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Add generic quad airframes for 250, 450, and 650 size quadrotors and set PWM_OUT in rc.mc_defaults. #13074

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Add generic quad airframes for 250, 450, and 650 size quadrotors and set PWM_OUT in rc.mc_defaults. #13074

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5d4afe4
Add generic quad airframes for 250, 450, and 650 size quadrotors.
mcsauder Oct 2, 2019
53a761e
Update a comment.
mcsauder Jan 8, 2020
37e1b1c
Drop default parameter values from 4011_dji_f450 and 4450_generic_qua…
mcsauder Jan 8, 2020
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2 changes: 0 additions & 2 deletions ROMFS/px4fmu_common/init.d/airframes/4001_quad_x
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Expand Up @@ -23,5 +23,3 @@
sh /etc/init.d/rc.mc_defaults

set MIXER quad_x

set PWM_OUT 1234
2 changes: 0 additions & 2 deletions ROMFS/px4fmu_common/init.d/airframes/4002_quad_x_mount
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Expand Up @@ -28,7 +28,5 @@ then
fi

set MIXER quad_x
set PWM_OUT 1234

set MIXER_AUX mount
set PWM_AUX_OUT 123456
5 changes: 2 additions & 3 deletions ROMFS/px4fmu_common/init.d/airframes/4003_qavr5
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Expand Up @@ -12,9 +12,6 @@

sh /etc/init.d/rc.mc_defaults

set MIXER quad_x
set PWM_OUT 1234

if [ $AUTOCNF = yes ]
then
param set MC_ROLL_P 8
Expand All @@ -37,3 +34,5 @@ then

param set PWM_MIN 1075
fi

set MIXER quad_x
10 changes: 4 additions & 6 deletions ROMFS/px4fmu_common/init.d/airframes/4004_H4_680mm
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Expand Up @@ -12,12 +12,6 @@

sh /etc/init.d/rc.mc_defaults

set MIXER quad_x
set PWM_OUT 1234

set MIXER_AUX mount
set PWM_AUX_OUT 123456

# The Z1 Tiny2 can handle up to 400Hz
# and works with min 1020us, middle 1520us, max 2020us
# see http://www.zhiyun-tech.com/uploadfile/datedown/instruction/Tiny2_English_instructionV1.03.pdf
Expand All @@ -31,5 +25,9 @@ then
param set PWM_AUX_RATE 400
fi

set MIXER quad_x
set MIXER_AUX mount
set PWM_AUX_OUT 123456

# Start FrSky telemetry on SERIAL4 (ttyS6, designated "SERIAL4/5" on the case)
frsky_telemetry start -d /dev/ttyS6
5 changes: 2 additions & 3 deletions ROMFS/px4fmu_common/init.d/airframes/4009_qav250
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Expand Up @@ -10,9 +10,6 @@

sh /etc/init.d/rc.mc_defaults

set MIXER quad_x
set PWM_OUT 1234

if [ $AUTOCNF = yes ]
then
param set ATT_BIAS_MAX 0
Expand All @@ -39,3 +36,5 @@ then

param set PWM_MIN 1075
fi

set MIXER quad_x
5 changes: 2 additions & 3 deletions ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330
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Expand Up @@ -10,9 +10,6 @@

sh /etc/init.d/rc.mc_defaults

set MIXER quad_x
set PWM_OUT 1234

if [ $AUTOCNF = yes ]
then
param set MC_ROLL_P 7
Expand All @@ -31,3 +28,5 @@ then
# DJI ESCs do not support calibration and need a higher min
param set PWM_MIN 1230
fi

set MIXER quad_x
18 changes: 2 additions & 16 deletions ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450
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Expand Up @@ -10,24 +10,10 @@

sh /etc/init.d/rc.mc_defaults

set MIXER quad_x
set PWM_OUT 1234

if [ $AUTOCNF = yes ]
then
param set MC_ROLL_P 7
param set MC_ROLLRATE_P 0.15
param set MC_ROLLRATE_I 0.05
param set MC_ROLLRATE_D 0.003
param set MC_PITCH_P 7
param set MC_PITCHRATE_P 0.15
param set MC_PITCHRATE_I 0.05
param set MC_PITCHRATE_D 0.003
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.3
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0

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For explanation of these deletions, all of these are all default parameter values.

