ -1,138 +1,4 @@ -# PX4 Drone Autopilot +# Nimbus FTS-CAN -[![Releases](https://img.shields.io/github/release/PX4/PX4-Autopilot.svg)](https://github.com/PX4/PX4-Autopilot/releases) [![DOI](https://zenodo.org/badge/22634/PX4/PX4-Autopilot.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/PX4-Autopilot) - -[![Nuttx Targets](https://github.com/PX4/PX4-Autopilot/workflows/Nuttx%20Targets/badge.svg)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22Nuttx+Targets%22?branch=master) [![SITL Tests](https://github.com/PX4/PX4-Autopilot/workflows/SITL%20Tests/badge.svg?branch=master)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22SITL+Tests%22) - -[![Discord Shield](https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield)](https://discord.gg/dronecode) - -This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones. - -PX4 is highly portable, OS-independent and supports Linux, NuttX and MacOS out of the box. - -* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/main/LICENSE)) -* [Supported airframes](https://docs.px4.io/main/en/airframes/airframe_reference.html) ([portfolio](https://px4.io/ecosystem/commercial-systems/)): - * [Multicopters](https://docs.px4.io/main/en/frames_multicopter/) - * [Fixed wing](https://docs.px4.io/main/en/frames_plane/) - * [VTOL](https://docs.px4.io/main/en/frames_vtol/) - * [Autogyro](https://docs.px4.io/main/en/frames_autogyro/) - * [Rover](https://docs.px4.io/main/en/frames_rover/) - * many more experimental types (Blimps, Boats, Submarines, High altitude balloons, etc) -* Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases) - - -## Building a PX4 based drone, rover, boat or robot - -The [PX4 User Guide](https://docs.px4.io/main/en/) explains how to assemble [supported vehicles](https://docs.px4.io/main/en/airframes/airframe_reference.html) and fly drones with PX4. -See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help! - - -## Changing code and contributing - -This [Developer Guide](https://docs.px4.io/main/en/development/development.html) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle. - -Developers should read the [Guide for Contributions](https://docs.px4.io/main/en/contribute/). -See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help! - - -### Weekly Dev Call - -The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/contribute/). - -> **Note** The dev call is open to all interested developers (not just the core dev team). This is a great opportunity to meet the team and contribute to the ongoing development of the platform. It includes a QA session for newcomers. All regular calls are listed in the [Dronecode calendar](https://www.dronecode.org/calendar/). - - -## Maintenance Team - -Note: This is the source of truth for the active maintainers of PX4 ecosystem. - -| Sector | Maintainer | -|---|---| -| Founder | [Lorenz Meier](https://github.com/LorenzMeier) | -| Architecture | [Daniel Agar](https://github.com/dagar) / [Beat Küng](https://github.com/bkueng)| -| State Estimation | [Mathieu Bresciani](https://github.com/bresch) / [Paul Riseborough](https://github.com/priseborough) | -| OS/NuttX | [David Sidrane](https://github.com/davids5) | -| Drivers | [Daniel Agar](https://github.com/dagar) | -| Simulation | [Jaeyoung Lim](https://github.com/Jaeyoung-Lim) | -| ROS2 | [Beniamino Pozzan](https://github.com/beniaminopozzan) | -| Community QnA Call | [Ramon Roche](https://github.com/mrpollo) | -| [Documentation](https://docs.px4.io/main/en/) | [Hamish Willee](https://github.com/hamishwillee) | - -| Vehicle Type | Maintainer | -|---|---| -| Multirotor | [Matthias Grob](https://github.com/MaEtUgR) | -| Fixed Wing | [Thomas Stastny](https://github.com/tstastny) | -| Hybrid VTOL | [Silvan Fuhrer](https://github.com/sfuhrer) | -| Boat | x | -| Rover | x | - -See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github). However it may be not up to date. - -## Supported Hardware - -Pixhawk standard boards and proprietary boards are shown below (discontinued boards aren't listed). - -For the most up to date information, please visit [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/). - -### Pixhawk Standard Boards - -These boards fully comply with Pixhawk Standard, and are maintained by the PX4-Autopilot maintainers and Dronecode team - -* FMUv6X and FMUv6C - * [CUAV Pixahwk V6X (FMUv6X)](https://docs.px4.io/main/en/flight_controller/cuav_pixhawk_v6x.html) - * [Holybro Pixhawk 6X (FMUv6X)](https://docs.px4.io/main/en/flight_controller/pixhawk6x.html) - * [Holybro Pixhawk 6C (FMUv6C)](https://docs.px4.io/main/en/flight_controller/pixhawk6c.html) - * [Holybro Pix32 v6 (FMUv6C)](https://docs.px4.io/main/en/flight_controller/holybro_pix32_v6.html) -* FMUv5 and FMUv5X (STM32F7, 2019/20) - * [Pixhawk 4 (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4.html) - * [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4_mini.html) - * [CUAV V5+ (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_plus.html) - * [CUAV V5 nano (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_nano.html) - * [Auterion Skynode (FMUv5X)](https://docs.auterion.com/avionics/skynode) -* FMUv4 (STM32F4, 2015) - * [Pixracer](https://docs.px4.io/main/en/flight_controller/pixracer.html) - * [Pixhawk 3 Pro](https://docs.px4.io/main/en/flight_controller/pixhawk3_pro.html) -* FMUv3 (STM32F4, 2014) - * [Pixhawk 2](https://docs.px4.io/main/en/flight_controller/pixhawk-2.html) - * [Pixhawk Mini](https://docs.px4.io/main/en/flight_controller/pixhawk_mini.html) - * [CUAV Pixhack v3](https://docs.px4.io/main/en/flight_controller/pixhack_v3.html) -* FMUv2 (STM32F4, 2013) - * [Pixhawk](https://docs.px4.io/main/en/flight_controller/pixhawk.html) - -### Manufacturer supported - -These boards are maintained to be compatible with PX4-Autopilot by the Manufacturers. - -* [ARK Electronics ARKV6X](https://docs.px4.io/main/en/flight_controller/arkv6x.html) -* [CubePilot Cube Orange+](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orangeplus.html) -* [CubePilot Cube Orange](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orange.html) -* [CubePilot Cube Yellow](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_yellow.html) -* [Holybro Durandal](https://docs.px4.io/main/en/flight_controller/durandal.html) -* [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf) -* [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf) -* [Holybro Kakute F7](https://docs.px4.io/main/en/flight_controller/kakutef7.html) - -### Community supported - -These boards don't fully comply industry standards, and thus is solely maintained by the PX4 publc community members. - -### Experimental - -These boards are nor maintained by PX4 team nor Manufacturer, and is not guaranteed to be compatible with up to date PX4 releases. - -* [Raspberry PI with Navio 2](https://docs.px4.io/main/en/flight_controller/raspberry_pi_navio2.html) -* [Bitcraze Crazyflie 2.0](https://docs.px4.io/main/en/complete_vehicles/crazyflie2.html) - -## Project Roadmap - -**Note: Outdated** - -A high level project roadmap is available [here](https://github.com/orgs/PX4/projects/25). - -## Project Governance - -The PX4 Autopilot project including all of its trademarks is hosted under [Dronecode](https://www.dronecode.org/), part of the Linux Foundation. - -Dronecode Logo -Linux Foundation Logo -
 
+Forked from PX4 firmware repository on 04/25/2024 +(Latest stable release v1.14.0) \ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/airframes/0001_main_fts b/ROMFS/px4fmu_common/init.d/airframes/0001_main_fts new file mode 100644 index 0000000..e5f261a --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/airframes/0001_main_fts @@ -0,0 +1,23 @@ +#!/bin/sh +# +# @name Nimbus Main FTS module +# +# @type Quadrotor x +# @class Copter +# +# @maintainer GG +# + +. ${R}etc/init.d/rc.mc_defaults + +# FTS_TYPE = 0 -> MISCONFIGURED MODULE +# FTS_TYPE = 1 -> MAIN FTS MODULE +# FTS_TYPE = 2 -> AUTO FTS MODULE + +param set-default FTS_TYPE 1 + +# FTS_SIM_MODE = 0 -> NORMAL OPERATION +# FTS_SIM_MODE = 1 -> TERMINATION IS NOT EXECUTED BUT SIMULATED VIA THE SIMULATION OUTPUT + +param set-default FTS_SIM_MODE 0 + diff --git a/ROMFS/px4fmu_common/init.d/airframes/0002_auto_fts b/ROMFS/px4fmu_common/init.d/airframes/0002_auto_fts new file mode 100644 index 0000000..e24550a --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/airframes/0002_auto_fts @@ -0,0 +1,23 @@ +#!/bin/sh +# +# @name Nimbus Main FTS module +# +# @type Quadrotor x +# @class Copter +# +# @maintainer GG +# + +. ${R}etc/init.d/rc.mc_defaults + +# FTS_TYPE = 0 -> MISCONFIGURED MODULE +# FTS_TYPE = 1 -> MAIN FTS MODULE +# FTS_TYPE = 2 -> AUTO FTS MODULE + +param set-default FTS_TYPE 2 + +# FTS_SIM_MODE = 0 -> NORMAL OPERATION +# FTS_SIM_MODE = 1 -> TERMINATION IS NOT EXECUTED BUT SIMULATED VIA THE SIMULATION OUTPUT + +param set-default FTS_SIM_MODE 0 + diff --git a/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil b/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil deleted file mode 100644 index 9cbf028..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil +++ /dev/null @@ -1,40 +0,0 @@ -#!/bin/sh -# -# @name HIL Quadcopter X -# -# @type Simulation -# @class Copter -# -# @maintainer Lorenz Meier -# @board px4_fmu-v2 exclude -# - -. ${R}etc/init.d/rc.mc_defaults - - -param set SYS_HITL 1 - -param set UAVCAN_ENABLE 0 - -param set-default CA_ROTOR_COUNT 4 -param set-default CA_ROTOR0_PX 0.15 -param set-default CA_ROTOR0_PY 0.15 -param set-default CA_ROTOR1_PX -0.15 -param set-default CA_ROTOR1_PY -0.15 -param set-default CA_ROTOR2_PX 0.15 -param set-default CA_ROTOR2_PY -0.15 -param set-default CA_ROTOR2_KM -0.05 -param set-default CA_ROTOR3_PX -0.15 -param set-default CA_ROTOR3_PY 0.15 -param set-default CA_ROTOR3_KM -0.05 - -param set-default HIL_ACT_FUNC1 101 -param set-default HIL_ACT_FUNC2 102 -param set-default HIL_ACT_FUNC3 103 -param set-default HIL_ACT_FUNC4 104 - -# disable some checks to allow to fly -# - without real battery -param set-default CBRK_SUPPLY_CHK 894281 -# - without safety switch -param set-default CBRK_IO_SAFETY 22027 diff --git a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil b/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil deleted file mode 100644 index 60a01fb..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil +++ /dev/null @@ -1,102 +0,0 @@ -#!/bin/sh -# -# @name HIL Standard VTOL QuadPlane -# -# @type Standard VTOL -# @class VTOL -# -# @maintainer Roman Bapst -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# @board holybro_kakutef7 exclude -# - -. ${R}etc/init.d/rc.vtol_defaults - - -param set-default BAT1_N_CELLS 3 - -param set-default COM_RC_IN_MODE 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-default FW_AIRSPD_MAX 25 -param set-default FW_AIRSPD_MIN 14 -param set-default FW_AIRSPD_TRIM 16 - -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_TAKEOFF_ALT 10 -param set-default MIS_YAW_TMT 10 - -param set-default MPC_THR_MIN 0.1 -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 NAV_ACC_RAD 5 -param set-default NAV_DLL_ACT 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 VT_F_TRANS_THR 0.75 -param set-default VT_TYPE 2 - -param set-default CA_AIRFRAME 2 -param set-default CA_ROTOR_COUNT 5 -param set-default CA_ROTOR0_PX 0.15 -param set-default CA_ROTOR0_PY 0.15 -param set-default CA_ROTOR1_PX -0.15 -param set-default CA_ROTOR1_PY -0.15 -param set-default CA_ROTOR2_PX 0.15 -param set-default CA_ROTOR2_PY -0.15 -param set-default CA_ROTOR2_KM -0.05 -param set-default CA_ROTOR3_PX -0.15 -param set-default CA_ROTOR3_PY 0.15 -param set-default CA_ROTOR3_KM -0.05 -param set-default CA_ROTOR4_AX 1.0 -param set-default CA_ROTOR4_AZ 0.0 -param set-default CA_ROTOR4_PX 0.2 - -param set-default CA_SV_CS_COUNT 3 -param set-default CA_SV_CS0_TRQ_R -0.5 -param set-default CA_SV_CS0_TYPE 1 -param set-default CA_SV_CS1_TRQ_R 0.5 -param set-default CA_SV_CS1_TYPE 2 -param set-default CA_SV_CS2_TRQ_P 1.0 -param set-default CA_SV_CS2_TYPE 3 - -param set-default HIL_ACT_FUNC1 101 -param set-default HIL_ACT_FUNC2 102 -param set-default HIL_ACT_FUNC3 103 -param set-default HIL_ACT_FUNC4 104 -param set-default HIL_ACT_FUNC5 105 -param set-default HIL_ACT_FUNC6 201 -param set-default HIL_ACT_FUNC7 202 -param set-default HIL_ACT_FUNC8 203 - - -param set SYS_HITL 1 - -param set UAVCAN_ENABLE 0 - -# disable some checks to allow to fly -# - without real battery -param set-default CBRK_SUPPLY_CHK 894281 -# - without safety switch -param set-default CBRK_IO_SAFETY 22027 - -param set-default MAV_TYPE 22 - - diff --git a/ROMFS/px4fmu_common/init.d/airframes/11001_hexa_cox b/ROMFS/px4fmu_common/init.d/airframes/11001_hexa_cox deleted file mode 100644 index 5424cbf..