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Pr vtol hitl #9276

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merged 7 commits into from
Jul 2, 2018
+89 −8
Merged

Pr vtol hitl #9276

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0c63599
ROMFS: added autostart and mixer file for standard vtol in hitl
RomanBapst Apr 6, 2018
6a39de5
added MAV_TYPE to standard vtol hitl config
RomanBapst Apr 9, 2018
b12fb7a
ROMFS: clean up quad x tailsitter mixer files
RomanBapst Apr 10, 2018
9af4f41
ROMFS: indicate that the hitl vtol config is for the gazebo standard …
RomanBapst Apr 30, 2018
25f8b05
ROMFS: remove unnecessary params from hitl vtol config
RomanBapst Apr 30, 2018
b37ccd9
ROMFS: use more appropriate autostart ID for standard vtol hitl
RomanBapst Apr 30, 2018
8105eab
ROMFS: fixed some naming inconsistencies for the HITL VTOL model
RomanBapst Jul 2, 2018
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64 changes: 64 additions & 0 deletions ROMFS/px4fmu_common/init.d/1002_standard_vtol.hil
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Original file line number Diff line number Diff line change
@@ -0,0 +1,64 @@
#!nsh
#
# @name HIL Standard VTOL QuadPlane
#
# @type Standard VTOL
# @class VTOL
#
# @maintainer Roman Bapst <[email protected]>
#

sh /etc/init.d/rc.vtol_defaults

if [ $AUTOCNF == yes ]
then
param set BAT_N_CELLS 3
param set COM_DISARM_LAND 5
param set COM_RC_IN_MODE 1
param set EKF2_AID_MASK 1
param set EKF2_ANGERR_INIT 0.01
param set EKF2_GBIAS_INIT 0.01
param set EKF2_HGT_MODE 0
param set EKF2_MAG_TYPE 1
param set FW_AIRSPD_MAX 25
param set FW_AIRSPD_MIN 14
param set FW_AIRSPD_TRIM 16
param set MAV_TYPE 20
param set MC_PITCH_P 6
param set MC_PITCHRATE_P 0.2
param set MC_ROLL_P 6
param set MC_ROLLRATE_P 0.3
param set MIS_LTRMIN_ALT 10
param set MIS_TAKEOFF_ALT 10
param set MIS_YAW_TMT 10
param set MPC_ACC_HOR_MAX 2
param set MPC_ACC_HOR_MAX 2.0
param set MPC_THR_MIN 0.1
param set MPC_TKO_SPEED 1.0
param set MPC_XY_P 0.8
param set MPC_XY_VEL_D 0.005
param set MPC_XY_VEL_I 0.2
param set MPC_XY_VEL_P 0.15
param set MPC_Z_VEL_I 0.15
param set MPC_Z_VEL_MAX_DN 1.5
param set MPC_Z_VEL_P 0.6
param set NAV_ACC_RAD 5.0
param set NAV_DLL_ACT 2
param set NAV_LOITER_RAD 80
param set RTL_DESCEND_ALT 10.0
param set RTL_LAND_DELAY 0
param set RTL_RETURN_ALT 30.0
param set SDLOG_DIRS_MAX 7
param set SYS_MC_EST_GROUP 2
param set SYS_RESTART_TYPE 2
param set VT_F_TRANS_THR 0.75
param set VT_MOT_COUNT 4
param set VT_TYPE 2
fi

set MIXER standard_vtol_hitl
set MAV_TYPE 22

set PWM_OUT 1234

param set SYS_HITL 1
1 change: 0 additions & 1 deletion ROMFS/px4fmu_common/mixers/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -75,7 +75,6 @@ px4_add_romfs_files(
quad_x_can.main.mix
quad_x.main.mix
quad_x_vtol.main.mix
quad_x_vtol_sim.main.mix
stampede.main.mix
tri_y_yaw-.main.mix
tri_y_yaw+.main.mix
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6 changes: 0 additions & 6 deletions ROMFS/px4fmu_common/mixers/quad_x_vtol.main.mix
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Original file line number Diff line number Diff line change
Expand Up @@ -6,8 +6,6 @@ are mixed 100%.

R: 4x 10000 10000 10000 0

Z:

# left elevon
M: 2
S: 1 0 5000 5000 0 -10000 10000
Expand All @@ -17,7 +15,3 @@ S: 1 1 5000 5000 0 -10000 10000
M: 2
S: 1 0 5000 5000 0 -10000 10000
S: 1 1 -5000 -5000 0 -10000 10000

# mixer for the virtual elevator
M: 1
S: 1 1 10000 10000 0 -10000 10000
24 changes: 24 additions & 0 deletions ROMFS/px4fmu_common/mixers/standard_vtol_hitl.main.mix
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Original file line number Diff line number Diff line change
@@ -0,0 +1,24 @@
Mixer for Standard VTOL (QuadPlane) with motor x configuration (Gazebo HITL)
=============================================================================

R: 4x 10000 10000 10000 0

# mixer for the pusher/puller throttle
M: 1
O: 10000 10000 0 -10000 10000
S: 1 3 0 20000 -10000 -10000 10000

# mixer for the left aileron
M: 1
O: 10000 10000 0 -10000 10000
S: 1 0 10000 10000 0 -10000 10000

# mixer for the right aileron
M: 1
O: 10000 10000 0 -10000 10000
S: 1 0 -10000 -10000 0 -10000 10000

# mixer for the elevator
M: 1
O: 10000 10000 0 -10000 10000
S: 1 1 10000 10000 0 -10000 10000
0 ...mu_common/mixers/quad_x_vtol_sim.main.mix → ROMFS/sitl/mixers/quad_x_vtol.main.mix
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File renamed without changes.
2 changes: 1 addition & 1 deletion posix-configs/SITL/init/ekf2/tailsitter
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Original file line number Diff line number Diff line change
Expand Up @@ -63,7 +63,7 @@ mc_att_control start
fw_pos_control_l1 start
fw_att_control start
wind_estimator start
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x_vtol_sim.main.mix
mixer load /dev/pwm_output0 ROMFS/sitl/mixers/quad_x_vtol.main.mix
mavlink start -x -u 14556 -r 2000000
mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
Expand Down