# DJI ESCs do not support calibration and need a higher min
param set PWM_MIN 1230
fi

set MIXER quad_x
3 changes: 0 additions & 3 deletions ROMFS/px4fmu_common/init.d/airframes/4012_quad_x_can
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Expand Up @@ -12,9 +12,6 @@

sh /etc/init.d/rc.mc_defaults

set MIXER quad_x
set PWM_OUT 1234

if [ $AUTOCNF = yes ]
then
param set MC_ROLL_P 7
Expand Down
5 changes: 2 additions & 3 deletions ROMFS/px4fmu_common/init.d/airframes/4014_s500
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Expand Up @@ -10,9 +10,6 @@

sh /etc/init.d/rc.mc_defaults

set MIXER quad_x
set PWM_OUT 1234

if [ $AUTOCNF = yes ]
then
param set MC_ROLLRATE_P 0.18
Expand All @@ -22,3 +19,5 @@ then
param set MC_ROLLRATE_D 0.003
param set MC_PITCHRATE_D 0.003
fi

set MIXER quad_x
5 changes: 2 additions & 3 deletions ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500
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Expand Up @@ -10,9 +10,6 @@

sh /etc/init.d/rc.mc_defaults

set MIXER quad_x
set PWM_OUT 1234

if [ $AUTOCNF = yes ]
then
param set IMU_GYRO_CUTOFF 80
Expand All @@ -24,3 +21,5 @@ then
param set MC_ROLLRATE_D 0.004
param set MC_PITCHRATE_D 0.004
fi

set MIXER quad_x
5 changes: 2 additions & 3 deletions ROMFS/px4fmu_common/init.d/airframes/4020_hk_micro_pcb
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Expand Up @@ -18,9 +18,6 @@

sh /etc/init.d/rc.mc_defaults

set MIXER quad_x
set PWM_OUT 1234

if [ $AUTOCNF = yes ]
then
param set MC_ROLL_P 7
Expand All @@ -38,3 +35,5 @@ then

param set PWM_MIN 1200
fi

set MIXER quad_x
3 changes: 0 additions & 3 deletions ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo
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Expand Up @@ -88,7 +88,4 @@ then
fi

set MIXER quad_x

set PWM_OUT 1234
set MIXER_AUX none

4 changes: 2 additions & 2 deletions ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad
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Expand Up @@ -10,8 +10,6 @@

sh /etc/init.d/rc.mc_defaults

set MIXER quad_x
set PWM_OUT 1234

if [ $AUTOCNF = yes ]
then
Expand All @@ -25,3 +23,5 @@ then
param set MC_PITCHRATE_D 0.004
param set MC_YAW_P 4
fi

set MIXER quad_x
6 changes: 0 additions & 6 deletions ROMFS/px4fmu_common/init.d/airframes/4040_reaper
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Expand Up @@ -42,9 +42,3 @@ then
fi

set MIXER quad_h

set PWM_OUT 1234

set MIXER_AUX pass

set PWM_AUX_OUT 1234
2 changes: 0 additions & 2 deletions ROMFS/px4fmu_common/init.d/airframes/4041_beta75x
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Expand Up @@ -62,5 +62,3 @@ fi