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/11001_hexa_cox +++ /dev/null @@ -1,47 +0,0 @@ -#!/bin/sh -# -# @name Generic Hexarotor coaxial geometry -# -# @type Hexarotor Coaxial -# @class Copter -# -# @output Motor1 front right top, CW; angle:60; direction:CW -# @output Motor2 front right bottom, CCW; angle:60; direction:CCW -# @output Motor3 back top, CW; angle:180; direction:CW -# @output Motor4 back bottom, CCW; angle:180; direction:CCW -# @output Motor5 front left top, CW; angle:-60; direction:CW -# @output Motor6 front left bottom, CCW;angle:-60; direction:CCW -# -# @maintainer Lorenz Meier -# -# @board bitcraze_crazyflie exclude -# @board px4_fmu-v2 exclude -# - -. ${R}etc/init.d/rc.mc_defaults - -param set-default MAV_TYPE 13 - -param set-default CA_ROTOR_COUNT 6 -param set-default CA_ROTOR0_PX 0.25 -param set-default CA_ROTOR0_PY 0.433 -param set-default CA_ROTOR0_PZ -0.05 -param set-default CA_ROTOR0_KM -0.05 -param set-default CA_ROTOR1_PX 0.25 -param set-default CA_ROTOR1_PY 0.433 -param set-default CA_ROTOR1_PZ 0.05 -param set-default CA_ROTOR2_PX -0.5 -param set-default CA_ROTOR2_PY 0 -param set-default CA_ROTOR2_PZ -0.05 -param set-default CA_ROTOR2_KM -0.05 -param set-default CA_ROTOR3_PX -0.5 -param set-default CA_ROTOR3_PY 0 -param set-default CA_ROTOR3_PZ 0.05 -param set-default CA_ROTOR4_PX 0.25 -param set-default CA_ROTOR4_PY -0.433 -param set-default CA_ROTOR4_PZ -0.05 -param set-default CA_ROTOR4_KM -0.05 -param set-default CA_ROTOR5_PX 0.25 -param set-default CA_ROTOR5_PY -0.433 -param set-default CA_ROTOR5_PZ 0.05 - diff --git a/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil b/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil deleted file mode 100644 index b1b42bd..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil +++ /dev/null @@ -1,44 +0,0 @@ -#!/bin/sh -# -# @name SIH Quadcopter X -# -# @type Simulation -# @class Copter -# -# @maintainer Romain Chiappinelli -# -# @board px4_fmu-v2 exclude -# - -. ${R}etc/init.d/rc.mc_defaults - - -param set UAVCAN_ENABLE 0 - -param set-default CA_ROTOR_COUNT 4 -param set-default CA_ROTOR0_PX 0.15 -param set-default CA_ROTOR0_PY 0.15 -param set-default CA_ROTOR1_PX -0.15 -param set-default CA_ROTOR1_PY -0.15 -param set-default CA_ROTOR2_PX 0.15 -param set-default CA_ROTOR2_PY -0.15 -param set-default CA_ROTOR2_KM -0.05 -param set-default CA_ROTOR3_PX -0.15 -param set-default CA_ROTOR3_PY 0.15 -param set-default CA_ROTOR3_KM -0.05 - -param set-default HIL_ACT_FUNC1 101 -param set-default HIL_ACT_FUNC2 102 -param set-default HIL_ACT_FUNC3 103 -param set-default HIL_ACT_FUNC4 104 - -# set SYS_HITL to 2 to start the SIH and avoid sensors startup -param set SYS_HITL 2 - -# disable some checks to allow to fly: -# - without real battery -param set-default CBRK_SUPPLY_CHK 894281 -# - without safety switch -param set-default CBRK_IO_SAFETY 22027 - -param set SIH_VEHICLE_TYPE 0 diff --git a/ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil b/ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil deleted file mode 100644 index 0ec506b..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil +++ /dev/null @@ -1,58 +0,0 @@ -#!/bin/sh -# -# @name SIH plane AERT -# -# @type Simulation -# @class Plane -# -# @maintainer Romain Chiappinelli -# -# @board px4_fmu-v2 exclude -# - -. ${R}etc/init.d/rc.fw_defaults - - -param set UAVCAN_ENABLE 0 - -param set-default CA_AIRFRAME 1 -param set-default CA_ROTOR_COUNT 1 -param set-default CA_ROTOR0_PX 0.3 -param set-default CA_SV_CS_COUNT 4 -param set-default CA_SV_CS0_TRQ_R 0.5 -param set-default CA_SV_CS0_TYPE 2 -param set-default CA_SV_CS1_TRQ_P 1.0 -param set-default CA_SV_CS1_TYPE 3 -param set-default CA_SV_CS2_TRQ_Y 1.0 -param set-default CA_SV_CS2_TYPE 4 -param set-default CA_SV_CS3_TYPE 10 - -param set-default HIL_ACT_REV 2 -param set-default HIL_ACT_FUNC1 201 -param set-default HIL_ACT_FUNC2 202 -param set-default HIL_ACT_FUNC3 203 -param set-default HIL_ACT_FUNC4 101 -param set-default HIL_ACT_FUNC5 204 -param set-default HIL_ACT_FUNC6 400 - -# set SYS_HITL to 2 to start the SIH and avoid sensors startup -param set-default SYS_HITL 2 - -# disable some checks to allow to fly: -# - without real battery -param set-default CBRK_SUPPLY_CHK 894281 -# - without safety switch -param set-default CBRK_IO_SAFETY 22027 - -param set-default BAT_N_CELLS 3 - -param set SIH_T_MAX 6.0 -param set SIH_MASS 0.3 -param set SIH_IXX 0.00402 -param set SIH_IYY 0.0144 -param set SIH_IZZ 0.0177 -param set SIH_IXZ 0.00046 -param set SIH_KDV 0.2 - -param set SIH_VEHICLE_TYPE 1 # sih as fixed wing -param set RWTO_TKOFF 1 # enable takeoff from runway (as opposed to launched) diff --git a/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil b/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil deleted file mode 100644 index d47d115..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil +++ /dev/null @@ -1,79 +0,0 @@ -#!/bin/sh -# -# @name SIH Tailsitter Duo -# -# @type Simulation -# @class VTOL -# -# @output Motor1 motor right -# @output Motor2 motor left -# @output Servo1 elevon right -# @output Servo2 elevon left -# -# @maintainer Romain Chiappinelli -# -# @board px4_fmu-v2 exclude -# - -. ${R}etc/init.d/rc.vtol_defaults - -param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters - -param set UAVCAN_ENABLE 0 -param set-default VT_B_TRANS_DUR 5 -param set-default VT_ELEV_MC_LOCK 0 -param set-default VT_MOT_COUNT 2 -param set-default VT_TYPE 0 -param set-default VT_FW_DIFTHR_EN 1 -param set-default VT_FW_DIFTHR_S_Y 0.3 -param set-default MPC_MAN_Y_MAX 60 -param set-default MC_PITCH_P 5 - -param set-default CA_AIRFRAME 4 -param set-default CA_ROTOR_COUNT 2 -param set-default CA_ROTOR0_KM -0.05 -param set-default CA_ROTOR0_PY 0.2 -param set-default CA_ROTOR1_KM -0.05 -param set-default CA_ROTOR1_PY -0.2 -param set-default CA_SV_CS_COUNT 2 -param set-default CA_SV_CS0_TRQ_P 0.3 -param set-default CA_SV_CS0_TRQ_Y 0.3 -param set-default CA_SV_CS0_TYPE 5 -param set-default CA_SV_CS1_TRQ_P 0.3 -param set-default CA_SV_CS1_TRQ_Y -0.3 -param set-default CA_SV_CS1_TYPE 6 - -param set-default HIL_ACT_FUNC1 101 -param set-default HIL_ACT_FUNC2 102 -param set-default HIL_ACT_FUNC5 202 -param set-default HIL_ACT_FUNC6 201 -param set-default HIL_ACT_REV 32 - -param set-default MAV_TYPE 19 - - - -# set SYS_HITL to 2 to start the SIH and avoid sensors startup -param set-default SYS_HITL 2 - -# disable some checks to allow to fly: -# - without real battery -param set-default CBRK_SUPPLY_CHK 894281 -# - without safety switch -param set-default CBRK_IO_SAFETY 22027 - -param set-default BAT_N_CELLS 3 - -param set SIH_T_MAX 2.0 -param set SIH_Q_MAX 0.0165 -param set SIH_MASS 0.2 -# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg -param set SIH_IXX 0.00354 -param set SIH_IYY 0.000625 -param set SIH_IZZ 0.00300 -param set SIH_IXZ 0.0 -param set SIH_KDV 0.2 -param set SIH_L_ROLL 0.145 - -# sih as tailsitter -param set SIH_VEHICLE_TYPE 2 diff --git a/ROMFS/px4fmu_common/init.d/airframes/12001_octo_cox b/ROMFS/px4fmu_common/init.d/airframes/12001_octo_cox deleted file mode 100644 index 1dba92b..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/12001_octo_cox +++ /dev/null @@ -1,55 +0,0 @@ -#!/bin/sh -# -# @name Generic 10" Octo coaxial geometry -# -# @type Octorotor Coaxial -# @class Copter -# -# @output Motor1 motor 1 -# @output Motor2 motor 2 -# @output Motor3 motor 3 -# @output Motor4 motor 4 -# @output Motor5 motor 5 -# @output Motor6 motor 6 -# @output Motor7 motor 7 -# @output Motor8 motor 8 -# -# @maintainer Lorenz Meier -# -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.mc_defaults - - -param set-default MAV_TYPE 14 - -param set-default CA_ROTOR_COUNT 8 -param set-default CA_ROTOR0_PX 0.35 -param set-default CA_ROTOR0_PY 0.35 -param set-default CA_ROTOR0_PZ -0.05 -param set-default CA_ROTOR1_KM -0.05 -param set-default CA_ROTOR1_PX 0.35 -param set-default CA_ROTOR1_PY -0.35 -param set-default CA_ROTOR1_PZ -0.05 -param set-default CA_ROTOR2_PX -0.35 -param set-default CA_ROTOR2_PY -0.35 -param set-default CA_ROTOR2_PZ -0.05 -param set-default CA_ROTOR3_PX -0.35 -param set-default CA_ROTOR3_PY 0.35 -param set-default CA_ROTOR3_PZ -0.05 -param set-default CA_ROTOR3_KM -0.05 -param set-default CA_ROTOR4_PX 0.35 -param set-default CA_ROTOR4_PY -0.35 -param set-default CA_ROTOR4_PZ 0.05 -param set-default CA_ROTOR5_PX 0.35 -param set-default CA_ROTOR5_PY 0.35 -param set-default CA_ROTOR5_PZ 0.05 -param set-default CA_ROTOR5_KM -0.05 -param set-default CA_ROTOR6_PX -0.35 -param set-default CA_ROTOR6_PY 0.35 -param set-default CA_ROTOR6_PZ 0.05 -param set-default CA_ROTOR7_KM -0.05 -param set-default CA_ROTOR7_PX -0.35 -param set-default CA_ROTOR7_PY -0.35 -param set-default CA_ROTOR7_PZ 0.05 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard b/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard deleted file mode 100644 index 38dc721..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard +++ /dev/null @@ -1,39 +0,0 @@ -#!/bin/sh -# -# @name Generic Standard VTOL -# -# @type Standard VTOL -# @class VTOL - -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# @board holybro_kakutef7 exclude -# - -. ${R}etc/init.d/rc.vtol_defaults - -param set-default CA_AIRFRAME 2 -param set-default CA_ROTOR_COUNT 5 -param set-default CA_ROTOR0_PX 1 -param set-default CA_ROTOR0_PY 1 -param set-default CA_ROTOR1_PX -1 -param set-default CA_ROTOR1_PY -1 -param set-default CA_ROTOR2_PX 1 -param set-default CA_ROTOR2_PY -1 -param set-default CA_ROTOR2_KM -0.05 -param set-default CA_ROTOR3_PX -1 -param set-default CA_ROTOR3_PY 1 -param set-default CA_ROTOR3_KM -0.05 -param set-default CA_ROTOR4_AX 1.0 -param set-default CA_ROTOR4_AZ 0.0 -param set-default CA_SV_CS_COUNT 4 -param set-default CA_SV_CS0_TYPE 1 -param set-default CA_SV_CS0_TRQ_R -0.5 -param set-default CA_SV_CS1_TYPE 2 -param set-default CA_SV_CS1_TRQ_R 0.5 -param set-default CA_SV_CS2_TYPE 3 -param set-default CA_SV_CS2_TRQ_P 1.0 -param set-default CA_SV_CS3_TRQ_Y 1.0 -param set-default CA_SV_CS3_TYPE 4 -param set-default VT_TYPE 2 -param set-default MAV_TYPE 22 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad b/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad deleted file mode 100644 index 594a891..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad +++ /dev/null @@ -1,133 +0,0 @@ -#!/bin/sh -# -# @name Vertical Technologies DeltaQuad -# -# @type Standard VTOL -# @class VTOL -# -# @maintainer Sander Smeets -# -# @output Motor1 motor 1 -# @output Motor2 motor 2 -# @output Motor3 motor 3 -# @output Motor4 motor 4 -# @output Servo1 Right elevon -# @output Servo2 Left elevon -# @output Servo3 Pusher motor -# @output Servo4 Pusher reverse channel -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.vtol_defaults - -param set-default MAV_TYPE 22 - -param set-default BAT1_CAPACITY 23000 -param set-default BAT1_N_CELLS 4 -param set-default BAT1_R_INTERNAL 0.0025 - -param set-default CBRK_AIRSPD_CHK 162128 -param set-default CBRK_IO_SAFETY 22027 - -param set-default EKF2_GPS_POS_X -0.12 -param set-default EKF2_IMU_POS_X -0.12 - -param set-default FW_ARSP_MODE 1 -param set-default NPFG_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_CLMB_MAX 3 -param set-default FW_T_SINK_MAX 3 -param set-default FW_T_SINK_MIN 1 -param set-default FW_THR_TRIM 0.70 -param set-default FW_THR_SLEW_MAX 1 -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_T_RLL2THR 20 - -param set-default MC_ROLLRATE_P 0.16 -param set-default MC_ROLLRATE_I 0.01 -param set-default MC_PITCHRATE_I 0.05 - -param set-default MC_YAWRATE_MAX 20 -param set-default MC_AIRMODE 1 - -param set-default MIS_DIST_1WP 100 -param set-default MIS_TAKEOFF_ALT 15 - -param set-default MPC_XY_P 0.8 -param set-default MPC_XY_VEL_MAX 5 -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_TKO_RAMP_T 0.8 -param set-default MPC_TILTMAX_AIR 25 -param set-default MPC_TILTMAX_LND 25 -param set-default MPC_YAWRAUTO_MAX 20 - -param set-default NAV_LOITER_RAD 100 - -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-default SENS_BOARD_ROT 18 - -# 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-default VT_TYPE 2 -param set-default VT_PITCH_MIN 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_FWD_THRUST_SC 4 -param set-default VT_TRANS_TIMEOUT 22 - -param set-default COM_RC_OVERRIDE 0 - -param set-default CA_AIRFRAME 2 - -param set-default CA_ROTOR_COUNT 5 -param set-default CA_ROTOR0_PX 0.1515 -param set-default CA_ROTOR0_PY 0.245 -param set-default CA_ROTOR0_KM 0.05 -param set-default CA_ROTOR1_PX -0.1515 -param set-default CA_ROTOR1_PY -0.1875 -param set-default CA_ROTOR1_KM 0.05 -param set-default CA_ROTOR2_PX 0.1515 -param set-default CA_ROTOR2_PY -0.245 -param set-default CA_ROTOR2_KM -0.05 -param set-default CA_ROTOR3_PX -0.1515 -param set-default CA_ROTOR3_PY 0.1875 -param set-default CA_ROTOR3_KM -0.05 -param set-default CA_ROTOR4_AX 1.0 -param set-default CA_ROTOR4_AZ 0.0 -param set-default CA_ROTOR4_PX 0.2 - -param set-default CA_SV_CS_COUNT 3 -param set-default CA_SV_CS0_TYPE 1 -param set-default CA_SV_CS0_TRQ_R -0.5 -param set-default CA_SV_CS1_TYPE 2 -param set-default CA_SV_CS1_TRQ_R 0.5 -param set-default CA_SV_CS2_TYPE 3 -param set-default CA_SV_CS2_TRQ_P 1.0 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark b/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark deleted file mode 100644 index ac59310..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark +++ /dev/null @@ -1,121 +0,0 @@ -#!/bin/sh -# -# @name BabyShark VTOL -# -# @type Standard VTOL -# @class VTOL -# -# @maintainer Silvan Fuhrer -# -# @output Motor1 motor 1 -# @output Motor2 motor 2 -# @output Motor3 motor 3 -# @output Motor4 motor 4 -# @output Motor5 Pusher motor -# @output Servo1 Ailerons -# @output Servo2 A-tail left -# @output Servo3 A-tail right -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# @board holybro_kakutef7 exclude -# - -. ${R}etc/init.d/rc.vtol_defaults - -param set-default MAV_TYPE 22 - -param set-default BAT1_N_CELLS 6 - -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_PN_R_SLEW_MAX 40 -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_P 0.08 -param set-default FW_R_LIM 45 -param set-default FW_R_RMAX 50 -param set-default FW_THR_TRIM 0.65 -param set-default FW_THR_MIN 0.3 -param set-default FW_THR_SLEW_MAX 0.6 -param set-default FW_T_SINK_MAX 15 -param set-default FW_T_SINK_MIN 3 -param set-default FW_YR_P 0.15 - -param set-default IMU_DGYRO_CUTOFF 15 -param set-default MC_PITCHRATE_MAX 60 -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-default MC_AIRMODE 1 -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_THR_HOVER 0.45 -param set-default MPC_TILTMAX_AIR 25 -param set-default MPC_YAWRAUTO_MAX 40 -param set-default MPC_Z_VEL_MAX_UP 2 - -param set-default NAV_ACC_RAD 3 - -param set-default PWM_MAIN_DIS3 1000 -param set-default PWM_MAIN_MIN3 1120 - -param set-default SENS_BOARD_ROT 4 - -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_ELEV_MC_LOCK 0 -param set-default VT_FWD_THRUST_SC 1.2 -param set-default VT_F_TR_OL_TM 8 -param set-default VT_TRANS_MIN_TM 4 -param set-default VT_TYPE 2 - - -param set-default CA_AIRFRAME 2 -param set-default CA_ROTOR_COUNT 5 -param set-default CA_ROTOR0_PX 1 -param set-default CA_ROTOR0_PY 1 -param set-default CA_ROTOR1_PX -1 -param set-default CA_ROTOR1_PY -1 -param set-default CA_ROTOR2_PX 1 -param set-default CA_ROTOR2_PY -1 -param set-default CA_ROTOR2_KM -0.05 -param set-default CA_ROTOR3_PX -1 -param set-default CA_ROTOR3_PY 1 -param set-default CA_ROTOR3_KM -0.05 -param set-default CA_ROTOR4_AX 1.0 -param set-default CA_ROTOR4_AZ 0.0 - -param set-default CA_SV_CS_COUNT 3 -param set-default CA_SV_CS0_TYPE 15 -param set-default CA_SV_CS0_TRQ_R 1.0 -param set-default CA_SV_CS1_TRQ_P 0.5000 -param set-default CA_SV_CS1_TRQ_R 0.0000 -param set-default CA_SV_CS1_TRQ_Y -0.5000 -param set-default CA_SV_CS1_TYPE 13 -param set-default CA_SV_CS2_TRQ_P 0.5000 -param set-default CA_SV_CS2_TRQ_Y 0.5000 -param set-default CA_SV_CS2_TYPE 14 - -param set-default PWM_MAIN_FUNC1 201 -param set-default PWM_MAIN_FUNC2 202 -param set-default PWM_MAIN_FUNC3 105 -param set-default PWM_MAIN_FUNC4 203 -param set-default PWM_MAIN_FUNC5 101 -param set-default PWM_MAIN_FUNC6 102 -param set-default PWM_MAIN_FUNC7 103 -param set-default PWM_MAIN_FUNC8 104 - -param set-default PWM_MAIN_TIM0 50 -param set-default PWM_MAIN_DIS1 1500 -param set-default PWM_MAIN_DIS2 1500 -param set-default PWM_MAIN_DIS4 1500 - - diff --git a/ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor b/ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor deleted file mode 100644 index 7c0c1af..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor +++ /dev/null @@ -1,48 +0,0 @@ -#!/bin/sh -# -# @name Generic Quadplane VTOL Tiltrotor -# -# @type VTOL Tiltrotor -# @class VTOL -# -# @maintainer -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# @board holybro_kakutef7 exclude -# - -. ${R}etc/init.d/rc.vtol_defaults - -param set-default MAV_TYPE 21 - -param set-default VT_TYPE 1 - -param set-default CA_AIRFRAME 3 -param set-default CA_ROTOR_COUNT 4 -param set-default CA_ROTOR0_PX 0.15 -param set-default CA_ROTOR0_PY 0.15 -param set-default CA_ROTOR0_TILT 1 -param set-default CA_ROTOR1_PX -0.15 -param set-default CA_ROTOR1_PY -0.15 -param set-default CA_ROTOR1_TILT 2 -param set-default CA_ROTOR2_PX 0.15 -param set-default CA_ROTOR2_PY -0.15 -param set-default CA_ROTOR2_KM -0.05 -param set-default CA_ROTOR2_TILT 3 -param set-default CA_ROTOR3_PX -0.15 -param set-default CA_ROTOR3_PY 0.15 -param set-default CA_ROTOR3_KM -0.05 -param set-default CA_ROTOR3_TILT 4 -param set-default CA_SV_CS_COUNT 4 -param set-default CA_SV_CS0_TYPE 1 -param set-default CA_SV_CS0_TRQ_R -0.5 -param set-default CA_SV_CS1_TRQ_R 0.5 -param set-default CA_SV_CS1_TYPE 2 -param set-default CA_SV_CS2_TRQ_P 1.0 -param set-default CA_SV_CS2_TYPE 3 -param set-default CA_SV_CS3_TRQ_Y 1.0 -param set-default CA_SV_CS3_TYPE 4 -param set-default CA_SV_TL_COUNT 4 - - diff --git a/ROMFS/px4fmu_common/init.d/airframes/13100_generic_vtol_tiltrotor b/ROMFS/px4fmu_common/init.d/airframes/13100_generic_vtol_tiltrotor deleted file mode 100644 index 19f9a95..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/13100_generic_vtol_tiltrotor +++ /dev/null @@ -1,42 +0,0 @@ -#!/bin/sh -# -# @name Generic Tiltrotor VTOL -# -# @type VTOL Tiltrotor -# @class VTOL -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.vtol_defaults - -param set-default CA_AIRFRAME 3 -param set-default CA_ROTOR_COUNT 4 -param set-default CA_ROTOR0_PX 1 -param set-default CA_ROTOR0_PY 1 -param set-default CA_ROTOR0_TILT 2 -param set-default CA_ROTOR1_PX -1 -param set-default CA_ROTOR1_PY -1 -param set-default CA_ROTOR2_PX 1 -param set-default CA_ROTOR2_PY -1 -param set-default CA_ROTOR2_TILT 1 -param set-default CA_ROTOR2_KM -0.05 -param set-default CA_ROTOR3_PX -1 -param set-default CA_ROTOR3_PY 1 -param set-default CA_ROTOR3_KM -0.05 -param set-default CA_SV_CS_COUNT 4 -param set-default CA_SV_CS0_TYPE 1 -param set-default CA_SV_CS0_TRQ_R -0.5 -param set-default CA_SV_CS1_TYPE 2 -param set-default CA_SV_CS1_TRQ_R 0.5 -param set-default CA_SV_CS2_TYPE 7 -param set-default CA_SV_CS2_TRQ_P 0.5 -param set-default CA_SV_CS2_TRQ_Y 0.5 -param set-default CA_SV_CS3_TYPE 8 -param set-default CA_SV_CS3_TRQ_P 0.5 -param set-default CA_SV_CS3_TRQ_Y -0.5 -param set-default CA_SV_TL_COUNT 2 - -param set-default MAV_TYPE 21 -param set-default VT_TYPE 1 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter b/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter deleted file mode 100644 index 2424a72..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter +++ /dev/null @@ -1,34 +0,0 @@ -#!/bin/sh -# -# @name Generic VTOL Tailsitter -# -# @type VTOL Tailsitter -# @class VTOL -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# @board holybro_kakutef7 exclude -# - -. ${R}etc/init.d/rc.vtol_defaults - -param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters - -param set-default CA_AIRFRAME 4 -param set-default CA_ROTOR_COUNT 2 -param set-default CA_ROTOR0_KM -0.05 -param set-default CA_ROTOR0_PY -0.2 -param set-default CA_ROTOR1_KM 0.05 -param set-default CA_ROTOR1_PY 0.2 -param set-default CA_SV_CS_COUNT 2 -param set-default CA_SV_CS0_TRQ_P 0.5 -param set-default CA_SV_CS0_TRQ_Y 0.5 -param set-default CA_SV_CS0_TYPE 5 -param set-default CA_SV_CS1_TRQ_P 0.5 -param set-default CA_SV_CS1_TRQ_Y -0.5 -param set-default CA_SV_CS1_TYPE 6 - -param set-default MAV_TYPE 19 -param set-default VT_TYPE 0 -param set-default VT_ELEV_MC_LOCK 0 -param set-default VT_B_TRANS_DUR 5 diff --git a/ROMFS/px4fmu_common/init.d/airframes/14001_generic_mc_with_tilt b/ROMFS/px4fmu_common/init.d/airframes/14001_generic_mc_with_tilt deleted file mode 100644 index e675caf..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/14001_generic_mc_with_tilt +++ /dev/null @@ -1,35 +0,0 @@ -#!/bin/sh -# -# @name Generic Multirotor with tilt -# -# @class Copter -# @type Tricopter Y+ -# -# @output Motor1 motor 1 -# @output Motor2 motor 2 -# @output Motor3 motor 3 -# @output Servo1 yaw servo -# -# @board bitcraze_crazyflie exclude -# @board px4_fmu-v2 exclude -# - -. ${R}etc/init.d/rc.mc_defaults - -param set-default MAV_TYPE 15 - -param set-default CA_AIRFRAME 8 -# Tricopter -param set-default CA_ROTOR0_PX 0.2500 -param set-default CA_ROTOR0_PY 0.4330 -param set-default CA_ROTOR1_PX 0.2500 -param set-default CA_ROTOR1_PY -0.4300 -param set-default CA_ROTOR2_PX -0.5000 -param set-default CA_ROTOR2_PY 0.0000 -param set-default CA_ROTOR2_TILT 1 -param set-default CA_ROTOR_COUNT 3 -param set-default CA_SV_TL0_MAXA 45.0000 -param set-default CA_SV_TL0_MINA -45.0000 -param set-default CA_SV_TL0_TD 90 -param set-default CA_SV_TL_COUNT 1 - diff --git a/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter b/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter deleted file mode 100644 index 36f1a68..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter +++ /dev/null @@ -1,28 +0,0 @@ -#!/bin/sh -# -# @name Generic Helicopter (Tail ESC) -# -# @type Helicopter -# @class Copter -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.heli_defaults - - -# Disable PID gains for initial setup. These should be enabled after setting the FF gain. -# P is expected to be lower than FF. -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 0.1 -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 0.1 - -param set-default CA_AIRFRAME 10 - - diff --git a/ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2 b/ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2 deleted file mode 100644 index 0ed3b20..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2 +++ /dev/null @@ -1,62 +0,0 @@ -#!/bin/sh -# -# @name ThunderFly Auto-G2 -# -# @type Autogyro -# @class Autogyro -# -# @output Motor1 throttle -# @output Servo1 rotor_head_L -# @output Servo2 rotor_head_R -# @output Servo3 elevator -# @output Servo4 rudder -# @output Servo5 rudder (second, optional) -# @output Servo6 wheel -# -# @url https://github.com/ThunderFly-aerospace/Auto-G2/ -# @maintainer ThunderFly s.r.o., Roman Dvorak -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.fw_defaults - - -param set-default BAT1_CAPACITY 2500 -param set-default BAT1_N_CELLS 3 - -param set-default SENS_BOARD_ROT 8 - -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_TRIM 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 - - -param set-default CA_AIRFRAME 1 - -param set-default CA_ROTOR_COUNT 1 -param set-default CA_ROTOR0_PX 0.3 - -param set-default CA_SV_CS_COUNT 3 -param set-default CA_SV_CS0_TRQ_R 0 -param set-default CA_SV_CS0_TRQ_Y 1 -param set-default CA_SV_CS0_TYPE 4 -param set-default CA_SV_CS1_TRQ_P 0 -param set-default CA_SV_CS1_TRQ_R -0.5 -param set-default CA_SV_CS1_TYPE 1 -param set-default CA_SV_CS2_TRQ_P 1 -param set-default CA_SV_CS2_TYPE 3 - -param set-default PWM_MAIN_TIM0 50 -param set-default PWM_MAIN_TIM1 50 -param set-default PWM_MAIN_TIM2 50 diff --git a/ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2 b/ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2 deleted file mode 100644 index 0fced30..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2 +++ /dev/null @@ -1,58 +0,0 @@ -#!/bin/sh -# -# @name ThunderFly TF-G2 -# -# @type Autogyro -# @class Autogyro -# -# @output Motor1 throttle -# @output Servo1 rotor_head_L -# @output Servo2 rotor_head_R -# @output Servo3 rudder -# -# -# @url https://github.com/ThunderFly-aerospace/TF-G2/ -# @maintainer ThunderFly s.r.o., Roman Dvorak -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.fw_defaults - - -param set-default BAT1_CAPACITY 3300 -param set-default BAT1_N_CELLS 3 - -param set-default SENS_BOARD_ROT 4 - -param set-default FW_AIRSPD_MIN 7 -param set-default FW_AIRSPD_TRIM 13 -param set-default FW_THR_TRIM 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 - -param set-default CA_AIRFRAME 1 - -param set-default CA_ROTOR_COUNT 1 -param set-default CA_ROTOR0_PX 0.3 - -param set-default CA_SV_CS_COUNT 3 -param set-default CA_SV_CS0_TRQ_R 0 -param set-default CA_SV_CS0_TRQ_Y 1 -param set-default CA_SV_CS0_TYPE 4 -param set-default CA_SV_CS1_TRQ_P 0 -param set-default CA_SV_CS1_TRQ_R -0.5 -param set-default CA_SV_CS1_TYPE 1 -param set-default CA_SV_CS2_TRQ_P 1 -param set-default CA_SV_CS2_TYPE 3 - -param set-default PWM_MAIN_TIM0 50 -param set-default PWM_MAIN_TIM1 50 -param set-default PWM_MAIN_TIM2 50 diff --git a/ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1 b/ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1 deleted file mode 100644 index 90965ee..