# The Whoop uses reversed props
set MIXER quad_h
set PWM_OUT 1234

8 changes: 3 additions & 5 deletions ROMFS/px4fmu_common/init.d/airframes/4051_s250aq
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Expand Up @@ -21,11 +21,6 @@

sh /etc/init.d/rc.mc_defaults

set MIXER quad_s250aq
set MAV_TYPE 2

set PWM_OUT 1234

if [ $AUTOCNF = yes ]
then
param set ATT_BIAS_MAX 0
Expand Down Expand Up @@ -61,3 +56,6 @@ then

param set PWM_MIN 1075
fi

set MAV_TYPE 2
set MIXER quad_s250aq
4 changes: 1 addition & 3 deletions ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250
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Expand Up @@ -13,9 +13,6 @@

sh /etc/init.d/rc.mc_defaults

set MIXER quad_x
set PWM_OUT 1234

if [ $AUTOCNF = yes ]
then
# The set does not include a battery, but most people will probably use 4S
Expand Down Expand Up @@ -55,3 +52,4 @@ then
param set THR_MDL_FAC 0.3
fi

set MIXER quad_x
4 changes: 1 addition & 3 deletions ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2
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Expand Up @@ -12,9 +12,6 @@

sh /etc/init.d/rc.mc_defaults

set MIXER quad_x
set PWM_OUT 1234

if [ $AUTOCNF = yes ]
then
param set BAT_N_CELLS 4
Expand Down Expand Up @@ -59,3 +56,4 @@ then
param set EV_TSK_RC_LOSS 1
fi

set MIXER quad_x
5 changes: 2 additions & 3 deletions ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100
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Expand Up @@ -10,9 +10,6 @@

sh /etc/init.d/rc.mc_defaults

set MIXER quad_x
set PWM_OUT 1234

if [ $AUTOCNF = yes ]
then
param set BAT_N_CELLS 6
Expand All @@ -31,3 +28,5 @@ then

param set PWM_MIN 1200
fi

set MIXER quad_x
7 changes: 3 additions & 4 deletions ROMFS/px4fmu_common/init.d/airframes/4071_ifo
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Expand Up @@ -20,10 +20,6 @@
# @maintainer Hyon Lim <[email protected]>
#

set VEHICLE_TYPE mc
set MIXER quad_x
set PWM_OUT 1234

if [ $AUTOCNF = yes ]
then
# Attitude & rate gains
Expand Down Expand Up @@ -124,3 +120,6 @@ then
param set MAV_1_MODE 0 # normal
param set SER_TEL2_BAUD 57600
fi

set MIXER quad_x
set VEHICLE_TYPE mc
5 changes: 2 additions & 3 deletions ROMFS/px4fmu_common/init.d/airframes/4072_draco
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Expand Up @@ -22,9 +22,6 @@

sh /etc/init.d/rc.mc_defaults

set MIXER quad_x
set PWM_OUT 1234

if [ $AUTOCNF = yes ]
then
# use the Q attitude estimator, it works w/o mag or GPS.
Expand Down Expand Up @@ -101,3 +98,5 @@ then
# TELEM2 ttyS2
#param set MAV_1_CONFIG 0
fi

set MIXER quad_x
5 changes: 2 additions & 3 deletions ROMFS/px4fmu_common/init.d/airframes/4080_zmr250
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Expand Up @@ -13,9 +13,6 @@

sh /etc/init.d/rc.mc_defaults

set MIXER zmr250
set PWM_OUT 1234

if [ $AUTOCNF = yes ]
then
param set CBRK_IO_SAFETY 22027
Expand Down Expand Up @@ -52,3 +49,5 @@ then
param set PWM_RATE 400
param set PWM_DISARMED 900
fi

set MIXER zmr250
5 changes: 2 additions & 3 deletions ROMFS/px4fmu_common/init.d/airframes/4090_nanomind
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Expand Up @@ -17,9 +17,6 @@

sh /etc/init.d/rc.mc_defaults

set MIXER quad_x
set PWM_OUT 1234

if [ $AUTOCNF = yes ]
then
param set BAT_N_CELLS 1
Expand All @@ -41,3 +38,5 @@ then
param set PWM_MIN 500
param set PWM_MAX 2200
fi

set MIXER quad_x
2 changes: 0 additions & 2 deletions ROMFS/px4fmu_common/init.d/airframes/4100_tiltquadrotor
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Expand Up @@ -31,5 +31,3 @@ param set LED_RGB_MAXBRT 8
# Set mixer
set MIXER tilt_quad
set MIXER_AUX tilt_quad

set PWM_OUT 1234
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