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1 +++ /dev/null @@ -1,26 +0,0 @@ -#!/bin/sh -# -# @name ThunderFly balloon TF-B1 -# -# @type Balloon -# @class Balloon -# -# -# @url https://github.com/ThunderFly-aerospace/TF-B1/ -# @maintainer ThunderFly s.r.o. -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.balloon_defaults - -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 - diff --git a/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane b/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane deleted file mode 100644 index cd454ea..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane +++ /dev/null @@ -1,24 +0,0 @@ -#!/bin/sh -# -# @name Generic Standard Plane -# -# @type Standard Plane -# @class Plane -# -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.fw_defaults - -param set-default CA_AIRFRAME 1 -param set-default CA_ROTOR_COUNT 1 -param set-default CA_ROTOR0_PX 0.3 -param set-default CA_SV_CS_COUNT 4 -param set-default CA_SV_CS0_TYPE 1 -param set-default CA_SV_CS0_TRQ_R -0.5 -param set-default CA_SV_CS1_TRQ_R 0.5 -param set-default CA_SV_CS1_TYPE 2 -param set-default CA_SV_CS2_TRQ_P 1.0 -param set-default CA_SV_CS2_TYPE 3 -param set-default CA_SV_CS3_TRQ_Y 1.0 -param set-default CA_SV_CS3_TYPE 4 diff --git a/ROMFS/px4fmu_common/init.d/airframes/2106_albatross b/ROMFS/px4fmu_common/init.d/airframes/2106_albatross deleted file mode 100644 index e918ea0..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/2106_albatross +++ /dev/null @@ -1,75 +0,0 @@ -#!/bin/sh -# -# @name Applied Aeronautics Albatross -# -# @type Plane A-Tail -# @class Plane -# -# @output Motor1 throttle -# @output Servo1 aileron right -# @output Servo2 aileron left -# @output Servo3 v-tail right -# @output Servo4 v-tail left -# @output Servo5 wheel -# @output Servo6 flaps right -# @output Servo7 flaps left -# -# @maintainer Andreas Antener -# -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.fw_defaults - -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-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 - -param set-default CA_AIRFRAME 1 -param set-default CA_ROTOR_COUNT 1 -param set-default CA_SV_CS_COUNT 7 -param set-default CA_SV_CS0_TRQ_R -0.5000 -param set-default CA_SV_CS0_TYPE 1 #left aileron -param set-default CA_SV_CS1_TRQ_R 0.5000 -param set-default CA_SV_CS1_TYPE 2 #right aileron -param set-default CA_SV_CS2_TRQ_P 0.5000 -param set-default CA_SV_CS2_TRQ_Y -0.5000 -param set-default CA_SV_CS2_TYPE 13 #left A-tail -param set-default CA_SV_CS3_TRQ_P 0.5000 -param set-default CA_SV_CS3_TRQ_Y 0.5000 -param set-default CA_SV_CS3_TYPE 14 #right A-tail -param set-default CA_SV_CS4_TRQ_Y 1.0000 -param set-default CA_SV_CS4_TYPE 12 -param set-default CA_SV_CS5_TYPE 9 #left flap -param set-default CA_SV_CS6_TYPE 10 #right flap - -param set-default PWM_MAIN_TIM0 50 -param set-default PWM_MAIN_TIM1 50 -param set-default PWM_MAIN_TIM2 50 - -param set-default PWM_MAIN_FUNC1 201 -param set-default PWM_MAIN_FUNC2 202 -param set-default PWM_MAIN_FUNC3 203 -param set-default PWM_MAIN_FUNC4 204 -param set-default PWM_MAIN_FUNC5 101 -param set-default PWM_MAIN_FUNC6 205 -param set-default PWM_MAIN_FUNC7 206 -param set-default PWM_MAIN_FUNC8 207 - -param set-default PWM_MAIN_DIS0 1500 -param set-default PWM_MAIN_DIS1 1500 -param set-default PWM_MAIN_DIS2 1500 -param set-default PWM_MAIN_DIS3 1500 -param set-default PWM_MAIN_DIS4 1500 -param set-default PWM_MAIN_DIS5 1000 -param set-default PWM_MAIN_DIS6 1500 -param set-default PWM_MAIN_DIS7 1500 -param set-default PWM_MAIN_DIS8 1500 - - diff --git a/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox b/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox deleted file mode 100644 index 23944e9..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox +++ /dev/null @@ -1,69 +0,0 @@ -#!/bin/sh -# -# @name Generic Dodecarotor cox geometry -# -# @type Dodecarotor cox -# @class Copter -# -# @maintainer Ian McNanie -# @maintainer William Peale -# -# @board bitcraze_crazyflie exclude -# @board px4_fmu-v2 exclude -# - -. ${R}etc/init.d/rc.mc_defaults - -param set-default NAV_ACC_RAD 2 - -param set-default RTL_DESCEND_ALT 10 -param set-default RTL_RETURN_ALT 30 - - -param set-default CA_ROTOR_COUNT 12 -# Bottom motors -param set-default CA_ROTOR0_PX 0 -param set-default CA_ROTOR0_PY 0.5 -param set-default CA_ROTOR0_PZ 0.05 -param set-default CA_ROTOR1_KM -0.05 -param set-default CA_ROTOR1_PX 0 -param set-default CA_ROTOR1_PY -0.5 -param set-default CA_ROTOR1_PZ 0.05 -param set-default CA_ROTOR2_PX 0.433 -param set-default CA_ROTOR2_PY -0.25 -param set-default CA_ROTOR2_PZ 0.05 -param set-default CA_ROTOR3_PX -0.433 -param set-default CA_ROTOR3_PY 0.25 -param set-default CA_ROTOR3_PZ 0.05 -param set-default CA_ROTOR3_KM -0.05 -param set-default CA_ROTOR4_PX 0.433 -param set-default CA_ROTOR4_PY 0.25 -param set-default CA_ROTOR4_PZ 0.05 -param set-default CA_ROTOR4_KM -0.05 -param set-default CA_ROTOR5_PX -0.344 -param set-default CA_ROTOR5_PY -0.25 -param set-default CA_ROTOR5_PZ 0.05 - -# Top motors -param set-default CA_ROTOR6_PX 0 -param set-default CA_ROTOR6_PY 0.5 -param set-default CA_ROTOR6_PZ -0.05 -param set-default CA_ROTOR6_KM -0.05 -param set-default CA_ROTOR7_PX 0 -param set-default CA_ROTOR7_PY -0.5 -param set-default CA_ROTOR7_PZ -0.05 -param set-default CA_ROTOR8_PX 0.433 -param set-default CA_ROTOR8_PY -0.25 -param set-default CA_ROTOR8_PZ -0.05 -param set-default CA_ROTOR8_KM -0.05 -param set-default CA_ROTOR9_PX -0.433 -param set-default CA_ROTOR9_PY 0.25 -param set-default CA_ROTOR9_PZ -0.05 -param set-default CA_ROTOR10_PX 0.433 -param set-default CA_ROTOR10_PY 0.25 -param set-default CA_ROTOR10_PZ -0.05 -param set-default CA_ROTOR11_PX -0.344 -param set-default CA_ROTOR11_PY -0.25 -param set-default CA_ROTOR11_PZ -0.05 -param set-default CA_ROTOR11_KM -0.05 - diff --git a/ROMFS/px4fmu_common/init.d/airframes/2507_cloudship b/ROMFS/px4fmu_common/init.d/airframes/2507_cloudship deleted file mode 100644 index a458d83..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/2507_cloudship +++ /dev/null @@ -1,41 +0,0 @@ -#!/bin/sh -# -# @name Cloudship -# @type Airship -# @class Airship -# -# @output Motor1 starboard thruster -# @output Motor2 port thruster -# @output Motor3 tail thruster -# @output Servo1 thrust tilt -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.airship_defaults - -param set-default COM_PREARM_MODE 2 -param set-default CBRK_IO_SAFETY 22027 - -param set-default CA_AIRFRAME 9 - -param set-default CA_ROTOR_COUNT 3 -param set-default CA_ROTOR0_AX 1.0000 -param set-default CA_ROTOR0_AZ 0.0000 -param set-default CA_ROTOR0_KM 0.0000 -param set-default CA_ROTOR0_PY 2.0000 -param set-default CA_ROTOR1_AX 1.0000 -param set-default CA_ROTOR1_AZ 0.0000 -param set-default CA_ROTOR1_KM 0.0000 -param set-default CA_ROTOR1_PY -2.0000 -param set-default CA_ROTOR2_AY -1.0000 -param set-default CA_ROTOR2_AZ 0.0000 -param set-default CA_ROTOR2_KM 0.0000 -param set-default CA_ROTOR2_PX -10.0000 - -param set-default CA_SV_CS_COUNT 1 -param set-default CA_SV_CS0_TRQ_P 1.0000 - -param set-default CA_R_REV 7 - diff --git a/ROMFS/px4fmu_common/init.d/airframes/3000_generic_wing b/ROMFS/px4fmu_common/init.d/airframes/3000_generic_wing deleted file mode 100644 index 6daab9c..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/3000_generic_wing +++ /dev/null @@ -1,23 +0,0 @@ -#!/bin/sh -# -# @name Generic Flying Wing -# -# @type Flying Wing -# @class Plane -# -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.fw_defaults - -param set-default CA_AIRFRAME 1 - -param set-default CA_ROTOR_COUNT 1 -param set-default CA_ROTOR0_PX 0.15 -param set-default CA_SV_CS_COUNT 2 -param set-default CA_SV_CS0_TYPE 5 -param set-default CA_SV_CS0_TRQ_P 0.5 -param set-default CA_SV_CS0_TRQ_R -0.5 -param set-default CA_SV_CS1_TYPE 6 -param set-default CA_SV_CS1_TRQ_P 0.5 -param set-default CA_SV_CS1_TRQ_R 0.5 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4001_quad_x b/ROMFS/px4fmu_common/init.d/airframes/4001_quad_x deleted file mode 100644 index c3df7a9..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/4001_quad_x +++ /dev/null @@ -1,24 +0,0 @@ -#!/bin/sh -# -# @name Generic Quadcopter -# -# @type Quadrotor x -# @class Copter -# -# @maintainer Lorenz Meier -# - -. ${R}etc/init.d/rc.mc_defaults - -param set-default CA_ROTOR_COUNT 4 -param set-default CA_ROTOR0_PX 0.15 -param set-default CA_ROTOR0_PY 0.15 -param set-default CA_ROTOR1_PX -0.15 -param set-default CA_ROTOR1_PY -0.15 -param set-default CA_ROTOR2_PX 0.15 -param set-default CA_ROTOR2_PY -0.15 -param set-default CA_ROTOR2_KM -0.05 -param set-default CA_ROTOR3_PX -0.15 -param set-default CA_ROTOR3_PY 0.15 -param set-default CA_ROTOR3_KM -0.05 - diff --git a/ROMFS/px4fmu_common/init.d/airframes/4014_s500 b/ROMFS/px4fmu_common/init.d/airframes/4014_s500 deleted file mode 100644 index 309e949..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/4014_s500 +++ /dev/null @@ -1,31 +0,0 @@ -#!/bin/sh -# -# @name S500 Generic -# -# @type Quadrotor x -# @class Copter -# -# @maintainer Lorenz Meier -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.mc_defaults - -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 CA_ROTOR_COUNT 4 -param set-default CA_ROTOR0_PX 0.15 -param set-default CA_ROTOR0_PY 0.15 -param set-default CA_ROTOR1_PX -0.15 -param set-default CA_ROTOR1_PY -0.15 -param set-default CA_ROTOR2_PX 0.15 -param set-default CA_ROTOR2_PY -0.15 -param set-default CA_ROTOR2_KM -0.05 -param set-default CA_ROTOR3_PX -0.15 -param set-default CA_ROTOR3_PY 0.15 -param set-default CA_ROTOR3_KM -0.05 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500 b/ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500 deleted file mode 100644 index 37cf5bb..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500 +++ /dev/null @@ -1,35 +0,0 @@ -#!/bin/sh -# -# @name Holybro S500 -# -# @type Quadrotor x -# @class Copter -# -# @maintainer Lorenz Meier -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.mc_defaults - -param set-default IMU_GYRO_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 - -param set-default CA_ROTOR_COUNT 4 -param set-default CA_ROTOR0_PX 0.15 -param set-default CA_ROTOR0_PY 0.15 -param set-default CA_ROTOR1_PX -0.15 -param set-default CA_ROTOR1_PY -0.15 -param set-default CA_ROTOR2_PX 0.15 -param set-default CA_ROTOR2_PY -0.15 -param set-default CA_ROTOR2_KM -0.05 -param set-default CA_ROTOR3_PX -0.15 -param set-default CA_ROTOR3_PY 0.15 -param set-default CA_ROTOR3_KM -0.05 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision b/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision deleted file mode 100644 index d6fd779..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision +++ /dev/null @@ -1,123 +0,0 @@ -#!/bin/sh -# -# @name PX4 Vision Dev Kit v1 -# -# @type Quadrotor x -# @class Copter -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.mc_defaults - -# Commander Parameters -param set-default COM_OBS_AVOID 1 -param set-default COM_DISARM_LAND 0.5 - -# EKF2 parameters -param set-default EKF2_DRAG_CTRL 1 -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_MIN_RNG 0.03 -param set-default EKF2_OF_CTRL 1 -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_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 - -# 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 - -# 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 MC_PITCHRATE_D 0.0015 -param set-default MC_ROLLRATE_D 0.0015 -param set-default MC_YAWRATE_P 0.3 - -# 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_MAN_Y_MAX 120 -param set-default MPC_THR_HOVER 0.3 -param set-default MPC_VEL_MANUAL 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 -param set-default MPC_POS_MODE 3 -param set-default CP_GO_NO_DATA 1 - -# Navigator Parameters -param set-default NAV_ACC_RAD 2 - -# RTL Parameters -param set-default RTL_DESCEND_ALT 5 -param set-default RTL_RETURN_ALT 5 - -# Logging Parameters -param set-default SDLOG_PROFILE 131 - -# Sensors Parameters -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 IMU_GYRO_CUTOFF 100 -param set-default SENS_EN_PMW3901 1 - -# Power Parameters -param set-default BAT1_N_CELLS 4 -param set-default BAT1_A_PER_V 36.364 -param set-default BAT1_V_DIV 18.182 - -# Circuit breakers -param set-default CBRK_IO_SAFETY 22027 - -param set-default THR_MDL_FAC 0.3 - -param set-default CA_ROTOR_COUNT 4 -param set-default CA_ROTOR0_PX 0.15 -param set-default CA_ROTOR0_PY 0.15 -param set-default CA_ROTOR0_KM 0.05 -param set-default CA_ROTOR1_PX -0.15 -param set-default CA_ROTOR1_PY -0.15 -param set-default CA_ROTOR1_KM 0.05 -param set-default CA_ROTOR2_PX 0.15 -param set-default CA_ROTOR2_PY -0.15 -param set-default CA_ROTOR2_KM -0.05 -param set-default CA_ROTOR3_PX -0.15 -param set-default CA_ROTOR3_PY 0.15 -param set-default CA_ROTOR3_KM -0.05 - -# Outputs -param set-default PWM_AUX_FUNC1 101 -param set-default PWM_AUX_FUNC2 102 -param set-default PWM_AUX_FUNC3 103 -param set-default PWM_AUX_FUNC4 104 - diff --git a/ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames b/ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames deleted file mode 100644 index 7094a55..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames +++ /dev/null @@ -1,34 +0,0 @@ -#!/bin/sh -# -# @name NXP HoverGames -# -# @type Quadrotor x -# @class Copter -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# -# @maintainer Iain Galloway -# - -. ${R}etc/init.d/rc.mc_defaults - -param set-default IMU_DGYRO_CUTOFF 20 - -param set-default MC_ROLLRATE_P 0.18 -param set-default MC_ROLLRATE_I 0.15 - -param set-default MC_PITCHRATE_P 0.18 -param set-default MC_PITCHRATE_I 0.15 - -param set-default CA_ROTOR_COUNT 4 -param set-default CA_ROTOR0_PX 0.15 -param set-default CA_ROTOR0_PY 0.15 -param set-default CA_ROTOR1_PX -0.15 -param set-default CA_ROTOR1_PY -0.15 -param set-default CA_ROTOR2_PX 0.15 -param set-default CA_ROTOR2_PY -0.15 -param set-default CA_ROTOR2_KM -0.05 -param set-default CA_ROTOR3_PX -0.15 -param set-default CA_ROTOR3_PY 0.15 -param set-default CA_ROTOR3_KM -0.05 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4019_x500_v2 b/ROMFS/px4fmu_common/init.d/airframes/4019_x500_v2 deleted file mode 100644 index e912702..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/4019_x500_v2 +++ /dev/null @@ -1,40 +0,0 @@ -#!/bin/sh -# -# @name Holybro X500 V2 -# -# @type Quadrotor x -# @class Copter -# -# @maintainer Farhang Naderi -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.mc_defaults - -param set-default IMU_GYRO_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 - -param set-default CA_ROTOR_COUNT 4 -param set-default CA_ROTOR0_PX 0.25 -param set-default CA_ROTOR0_PY 0.25 -param set-default CA_ROTOR1_PX -0.25 -param set-default CA_ROTOR1_PY -0.25 -param set-default CA_ROTOR2_PX 0.25 -param set-default CA_ROTOR2_PY -0.25 -param set-default CA_ROTOR2_KM -0.05 -param set-default CA_ROTOR3_PX -0.25 -param set-default CA_ROTOR3_PY 0.25 -param set-default CA_ROTOR3_KM -0.05 - -param set-default PWM_MAIN_FUNC1 101 -param set-default PWM_MAIN_FUNC2 102 -param set-default PWM_MAIN_FUNC3 103 -param set-default PWM_MAIN_FUNC4 104 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4020_holybro_px4vision_v1_5 b/ROMFS/px4fmu_common/init.d/airframes/4020_holybro_px4vision_v1_5 deleted file mode 100644 index b2019b7..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/4020_holybro_px4vision_v1_5 +++ /dev/null @@ -1,124 +0,0 @@ -#!/bin/sh -# -# @name PX4 Vision Dev Kit v1.5 -# -# @type Quadrotor x -# @class Copter -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.mc_defaults - -# Commander Parameters -param set-default COM_OBS_AVOID 1 -param set-default COM_DISARM_LAND 0.5 - -# EKF2 parameters -param set-default EKF2_DRAG_CTRL 1 -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_MIN_RNG 0.03 -param set-default EKF2_OF_CTRL 1 -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_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 - -# 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 - -# 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 MC_PITCHRATE_D 0.0015 -param set-default MC_ROLLRATE_D 0.0015 -param set-default MC_YAWRATE_P 0.3 - -# 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_MANTHR_MIN 0 -param set-default MPC_MAN_Y_MAX 120 -param set-default MPC_THR_HOVER 0.3 -param set-default MPC_VEL_MANUAL 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 -param set-default MPC_POS_MODE 3 -param set-default CP_GO_NO_DATA 1 - -# Navigator Parameters -param set-default NAV_ACC_RAD 2 - -# RTL Parameters -param set-default RTL_DESCEND_ALT 5 -param set-default RTL_RETURN_ALT 5 - -# Logging Parameters -param set-default SDLOG_PROFILE 131 - -# Sensors Parameters -param set-default SENS_CM8JL65_CFG 202 -param set-default SENS_FLOW_MAXHGT 25 -param set-default SENS_FLOW_MINHGT 0.5 -param set-default IMU_GYRO_CUTOFF 100 -param set-default SENS_TFLOW_CFG 103 - -# Power Parameters -param set-default BAT1_N_CELLS 4 -param set-default BAT1_A_PER_V 36.364 -param set-default BAT1_V_DIV 18.182 - -# Circuit breakers -param set-default CBRK_IO_SAFETY 22027 - -param set-default THR_MDL_FAC 0.3 - -param set-default CA_ROTOR_COUNT 4 -param set-default CA_ROTOR0_PX 0.15 -param set-default CA_ROTOR0_PY 0.15 -param set-default CA_ROTOR0_KM 0.05 -param set-default CA_ROTOR1_PX -0.15 -param set-default CA_ROTOR1_PY -0.15 -param set-default CA_ROTOR1_KM 0.05 -param set-default CA_ROTOR2_PX 0.15 -param set-default CA_ROTOR2_PY -0.15 -param set-default CA_ROTOR2_KM -0.05 -param set-default CA_ROTOR3_PX -0.15 -param set-default CA_ROTOR3_PY 0.15 -param set-default CA_ROTOR3_KM -0.05 - -# Outputs -param set-default PWM_AUX_FUNC1 101 -param set-default PWM_AUX_FUNC2 102 -param set-default PWM_AUX_FUNC3 103 -param set-default PWM_AUX_FUNC4 104 - diff --git a/ROMFS/px4fmu_common/init.d/airframes/4040_reaper b/ROMFS/px4fmu_common/init.d/airframes/4040_reaper deleted file mode 100644 index c8c6c5a..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/4040_reaper +++ /dev/null @@ -1,65 +0,0 @@ -#!/bin/sh -# -# @name Reaper 500 Quad -# -# @type Quadrotor H -# @class Copter -# -# @maintainer Blankered -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.mc_defaults - -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-default NAV_ACC_RAD 2 - -param set-default RTL_RETURN_ALT 30 -param set-default RTL_DESCEND_ALT 10 - -param set-default CA_ROTOR_COUNT 4 -param set-default CA_ROTOR0_PX 0.15 -param set-default CA_ROTOR0_PY 0.15 -param set-default CA_ROTOR0_KM -0.05 -param set-default CA_ROTOR1_PX -0.15 -param set-default CA_ROTOR1_PY -0.15 -param set-default CA_ROTOR1_KM -0.05 -param set-default CA_ROTOR2_PX 0.15 -param set-default CA_ROTOR2_PY -0.15 -param set-default CA_ROTOR2_KM 0.05 -param set-default CA_ROTOR3_PX -0.15 -param set-default CA_ROTOR3_PY 0.15 -param set-default CA_ROTOR3_KM 0.05 - -param set-default PWM_MAIN_FUNC1 101 -param set-default PWM_MAIN_FUNC2 102 -param set-default PWM_MAIN_FUNC3 103 -param set-default PWM_MAIN_FUNC4 104 -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-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-default PWM_MAIN_TIM0 50 -param set-default PWM_MAIN_TIM1 50 -param set-default PWM_MAIN_TIM2 50 - -param set-default PWM_AUX_TIM0 50 -param set-default PWM_AUX_TIM1 50 -param set-default PWM_AUX_TIM2 50 - - diff --git a/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x b/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x deleted file mode 100644 index 9c723c7..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x +++ /dev/null @@ -1,67 +0,0 @@ -#!/bin/sh -# -# @name BetaFPV Beta75X 2S Brushless Whoop -# -# @type Quadrotor H -# @class Copter -# -# @maintainer Beat Kueng -# -# @board px4_fmu-v2 exclude -# @board px4_fmu-v3 exclude -# @board px4_fmu-v4 exclude -# @board px4_fmu-v4pro exclude -# @board px4_fmu-v5 exclude -# @board px4_fmu-v5x exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.mc_defaults - -param set-default CBRK_SUPPLY_CHK 894281 - -param set-default IMU_GYRO_CUTOFF 100 -param set-default IMU_DGYRO_CUTOFF 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-default MPC_MANTHR_MIN 0 -param set-default MPC_MAN_TILT_MAX 60 - -param set-default SYS_HAS_BARO 0 -param set-default SYS_HAS_MAG 0 - -param set-default BAT1_N_CELLS 2 - -param set-default CA_ROTOR_COUNT 4 -param set-default CA_ROTOR0_PX 0.03 -param set-default CA_ROTOR0_PY 0.03 -param set-default CA_ROTOR0_KM -0.05 -param set-default CA_ROTOR1_PX -0.03 -param set-default CA_ROTOR1_PY -0.03 -param set-default CA_ROTOR1_KM -0.05 -param set-default CA_ROTOR2_PX 0.03 -param set-default CA_ROTOR2_PY -0.03 -param set-default CA_ROTOR2_KM 0.05 -param set-default CA_ROTOR3_PX -0.03 -param set-default CA_ROTOR3_PY 0.03 -param set-default CA_ROTOR3_KM 0.05 - -param set-default PWM_MAIN_FUNC1 104 -param set-default PWM_MAIN_FUNC2 101 -param set-default PWM_MAIN_FUNC3 102 -param set-default PWM_MAIN_FUNC4 103 - diff --git a/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250 b/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250 deleted file mode 100644 index efc06c3..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250 +++ /dev/null @@ -1,51 +0,0 @@ -#!/bin/sh -# -# @name Generic 250 Racer -# -# @type Quadrotor x -# @class Copter -# -# @maintainer Lorenz Meier -# -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.mc_defaults - -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_D 0.001 -param set-default MC_YAW_P 4 - - -param set-default MC_ROLLRATE_MAX 1600 -param set-default MC_PITCHRATE_MAX 1600 -param set-default MC_YAWRATE_MAX 1000 - -param set-default MPC_MAN_TILT_MAX 60 - -param set-default THR_MDL_FAC 0.3 - -# enable high-rate logging profile (helps with tuning) -param set-default SDLOG_PROFILE 19 - -param set-default IMU_DGYRO_CUTOFF 50 -param set-default IMU_GYRO_CUTOFF 90 - -param set-default CA_ROTOR_COUNT 4 -param set-default CA_ROTOR0_PX 0.15 -param set-default CA_ROTOR0_PY 0.15 -param set-default CA_ROTOR1_PX -0.15 -param set-default CA_ROTOR1_PY -0.15 -param set-default CA_ROTOR2_PX 0.15 -param set-default CA_ROTOR2_PY -0.15 -param set-default CA_ROTOR2_KM -0.05 -param set-default CA_ROTOR3_PX -0.15 -param set-default CA_ROTOR3_PY 0.15 -param set-default CA_ROTOR3_KM -0.05 - - diff --git a/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250 b/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250 deleted file mode 100644 index a01c35a..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250 +++ /dev/null @@ -1,65 +0,0 @@ -#!/bin/sh -# -# @name HolyBro QAV250 -# -# @url https://docs.px4.io/main/en/frames_multicopter/holybro_qav250_pixhawk4_mini.html -# -# @type Quadrotor x -# @class Copter -# -# @maintainer Beat Kueng -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.mc_defaults - -# The set does not include a battery, but most people will probably use 4S -param set-default BAT1_N_CELLS 4 - -param set-default IMU_GYRO_CUTOFF 120 -param set-default IMU_DGYRO_CUTOFF 45 - -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-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-default THR_MDL_FAC 0.3 - -param set-default CA_ROTOR_COUNT 4 -param set-default CA_ROTOR0_PX 0.15 -param set-default CA_ROTOR0_PY 0.15 -param set-default CA_ROTOR1_PX -0.15 -param set-default CA_ROTOR1_PY -0.15 -param set-default CA_ROTOR2_PX 0.15 -param set-default CA_ROTOR2_PY -0.15 -param set-default CA_ROTOR2_KM -0.05 -param set-default CA_ROTOR3_PX -0.15 -param set-default CA_ROTOR3_PY 0.15 -param set-default CA_ROTOR3_KM -0.05 - -param set-default PWM_MAIN_FUNC1 101 -param set-default PWM_MAIN_FUNC2 102 -param set-default PWM_MAIN_FUNC3 103 -param set-default PWM_MAIN_FUNC4 104 - diff --git a/ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2 b/ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2 deleted file mode 100644 index 64d14b8..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2 +++ /dev/null @@ -1,76 +0,0 @@ -#!/bin/sh -# -# @name Holybro Kopis 2 -# -# @type Quadrotor x -# @class Copter -# -# @maintainer Beat Kueng -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.mc_defaults - -param set-default BAT1_N_CELLS 4 - -param set-default GPS_1_CONFIG 0 -param set-default RC_PORT_CONFIG 201 - -param set-default IMU_GYRO_CUTOFF 80 -param set-default IMU_DGYRO_CUTOFF 50 -param set-default IMU_GYRO_RATEMAX 2000 - -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-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-default MC_YAWRATE_MAX 1000 -param set-default MC_YAWRATE_P 0.15 -param set-default MC_YAW_P 4 - -param set-default MPC_MANTHR_MIN 0 -param set-default MPC_MAN_TILT_MAX 60 - -param set-default OSD_ATXXXX_CFG 1 -param set-default TEL_FRSKY_CONFIG 300 - -param set-default THR_MDL_FAC 0.35 - -param set-default MPC_THR_CURVE 1 -param set-default MPC_THR_HOVER 0.12 - -param set-default MC_AIRMODE 1 - -param set-default EV_TSK_RC_LOSS 1 - -param set-default CA_ROTOR_COUNT 4 -param set-default CA_ROTOR0_PX 0.15 -param set-default CA_ROTOR0_PY 0.15 -param set-default CA_ROTOR1_PX -0.15 -param set-default CA_ROTOR1_PY -0.15 -param set-default CA_ROTOR2_PX 0.15 -param set-default CA_ROTOR2_PY -0.15 -param set-default CA_ROTOR2_KM -0.05 -param set-default CA_ROTOR3_PX -0.15 -param set-default CA_ROTOR3_PY 0.15 -param set-default CA_ROTOR3_KM -0.05 - -param set-default PWM_MAIN_FUNC1 104 -param set-default PWM_MAIN_FUNC2 101 -param set-default PWM_MAIN_FUNC3 102 -param set-default PWM_MAIN_FUNC4 103 - -param set-default PWM_MAIN_TIM0 -2 -param set-default PWM_MAIN_TIM1 -2 - - diff --git a/ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu b/ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu deleted file mode 100644 index bcfcd10..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu +++ /dev/null @@ -1,173 +0,0 @@ -#!/bin/sh -# -# @name Advanced Technology Labs (ATL) Mantis EDU -# -# @type Quadrotor x -# @class Copter -# -# @maintainer -# @board px4_fmu-v2 exclude -# - -. ${R}etc/init.d/rc.mc_defaults - - -# Battery settings -param set-default BAT_CRIT_THR 0.20 -param set-default BAT_LOW_THR 0.25 - -param set-default BAT1_CAPACITY 2800.0 -param set-default BAT1_N_CELLS 3 -param set-default BAT1_R_INTERNAL 0.02 -param set-default BAT1_V_CHARGED 4.26 -param set-default BAT1_V_EMPTY 3.45 - -param set-default CBRK_SUPPLY_CHK 894281 - -param set-default COM_DISARM_LAND 0.1 -param set-default COM_DISARM_PRFLT 3 -param set-default COM_DL_LOSS_T 10 -param set-default COM_FLTMODE1 2 -param set-default COM_FLTMODE2 -1 -param set-default COM_FLTMODE3 -1 -param set-default COM_FLTMODE4 -1 -param set-default COM_FLTMODE5 -1 -param set-default COM_FLTMODE6 1 -param set-default COM_RC_LOSS_T 3 - - -# ekf2 -param set-default EKF2_TERR_MASK 1 -param set-default EKF2_BARO_NOISE 2.0 - -param set-default EKF2_BCOEF_X 31.5 -param set-default EKF2_BCOEF_Y 25.5 - -param set-default EKF2_DRAG_CTRL 1 - -param set-default EKF2_GPS_DELAY 100 -param set-default EKF2_GPS_POS_X 0.06 -param set-default EKF2_GPS_V_NOISE 0.5 - -param set-default EKF2_IMU_POS_X 0.06 - -param set-default EKF2_MAG_NOISE 0.1 - -param set-default EKF2_MIN_RNG 0.15 - -param set-default EKF2_OF_DELAY 38 -param set-default EKF2_OF_GATE 2.0 -param set-default EKF2_OF_POS_X -0.035 -param set-default EKF2_OF_POS_Z 0.033 -param set-default EKF2_OF_MIN_RNG 0.01 -param set-default EKF2_OF_A_HMAX 7.0 -param set-default EKF2_OF_QMIN 30 - -param set-default EKF2_PCOEF_XN -0.3 -param set-default EKF2_PCOEF_XP -0.4 -param set-default EKF2_PCOEF_YN -0.4 -param set-default EKF2_PCOEF_YP -0.4 - -param set-default EKF2_RNG_A_VMAX 1.0 -param set-default EKF2_RNG_CTRL 0 -param set-default EKF2_RNG_DELAY 55 -param set-default EKF2_RNG_POS_X -0.035 -param set-default EKF2_RNG_POS_Y 0.0 -param set-default EKF2_RNG_POS_Z 0.033 - -param set-default EKF2_TERR_NOISE 1.0 - - -# Maximum allowed angle velocity in the landed state -param set-default LNDMC_ROT_MAX 40.0 - -# Maximum vertical velocity allowed in the landed state -param set-default LNDMC_Z_VEL_MAX 0.7 - - -# filtering -param set-default IMU_DGYRO_CUTOFF 50 -param set-default IMU_GYRO_CUTOFF 65 - - -# Pitch angle & rate setting -param set-default MC_PITCHRATE_P 0.075 -param set-default MC_PITCHRATE_I 0.1 -param set-default MC_PITCHRATE_D 0.0005 -param set-default MC_PITCHRATE_MAX 360.0 -param set-default MC_PITCH_P 8.0 - -# Roll angle & rate setting -param set-default MC_ROLLRATE_P 0.055 -param set-default MC_ROLLRATE_I 0.1 -param set-default MC_ROLLRATE_D 0.0005 -param set-default MC_ROLLRATE_MAX 360.0 -param set-default MC_ROLL_P 8.0 - -# Yaw angle & rate setting -param set-default MC_YAWRATE_P 0.1 -param set-default MC_YAWRATE_MAX 120.0 -param set-default MC_YAW_P 2.5 - -param set-default MPC_ACC_DOWN_MAX 2.0 -param set-default MPC_ACC_HOR 3.0 -param set-default MPC_ACC_HOR_MAX 10.0 -param set-default MPC_ACC_UP_MAX 3.0 -param set-default MPC_ALT_MODE 0 -param set-default MPC_LAND_SPEED 0.5 -param set-default MPC_MAN_TILT_MAX 20 -param set-default MPC_YAWRAUTO_MAX 80.0 -param set-default MPC_THR_HOVER 0.54 -param set-default MPC_THR_MAX 0.9 -param set-default MPC_THR_MIN 0.06 -param set-default MPC_TILTMAX_AIR 30 -param set-default MPC_XY_P 1.0 -param set-default MPC_Z_P 2.0 -param set-default MPC_Z_VEL_MAX_DN 2.0 - -# gimbal configuration -param set-default MNT_MODE_IN 0 -param set-default MNT_MODE_OUT 1 -param set-default MNT_MAN_PITCH 2 -param set-default MNT_RATE_PITCH 30 - -# RC -param set-default RC_CHAN_CNT 12 - -param set-default RC_MAP_THROTTLE 1 -param set-default RC_MAP_YAW 2 -param set-default RC_MAP_PITCH 3 -param set-default RC_MAP_ROLL 4 -param set-default RC_MAP_AUX2 5 -param set-default RC_MAP_AUX3 10 -param set-default RC_MAP_AUX4 8 -param set-default RC_MAP_FLTMODE 6 -param set-default RC_MAP_RETURN_SW 7 - -param set-default RC1_TRIM 1000 - - -# optical flow -param set-default SENS_FLOW_MAXR 7.4 -param set-default SENS_FLOW_MINHGT 0.15 -param set-default SENS_FLOW_MAXHGT 5.0 - -# ignore the SD card errors and use normal startup sound -set STARTUP_TUNE "1" - -param set-default CA_ROTOR_COUNT 4 -param set-default CA_ROTOR0_PX 0.15 -param set-default CA_ROTOR0_PY 0.15 -param set-default CA_ROTOR1_PX -0.15 -param set-default CA_ROTOR1_PY -0.15 -param set-default CA_ROTOR2_PX 0.15 -param set-default CA_ROTOR2_PY -0.15 -param set-default CA_ROTOR2_KM -0.05 -param set-default CA_ROTOR3_PX -0.15 -param set-default CA_ROTOR3_PY 0.15 -param set-default CA_ROTOR3_KM -0.05 - -param set-default TAP_ESC_FUNC1 101 -param set-default TAP_ESC_FUNC2 102 -param set-default TAP_ESC_FUNC3 103 -param set-default TAP_ESC_FUNC4 104 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4071_ifo b/ROMFS/px4fmu_common/init.d/airframes/4071_ifo deleted file mode 100644 index fdb0271..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/4071_ifo +++ /dev/null @@ -1,95 +0,0 @@ -#!/bin/sh -# -# @name UVify IFO -# -# @type Quadrotor x -# @class Copter -# -# @maintainer Hyon Lim -# -# @board px4_fmu-v2 exclude -# @board px4_fmu-v3 exclude -# @board px4_fmu-v4pro exclude -# @board px4_fmu-v5 exclude -# @board px4_fmu-v5x exclude -# @board bitcraze_crazyflie exclude -# @board cuav_x7pro exclude -# - -. ${R}etc/init.d/rc.mc_defaults - -# Attitude & rate gains -param set-default MC_ROLLRATE_D 0.0013 -param set-default MC_PITCHRATE_D 0.0016 - -param set-default MPC_MANTHR_MAX 0.9 - -# Filter settings -param set-default IMU_DGYRO_CUTOFF 90 -param set-default IMU_GYRO_CUTOFF 100 - -# System - -param set-default SENS_BOARD_ROT 10 - -# EKF2 -param set-default EKF2_GND_EFF_DZ 6 - -# Position control -param set-default MPC_Z_VEL_I_ACC 0.4 - -param set-default MPC_THR_MIN 0.06 -param set-default MPC_THR_HOVER 0.3 - -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_TKO_RAMP_T 1 -param set-default MPC_VEL_MANUAL 3 - -param set-default BAT1_SOURCE 0 -param set-default BAT1_N_CELLS 4 -param set-default BAT1_V_DIV 10.14 -param set-default BAT1_A_PER_V 18.18 - -# Filter settings -param set-default IMU_GYRO_CUTOFF 90 -param set-default IMU_DGYRO_CUTOFF 70 - -# 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-default MAV_0_CONFIG 101 -param set-default MAV_0_RATE 0 -# onboard -param set-default MAV_0_MODE 2 -param set-default SER_TEL1_BAUD 921600 - -# TELEM2 ttyS2 - Sub 1-Ghz -param set-default MAV_1_CONFIG 102 -# normal -param set-default MAV_1_MODE 0 -param set-default SER_TEL2_BAUD 57600 - - -param set-default CA_ROTOR_COUNT 4 -param set-default CA_ROTOR0_PX 0.15 -param set-default CA_ROTOR0_PY 0.15 -param set-default CA_ROTOR1_PX -0.15 -param set-default CA_ROTOR1_PY -0.15 -param set-default CA_ROTOR2_PX 0.15 -param set-default CA_ROTOR2_PY -0.15 -param set-default CA_ROTOR2_KM -0.05 -param set-default CA_ROTOR3_PX -0.15 -param set-default CA_ROTOR3_PY 0.15 -param set-default CA_ROTOR3_KM -0.05 - -param set-default PWM_MAIN_TIM0 0 - -param set-default PWM_MAIN_FUNC1 101 -param set-default PWM_MAIN_FUNC2 102 -param set-default PWM_MAIN_FUNC3 103 -param set-default PWM_MAIN_FUNC4 104 - diff --git a/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s b/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s deleted file mode 100644 index b870026..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s +++ /dev/null @@ -1,112 +0,0 @@ -#!/bin/sh -# -# @name UVify IFO -# -# @type Quadrotor x -# @class Copter -# -# @board px4_fmu-v2 exclude -# @board px4_fmu-v3 exclude -# @board px4_fmu-v4pro exclude -# @board px4_fmu-v5 exclude -# @board px4_fmu-v5x exclude -# @board bitcraze_crazyflie exclude -# @board cuav_x7pro exclude -# -# @maintainer Hyon Lim -# - -. ${R}etc/init.d/rc.mc_defaults - -# Attitude & rate gains -param set-default MC_ROLLRATE_D 0.0013 - -param set-default MC_PITCHRATE_D 0.0016 - -# Filter settings -param set-default IMU_GYRO_CUTOFF 100 - -# 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 - -# Smart Battery -param set-default SENS_EN_BATT 1 - -# EKF2 -param set-default EKF2_GND_EFF_DZ 6 -param set-default EKF2_MIN_RNG 0.3 - -# Flow -param set-default EKF2_OF_CTRL 1 -param set-default EKF2_OF_QMIN 70 - -# 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-default MPC_THR_MIN 0.06 -param set-default MPC_THR_HOVER 0.44 - -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_TKO_RAMP_T 1 -param set-default MPC_VEL_MANUAL 3 - -param set-default BAT1_SOURCE 0 -param set-default BAT1_N_CELLS 4 -param set-default BAT1_V_DIV 10.14 -param set-default BAT1_A_PER_V 18.18 - -# Filter settings -param set-default IMU_GYRO_CUTOFF 90 - -# 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-default MAV_0_CONFIG 101 -param set-default MAV_0_RATE 0 -# onboard -param set-default MAV_0_MODE 2 -param set-default SER_TEL1_BAUD 921600 - -# TELEM2 ttyS2 - Sub 1-Ghz -param set-default MAV_1_CONFIG 102 -# normal -param set-default MAV_1_MODE 0 -param set-default SER_TEL2_BAUD 57600 - -# 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 - -param set-default CA_ROTOR_COUNT 4 -param set-default CA_ROTOR0_PX 0.15 -param set-default CA_ROTOR0_PY 0.15 -param set-default CA_ROTOR1_PX -0.15 -param set-default CA_ROTOR1_PY -0.15 -param set-default CA_ROTOR2_PX 0.15 -param set-default CA_ROTOR2_PY -0.15 -param set-default CA_ROTOR2_KM -0.05 -param set-default CA_ROTOR3_PX -0.15 -param set-default CA_ROTOR3_PY 0.15 -param set-default CA_ROTOR3_KM -0.05 - -param set-default PWM_MAIN_TIM0 -3 - -param set-default PWM_MAIN_FUNC1 101 -param set-default PWM_MAIN_FUNC2 102 -param set-default PWM_MAIN_FUNC3 103 -param set-default PWM_MAIN_FUNC4 104 - diff --git a/ROMFS/px4fmu_common/init.d/airframes/4500_clover4 b/ROMFS/px4fmu_common/init.d/airframes/4500_clover4 deleted file mode 100644 index cbfbc1c..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/4500_clover4 +++ /dev/null @@ -1,45 +0,0 @@ -#!/bin/sh -# -# @name COEX Clover 4 -# -# @type Quadrotor x -# @class Copter -# -# @maintainer Oleg Kalachev -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.mc_defaults - -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 - -param set-default CA_ROTOR_COUNT 4 -param set-default CA_ROTOR0_PX 0.15 -param set-default CA_ROTOR0_PY 0.15 -param set-default CA_ROTOR1_PX -0.15 -param set-default CA_ROTOR1_PY -0.15 -param set-default CA_ROTOR2_PX 0.15 -param set-default CA_ROTOR2_PY -0.15 -param set-default CA_ROTOR2_KM -0.05 -param set-default CA_ROTOR3_PX -0.15 -param set-default CA_ROTOR3_PY 0.15 -param set-default CA_ROTOR3_KM -0.05 - -param set-default PWM_MAIN_FUNC1 101 -param set-default PWM_MAIN_FUNC2 102 -param set-default PWM_MAIN_FUNC3 103 -param set-default PWM_MAIN_FUNC4 104 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie b/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie deleted file mode 100644 index 211feb4..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie +++ /dev/null @@ -1,91 +0,0 @@ -#!/bin/sh -# -# @name Crazyflie 2 -# -# @type Quadrotor x -# @class Copter -# -# @maintainer Dennis Shtatov -# -# @board px4_fmu-v2 exclude -# @board px4_fmu-v3 exclude -# @board px4_fmu-v4 exclude -# @board px4_fmu-v4pro exclude -# @board px4_fmu-v5 exclude -# @board px4_fmu-v5x exclude -# -. ${R}etc/init.d/rc.mc_defaults - -param set-default BAT1_N_CELLS 1 -param set-default BAT1_CAPACITY 240 -param set-default BAT1_SOURCE 1 - -param set-default CBRK_SUPPLY_CHK 894281 -param set-default COM_RC_IN_MODE 1 - -param set-default EKF2_ABL_LIM 2 -param set-default EKF2_HGT_REF 2 -param set-default EKF2_RNG_CTRL 2 -param set-default EKF2_MAG_TYPE 1 -param set-default EKF2_OF_CTRL 1 -param set-default EKF2_OF_DELAY 10 - -param set-default IMU_GYRO_CUTOFF 100 -param set-default IMU_ACCEL_CUTOFF 30 - -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_P 0.07 -param set-default MC_ROLLRATE_D 0.002 -param set-default MC_ROLLRATE_P 0.07 -param set-default MC_YAW_P 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-default NAV_RCL_ACT 3 - -param set-default CA_ROTOR_COUNT 4 -param set-default CA_ROTOR0_PX 0.03 -param set-default CA_ROTOR0_PY 0.03 -param set-default CA_ROTOR1_PX -0.03 -param set-default CA_ROTOR1_PY 0.03 -param set-default CA_ROTOR1_KM -0.05 -param set-default CA_ROTOR2_PX -0.03 -param set-default CA_ROTOR2_PY -0.03 -param set-default CA_ROTOR3_PX 0.03 -param set-default CA_ROTOR3_PY -0.03 -param set-default CA_ROTOR3_KM -0.05 - -# Run the motors at 328.125 kHz (recommended) -param set-default PWM_MAIN_TIM0 3921 -param set-default PWM_MAIN_TIM1 3921 - -param set-default PWM_MAIN_FUNC1 101 -param set-default PWM_MAIN_FUNC2 102 -param set-default PWM_MAIN_FUNC3 103 -param set-default PWM_MAIN_FUNC4 104 -param set-default PWM_MAIN_DIS0 0 -param set-default PWM_MAIN_DIS1 0 -param set-default PWM_MAIN_DIS2 0 -param set-default PWM_MAIN_DIS3 0 -param set-default PWM_MAIN_MIN0 0 -param set-default PWM_MAIN_MIN1 0 -param set-default PWM_MAIN_MIN2 0 -param set-default PWM_MAIN_MIN3 0 -param set-default PWM_MAIN_MAX0 255 -param set-default PWM_MAIN_MAX1 255 -param set-default PWM_MAIN_MAX2 255 -param set-default PWM_MAIN_MAX3 255 - - -param set-default SENS_FLOW_MINRNG 0.05 - -syslink start -mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21 b/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21 deleted file mode 100644 index 3462b75..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21 +++ /dev/null @@ -1,90 +0,0 @@ -#!/bin/sh -# -# @name Crazyflie 2.1 -# -# @type Quadrotor x -# @class Copter -# -# @maintainer Dennis Shtatov -# -# @board px4_fmu-v2 exclude -# @board px4_fmu-v3 exclude -# @board px4_fmu-v4 exclude -# @board px4_fmu-v4pro exclude -# @board px4_fmu-v5 exclude -# @board px4_fmu-v5x exclude -# -. ${R}etc/init.d/rc.mc_defaults - - -param set-default SYS_MC_EST_GROUP 2 -param set-default SYS_HAS_MAG 0 -param set-default EKF2_OF_CTRL 1 -param set-default EKF2_GPS_CTRL 0 -param set-default EKF2_MAG_TYPE 5 - -param set-default BAT1_N_CELLS 1 -param set-default BAT1_SOURCE 1 - -param set-default CBRK_SUPPLY_CHK 894281 -param set-default COM_RC_IN_MODE 1 - -param set-default IMU_GYRO_CUTOFF 100 -param set-default IMU_ACCEL_CUTOFF 30 - -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_P 0.07 -param set-default MC_ROLLRATE_D 0.002 -param set-default MC_ROLLRATE_P 0.07 -param set-default MC_YAW_P 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-default NAV_RCL_ACT 3 - -param set-default CA_ROTOR_COUNT 4 -param set-default CA_ROTOR0_PX 0.03 -param set-default CA_ROTOR0_PY 0.03 -param set-default CA_ROTOR1_PX -0.03 -param set-default CA_ROTOR1_PY 0.03 -param set-default CA_ROTOR1_KM -0.05 -param set-default CA_ROTOR2_PX -0.03 -param set-default CA_ROTOR2_PY -0.03 -param set-default CA_ROTOR3_PX 0.03 -param set-default CA_ROTOR3_PY -0.03 -param set-default CA_ROTOR3_KM -0.05 - -# Run the motors at 328.125 kHz (recommended) -param set-default PWM_MAIN_TIM0 3921 -param set-default PWM_MAIN_TIM1 3921 - -param set-default PWM_MAIN_FUNC1 101 -param set-default PWM_MAIN_FUNC2 102 -param set-default PWM_MAIN_FUNC3 103 -param set-default PWM_MAIN_FUNC4 104 -param set-default PWM_MAIN_DIS0 0 -param set-default PWM_MAIN_DIS1 0 -param set-default PWM_MAIN_DIS2 0 -param set-default PWM_MAIN_DIS3 0 -param set-default PWM_MAIN_MIN0 20 -param set-default PWM_MAIN_MIN1 20 -param set-default PWM_MAIN_MIN2 20 -param set-default PWM_MAIN_MIN3 20 -param set-default PWM_MAIN_MAX0 255 -param set-default PWM_MAIN_MAX1 255 -param set-default PWM_MAIN_MAX2 255 -param set-default PWM_MAIN_MAX3 255 - -param set-default SENS_FLOW_MINRNG 0.05 - - -syslink start -mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000 diff --git a/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle b/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle deleted file mode 100644 index ba4598c..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle +++ /dev/null @@ -1,52 +0,0 @@ -#!/bin/sh -# -# @name Generic Ground Vehicle (Ackermann) -# -# @type Rover -# @class Rover -# -# @output Motor1 throttle -# @output Servo1 steering -# -# @maintainer -# -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.rover_defaults - - -param set-default BAT1_N_CELLS 2 - -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-default FW_AIRSPD_MAX 3 -param set-default FW_AIRSPD_MIN 0 -param set-default FW_AIRSPD_TRIM 1 - -# Settings for a typical wheelbase 0f 0.3m -param set-default GND_L1_DIST 1 -param set-default GND_L1_PERIOD 5 -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_CRUISE 0.3 -param set-default GND_THR_MAX 0.5 -param set-default GND_THR_MIN 0 - -param set-default NAV_ACC_RAD 0.5 - -param set-default CA_AIRFRAME 5 - -param set-default CA_R_REV 1 -param set-default PWM_MAIN_FUNC1 201 -param set-default PWM_MAIN_FUNC2 201 -param set-default PWM_MAIN_FUNC6 101 -param set-default PWM_MAIN_FUNC7 101 - - diff --git a/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover b/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover deleted file mode 100644 index 53c857a..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover +++ /dev/null @@ -1,61 +0,0 @@ -#!/bin/sh -# -# @name Aion Robotics R1 UGV -# -# @url https://www.aionrobotics.com/r1 -# -# @type Rover -# @class Rover -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.rover_defaults - -param set-default BAT1_N_CELLS 4 - -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-default FW_AIRSPD_MIN 0 -param set-default FW_AIRSPD_TRIM 1 -param set-default FW_AIRSPD_MAX 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_CRUISE 0.7 -param set-default GND_THR_MAX 0.5 - -# 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 - -# 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-default NAV_ACC_RAD 0.5 - -# 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 - -# Set geometry & output configration -param set-default CA_AIRFRAME 6 -param set-default CA_R_REV 3 -param set-default PWM_MAIN_FUNC1 101 -param set-default PWM_MAIN_FUNC2 102 -param set-default PWM_MAIN_DIS1 1500 -param set-default PWM_MAIN_DIS2 1500 -param set-default PWM_MAIN_TIM0 50 -param set-default PWM_MAIN_TIM1 50 - diff --git a/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx b/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx deleted file mode 100644 index 6d4bd2f..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx +++ /dev/null @@ -1,64 +0,0 @@ -#!/bin/sh -# -# @name NXP Cup car: DF Robot GPX - -# -# @type Rover -# @class Rover -# -# @board px4_fmu-v2 exclude -# -# @output Motor1 Speed of left wheels -# @output Servo1 Steering servo -# -# @maintainer Katrin Moritz -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.rover_defaults - -param set-default BAT1_N_CELLS 2 - -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-default FW_AIRSPD_MIN 0 -param set-default FW_AIRSPD_TRIM 1 -param set-default FW_AIRSPD_MAX 3 - -param set-default GND_THR_CRUISE 0.3 -param set-default GND_THR_MAX 0.5 - -# 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 - -# 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-default NAV_ACC_RAD 0.5 - -param set-default CA_AIRFRAME 5 - -param set-default CA_R_REV 1 -param set-default PWM_MAIN_FUNC2 201 -param set-default PWM_MAIN_FUNC3 101 -param set-default PWM_MAIN_FUNC4 101 - -# Provide ESC a constant 1500 us pulse to idle -param set-default PWM_MAIN_DIS2 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_MIN3 970 -param set-default PWM_MAIN_MIN4 970 diff --git a/ROMFS/px4fmu_common/init.d/airframes/5001_quad_+ b/ROMFS/px4fmu_common/init.d/airframes/5001_quad_+ deleted file mode 100644 index d683311..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/5001_quad_+ +++ /dev/null @@ -1,26 +0,0 @@ -#!/bin/sh -# -# @name Generic 10" Quad + geometry -# -# @type Quadrotor + -# @class Copter -# -# @maintainer Lorenz Meier -# -# @board bitcraze_crazyflie exclude -# @board px4_fmu-v2 exclude -# - -. ${R}etc/init.d/rc.mc_defaults - -param set-default CA_ROTOR_COUNT 4 -param set-default CA_ROTOR0_PX 0.15 -param set-default CA_ROTOR0_PY 0.15 -param set-default CA_ROTOR0_KM -0.05 -param set-default CA_ROTOR1_PX -0.15 -param set-default CA_ROTOR1_PY -0.15 -param set-default CA_ROTOR1_KM -0.05 -param set-default CA_ROTOR2_PX 0.15 -param set-default CA_ROTOR2_PY -0.15 -param set-default CA_ROTOR3_PX -0.15 -param set-default CA_ROTOR3_PY 0.15 diff --git a/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic b/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic deleted file mode 100644 index d6f84f0..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic +++ /dev/null @@ -1,47 +0,0 @@ -#!/bin/sh -# -# @name Generic Underwater Robot -# -# @type Underwater Robot -# @class Underwater Robot -# -# @maintainer -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.uuv_defaults - -param set-default CA_AIRFRAME 7 -param set-default CA_ROTOR_COUNT 4 -param set-default CA_R_REV 255 -param set-default CA_ROTOR0_AX 1 -param set-default CA_ROTOR0_AY 0 -param set-default CA_ROTOR0_AZ 0 -param set-default CA_ROTOR0_KM 0 -param set-default CA_ROTOR0_PX 0 -param set-default CA_ROTOR0_PY -0.3 -param set-default CA_ROTOR0_PZ -0.3 -param set-default CA_ROTOR1_AX 1 -param set-default CA_ROTOR1_AY 0 -param set-default CA_ROTOR1_AZ 0 -param set-default CA_ROTOR1_KM 0 -param set-default CA_ROTOR1_PX 0 -param set-default CA_ROTOR1_PY 0.3 -param set-default CA_ROTOR1_PZ -0.3 -param set-default CA_ROTOR2_AX 1 -param set-default CA_ROTOR2_AY 0 -param set-default CA_ROTOR2_AZ 0 -param set-default CA_ROTOR2_KM 0 -param set-default CA_ROTOR2_PX 0 -param set-default CA_ROTOR2_PY 0.3 -param set-default CA_ROTOR2_PZ 0.3 -param set-default CA_ROTOR3_AX 1 -param set-default CA_ROTOR3_AY 0 -param set-default CA_ROTOR3_AZ 0 -param set-default CA_ROTOR3_KM 0 -param set-default CA_ROTOR3_PX 0 -param set-default CA_ROTOR3_PY -0.3 -param set-default CA_ROTOR3_PZ 0.3 - diff --git a/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus b/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus deleted file mode 100644 index 672d411..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus +++ /dev/null @@ -1,51 +0,0 @@ -#!/bin/sh -# -# @name HippoCampus UUV (Unmanned Underwater Vehicle) -# -# @type Underwater Robot -# @class Underwater Robot -# -# @maintainer Daniel Duecker -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.uuv_defaults - -param set-default CA_AIRFRAME 7 -param set-default CA_ROTOR_COUNT 4 -param set-default CA_R_REV 255 -param set-default CA_ROTOR0_AX 1 -param set-default CA_ROTOR0_AY 0 -param set-default CA_ROTOR0_AZ 0 -param set-default CA_ROTOR0_KM 0 -param set-default CA_ROTOR0_PX 0 -param set-default CA_ROTOR0_PY -0.3 -param set-default CA_ROTOR0_PZ -0.3 -param set-default CA_ROTOR1_AX 1 -param set-default CA_ROTOR1_AY 0 -param set-default CA_ROTOR1_AZ 0 -param set-default CA_ROTOR1_KM 0 -param set-default CA_ROTOR1_PX 0 -param set-default CA_ROTOR1_PY 0.3 -param set-default CA_ROTOR1_PZ -0.3 -param set-default CA_ROTOR2_AX 1 -param set-default CA_ROTOR2_AY 0 -param set-default CA_ROTOR2_AZ 0 -param set-default CA_ROTOR2_KM 0 -param set-default CA_ROTOR2_PX 0 -param set-default CA_ROTOR2_PY 0.3 -param set-default CA_ROTOR2_PZ 0.3 -param set-default CA_ROTOR3_AX 1 -param set-default CA_ROTOR3_AY 0 -param set-default CA_ROTOR3_AZ 0 -param set-default CA_ROTOR3_KM 0 -param set-default CA_ROTOR3_PX 0 -param set-default CA_ROTOR3_PY -0.3 -param set-default CA_ROTOR3_PZ 0.3 - -param set-default PWM_MAIN_FUNC1 101 -param set-default PWM_MAIN_FUNC2 102 -param set-default PWM_MAIN_FUNC3 103 -param set-default PWM_MAIN_FUNC4 104 diff --git a/ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy b/ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy deleted file mode 100644 index fb63525..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy +++ /dev/null @@ -1,92 +0,0 @@ -#!/bin/sh -# -# @name BlueROV2 (Heavy Configuration) -# -# @type Vectored 6 DOF UUV -# @class Underwater Robot -# -# @output Motor1 motor 1 CCW, bow starboard horizontal, , propeller CCW -# @output Motor2 motor 2 CCW, bow port horizontal, propeller CCW -# @output Motor3 motor 3 CCW, stern starboard horizontal, propeller CW -# @output Motor4 motor 4 CCW, stern port horizontal, propeller CW -# @output Motor5 motor 5 CCW, bow starboard vertical, propeller CCW -# @output Motor6 motor 6 CCW, bow port vertical, propeller CW -# @output Motor7 motor 7 CCW, stern starboard vertical, propeller CW -# @output Motor8 motor 8 CCW, stern port vertical, propeller CCW -# -# @maintainer Thies Lennart Alff -# -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.uuv_defaults - - -# companion computer is connected via USB permanently -param set-default CBRK_IO_SAFETY 22027 - -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 - -param set-default CA_AIRFRAME 7 - -param set-default CA_ROTOR_COUNT 8 -param set-default CA_R_REV 255 -param set-default CA_ROTOR0_AX 1.0000 -param set-default CA_ROTOR0_AY -1.0000 -param set-default CA_ROTOR0_AZ 0.0000 -param set-default CA_ROTOR0_KM 0.0000 -param set-default CA_ROTOR0_PX 0.5000 -param set-default CA_ROTOR0_PY 0.3000 -param set-default CA_ROTOR0_PZ 0.2000 -param set-default CA_ROTOR1_AX 1.0000 -param set-default CA_ROTOR1_AY 1.0000 -param set-default CA_ROTOR1_AZ 0.0000 -param set-default CA_ROTOR1_KM 0.0000 -param set-default CA_ROTOR1_PX 0.5000 -param set-default CA_ROTOR1_PY -0.3000 -param set-default CA_ROTOR1_PZ 0.2000 -param set-default CA_ROTOR2_AX 1.0000 -param set-default CA_ROTOR2_AY 1.0000 -param set-default CA_ROTOR2_AZ 0.0000 -param set-default CA_ROTOR2_KM 0.0000 -param set-default CA_ROTOR2_PX -0.5000 -param set-default CA_ROTOR2_PY 0.3000 -param set-default CA_ROTOR2_PZ 0.2000 -param set-default CA_ROTOR3_AX 1.0000 -param set-default CA_ROTOR3_AY -1.0000 -param set-default CA_ROTOR3_AZ 0.0000 -param set-default CA_ROTOR3_KM 0.0000 -param set-default CA_ROTOR3_PX -0.5000 -param set-default CA_ROTOR3_PY -0.3000 -param set-default CA_ROTOR3_PZ 0.2000 -param set-default CA_ROTOR4_AZ -1.0000 -param set-default CA_ROTOR4_KM 0.0000 -param set-default CA_ROTOR4_PX 0.5000 -param set-default CA_ROTOR4_PY 0.5000 -param set-default CA_ROTOR5_AZ 1.0000 -param set-default CA_ROTOR5_KM 0.0000 -param set-default CA_ROTOR5_PX 0.5000 -param set-default CA_ROTOR5_PY -0.5000 -param set-default CA_ROTOR6_AZ 1.0000 -param set-default CA_ROTOR6_KM 0.0000 -param set-default CA_ROTOR6_PX -0.5000 -param set-default CA_ROTOR6_PY 0.5000 -param set-default CA_ROTOR7_KM 0.0000 -param set-default CA_ROTOR7_PX -0.5000 -param set-default CA_ROTOR7_PY -0.5000 - -param set-default PWM_MAIN_FUNC1 101 -param set-default PWM_MAIN_FUNC2 102 -param set-default PWM_MAIN_FUNC3 103 -param set-default PWM_MAIN_FUNC4 104 -param set-default PWM_MAIN_FUNC5 105 -param set-default PWM_MAIN_FUNC6 106 -param set-default PWM_MAIN_FUNC7 107 -param set-default PWM_MAIN_FUNC8 108 diff --git a/ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x b/ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x deleted file mode 100644 index 73c2f5c..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x +++ /dev/null @@ -1,35 +0,0 @@ -#!/bin/sh -# -# @name Generic Hexarotor x geometry -# -# @type Hexarotor x -# @class Copter -# -# @maintainer Lorenz Meier -# -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.mc_defaults - -# MAV_TYPE_HEXAROTOR 13 -param set-default MAV_TYPE 13 - -param set-default CA_ROTOR_COUNT 6 -param set-default CA_ROTOR0_PX 0.0 -param set-default CA_ROTOR0_PY 0.5 -param set-default CA_ROTOR0_KM -0.05 -param set-default CA_ROTOR1_PX 0.0 -param set-default CA_ROTOR1_PY -0.5 -param set-default CA_ROTOR2_PX 0.43 -param set-default CA_ROTOR2_PY -0.25 -param set-default CA_ROTOR2_KM -0.05 -param set-default CA_ROTOR3_PX -0.43 -param set-default CA_ROTOR3_PY 0.25 -param set-default CA_ROTOR4_PX 0.43 -param set-default CA_ROTOR4_PY 0.25 -param set-default CA_ROTOR5_PX -0.43 -param set-default CA_ROTOR5_PY -0.25 -param set-default CA_ROTOR5_KM -0.05 - - diff --git a/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r b/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r deleted file mode 100644 index ec3b5c6..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r +++ /dev/null @@ -1,126 +0,0 @@ -#!/bin/sh -# -# @name UVify Draco-R -# -# @type Hexarotor x -# @class Copter -# -# @maintainer Hyon Lim -# -# @board px4_fmu-v2 exclude -# @board px4_fmu-v3 exclude -# @board px4_fmu-v4pro exclude -# @board px4_fmu-v5 exclude -# @board px4_fmu-v5x exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.mc_defaults - -# MAV_TYPE_HEXAROTOR 13 -param set-default MAV_TYPE 13 - -############################################### -# Attitude & rate gains -############################################### -# Roll -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_PITCHRATE_I 0.05 -param set-default MC_PITCHRATE_D 0.0016 -param set-default MC_PITCHRATE_MAX 800 -# Yaw -param set-default MC_YAWRATE_MAX 700 - -############################################### -# 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_VEL_I_ACC 0.4 -# position control gains -# etc gains -param set-default MPC_TKO_RAMP_T 0.4 -param set-default MPC_VEL_MANUAL 5 - -# Filter settings -param set-default IMU_DGYRO_CUTOFF 90 -param set-default IMU_GYRO_CUTOFF 100 - -# Thrust curve (avoids the need for TPA) -param set-default THR_MDL_FAC 0.25 - -# System -param set-default PWM_MAIN_DIS5 980 -param set-default PWM_MAIN_DIS6 980 - -param set-default MIS_TAKEOFF_ALT 1.1 - -##################################### -# EKF -##################################### -# Enable optical flow and GPS -param set-default EKF2_MAG_TYPE 1 -param set-default EKF2_OF_QMIN 80 - -# 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 - -# -param set-default CBRK_IO_SAFETY 22027 -param set-default COM_DISARM_LAND 3 - -# Battery -param set-default BAT1_SOURCE 0 -param set-default BAT1_N_CELLS 4 -param set-default BAT1_V_DIV 10.133 - -# TELEM1 ttyS1 -param set-default MAV_0_CONFIG 101 -param set-default MAV_0_MODE 0 -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 - - -param set-default CA_ROTOR_COUNT 6 -param set-default CA_ROTOR0_PX 0.0 -param set-default CA_ROTOR0_PY 0.5 -param set-default CA_ROTOR0_KM -0.05 -param set-default CA_ROTOR1_PX 0.0 -param set-default CA_ROTOR1_PY -0.5 -param set-default CA_ROTOR2_PX 0.43 -param set-default CA_ROTOR2_PY -0.25 -param set-default CA_ROTOR2_KM -0.05 -param set-default CA_ROTOR3_PX -0.43 -param set-default CA_ROTOR3_PY 0.25 -param set-default CA_ROTOR4_PX 0.43 -param set-default CA_ROTOR4_PY 0.25 -param set-default CA_ROTOR5_PX -0.43 -param set-default CA_ROTOR5_PY -0.25 -param set-default CA_ROTOR5_KM -0.05 - -param set-default PWM_MAIN_FUNC1 101 -param set-default PWM_MAIN_FUNC2 102 -param set-default PWM_MAIN_FUNC3 103 -param set-default PWM_MAIN_FUNC4 104 -param set-default PWM_MAIN_FUNC5 105 -param set-default PWM_MAIN_FUNC6 106 - -param set-default PWM_MAIN_TIM0 -1 -param set-default PWM_MAIN_TIM1 -1 -param set-default PWM_MAIN_TIM2 -1 - diff --git a/ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+ b/ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+ deleted file mode 100644 index 308bdfb..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+ +++ /dev/null @@ -1,35 +0,0 @@ -#!/bin/sh -# -# @name Generic Hexarotor + geometry -# -# @type Hexarotor + -# @class Copter -# -# @maintainer Lorenz Meier -# -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.mc_defaults - -# MAV_TYPE_HEXAROTOR 13 -param set-default MAV_TYPE 13 - -param set-default CA_ROTOR_COUNT 6 -param set-default CA_ROTOR0_PX 0.5 -param set-default CA_ROTOR0_PY 0.0 -param set-default CA_ROTOR0_KM -0.05 -param set-default CA_ROTOR1_PX -0.5 -param set-default CA_ROTOR1_PY 0.0 -param set-default CA_ROTOR2_PX -0.25 -param set-default CA_ROTOR2_PY -0.43 -param set-default CA_ROTOR2_KM -0.05 -param set-default CA_ROTOR3_PX 0.25 -param set-default CA_ROTOR3_PY 0.43 -param set-default CA_ROTOR4_PX 0.25 -param set-default CA_ROTOR4_PY -0.43 -param set-default CA_ROTOR5_PX -0.25 -param set-default CA_ROTOR5_PY 0.43 -param set-default CA_ROTOR5_KM -0.05 - - diff --git a/ROMFS/px4fmu_common/init.d/airframes/8001_octo_x b/ROMFS/px4fmu_common/init.d/airframes/8001_octo_x deleted file mode 100644 index 19c112b..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/8001_octo_x +++ /dev/null @@ -1,40 +0,0 @@ -#!/bin/sh -# -# @name Generic Octocopter X geometry -# -# @type Octorotor x -# @class Copter -# -# @maintainer Lorenz Meier -# -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.mc_defaults - -# MAV_TYPE_OCTOROTOR 14 -param set-default MAV_TYPE 14 - -param set-default CA_ROTOR_COUNT 8 -param set-default CA_ROTOR0_KM -0.05 -param set-default CA_ROTOR0_PX 0.46 -param set-default CA_ROTOR0_PY 0.19 -param set-default CA_ROTOR1_KM -0.05 -param set-default CA_ROTOR1_PX -0.46 -param set-default CA_ROTOR1_PY -0.19 -param set-default CA_ROTOR2_PX 0.19 -param set-default CA_ROTOR2_PY 0.46 -param set-default CA_ROTOR3_PX -0.46 -param set-default CA_ROTOR3_PY 0.19 -param set-default CA_ROTOR4_PX 0.46 -param set-default CA_ROTOR4_PY -0.19 -param set-default CA_ROTOR5_PX -0.19 -param set-default CA_ROTOR5_PY -0.46 -param set-default CA_ROTOR6_KM -0.05 -param set-default CA_ROTOR6_PX 0.19 -param set-default CA_ROTOR6_PY -0.46 -param set-default CA_ROTOR7_KM -0.05 -param set-default CA_ROTOR7_PX -0.19 -param set-default CA_ROTOR7_PY 0.46 - - diff --git a/ROMFS/px4fmu_common/init.d/airframes/9001_octo_+ b/ROMFS/px4fmu_common/init.d/airframes/9001_octo_+ deleted file mode 100644 index 53dba8b..0000000 --- a/ROMFS/px4fmu_common/init.d/airframes/9001_octo_+ +++ /dev/null @@ -1,39 +0,0 @@ -#!/bin/sh -# -# @name Generic Octocopter + geometry -# -# @type Octorotor + -# @class Copter -# -# @maintainer Lorenz Meier -# -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.mc_defaults - -# MAV_TYPE_OCTOROTOR 14 -param set-default MAV_TYPE 14 - -param set-default CA_ROTOR_COUNT 8 -param set-default CA_ROTOR0_KM -0.05 -param set-default CA_ROTOR0_PX 0.5 -param set-default CA_ROTOR0_PY 0 -param set-default CA_ROTOR1_KM -0.05 -param set-default CA_ROTOR1_PX -0.5 -param set-default CA_ROTOR1_PY 0 -param set-default CA_ROTOR2_PX 0.35 -param set-default CA_ROTOR2_PY 0.35 -param set-default CA_ROTOR3_PX -0.35 -param set-default CA_ROTOR3_PY 0.35 -param set-default CA_ROTOR4_PX 0.35 -param set-default CA_ROTOR4_PY -0.35 -param set-default CA_ROTOR5_PX -0.35 -param set-default CA_ROTOR5_PY -0.35 -param set-default CA_ROTOR6_KM -0.05 -param set-default CA_ROTOR6_PX 0 -param set-default CA_ROTOR6_PY -0.5 -param set-default CA_ROTOR7_KM -0.05 -param set-default CA_ROTOR7_PX 0 -param set-default CA_ROTOR7_PY 0.5 - diff --git a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt index 8e9931a..d716334 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt +++ b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt @@ -1,127 +1,4 @@ -############################################################################ -# -# Copyright (c) 2018 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - px4_add_romfs_files( - # [0-999] Reserved (historical)" - - # [1000, 1999] Simulation setups" - 1001_rc_quad_x.hil - 1002_standard_vtol.hil - 1100_rc_quad_x_sih.hil - 1101_rc_plane_sih.hil - 1102_tailsitter_duo_sih.hil - - # [2000, 2999] Standard planes" - 2100_standard_plane - 2106_albatross - - 2507_cloudship - - # [3000, 3999] Flying wing" - 3000_generic_wing - - # [4000, 4999] Quadrotor x" - 4001_quad_x - 4014_s500 - 4015_holybro_s500 - 4016_holybro_px4vision - 4017_nxp_hovergames - 4019_x500_v2 - 4020_holybro_px4vision_v1_5 - 4040_reaper - 4041_beta75x - 4050_generic_250 - 4052_holybro_qav250 - 4053_holybro_kopis2 - 4061_atl_mantis_edu - 4071_ifo - 4073_ifo-s - 4500_clover4 - 4900_crazyflie - 4901_crazyflie21 - - # [5000, 5999] Quadrotor +" - 5001_quad_+ - - # [6000, 6999] Hexarotor x" - 6001_hexa_x - 6002_draco_r - - # [7000, 7999] Hexarotor +" - 7001_hexa_+ - - # [8000, 8999] Octorotor +" - 8001_octo_x - - # [9000, 9999] Octorotor +" - 9001_octo_+ - - # [11000, 11999] Hexa Cox - 11001_hexa_cox - - # [12000, 12999] Octo Cox - 12001_octo_cox - - # [13000, 13999] VTOL - 13000_generic_vtol_standard - 13100_generic_vtol_tiltrotor - 13013_deltaquad - 13014_vtol_babyshark - 13030_generic_vtol_quad_tiltrotor - 13200_generic_vtol_tailsitter - - # [14000, 14999] MC with tilt - 14001_generic_mc_with_tilt - - 16001_helicopter - - # [17000, 17999] Autogyro - 17002_TF-AutoG2 - 17003_TF-G2 - - # [18000, 18999] High-altitude balloons - 18001_TF-B1 - - # [22000, 22999] Reserve for custom models - - 24001_dodeca_cox - - 50000_generic_ground_vehicle - 50004_nxpcup_car_dfrobot_gpx - 50003_aion_robotics_r1_rover - - # [60000, 61000] (Unmanned) Underwater Robots - 60000_uuv_generic - 60001_uuv_hippocampus - 60002_uuv_bluerov2_heavy + 0001_main_fts + 0002_auto_fts ) diff --git a/upload.sh b/upload.sh new file mode 100755 index 0000000..c39d3cd --- /dev/null +++ b/upload.sh @@ -0,0 +1,5 @@ +#!/bin/bash -xe + +rm -rf build/ +git submodule update --recursive +make -j${nproc} px4_fmu-v6x_default upload \ No newline at end of file