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Add generic vtol tailsitter airframe/mixer and incorporate modifications from PR 9849 in 4001_quad_x and 13001_caipirinha_vtol.

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This commit is contained in:
mcsauder
2019-07-17 10:32:21 -06:00
committed by Daniel Agar
parent 328544ae2e
commit 0817ee40f8
5 changed files with 79 additions and 2 deletions
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ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol
+8 -1
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@@ -17,16 +17,20 @@ sh /etc/init.d/rc.vtol_defaults
if [ $AUTOCNF = yes ]
then
param set MAV_TYPE 19
param set MC_ROLL_P 6
param set MC_ROLLRATE_P 0.12
param set MC_ROLLRATE_I 0.002
param set MC_ROLLRATE_D 0.003
param set MC_ROLLRATE_FF 0
param set MC_PITCH_P 4.5
param set MC_PITCHRATE_P 0.3
param set MC_PITCHRATE_I 0.002
param set MC_PITCHRATE_D 0.003
param set MC_PITCHRATE_FF 0
param set MC_YAW_P 3.8
param set MC_YAWRATE_P 0.22
param set MC_YAWRATE_I 0.02
@@ -37,10 +41,13 @@ then
param set VT_ELEV_MC_LOCK 0
param set VT_MOT_ID 12
param set VT_TYPE 0
# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
param set V19_VT_ROLLDIR 0
fi
set MAV_TYPE 19
set MIXER caipirinha_vtol
set MIXER vtol_tailsitter_duo
set PWM_OUT 1234
ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter
+30
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@@ -0,0 +1,30 @@
#!/bin/sh
#
# @name Generic Tailsitter
#
# @type VTOL Duo Tailsitter
# @class VTOL
#
# @output MAIN1 motor right
# @output MAIN2 motor left
# @output MAIN5 elevon right
# @output MAIN6 elevon left
#
# @maintainer Roman Bapst <roman@px4.io>
#
sh /etc/init.d/rc.vtol_defaults
if [ $AUTOCNF = yes ]
then
param set VT_ELEV_MC_LOCK 0
param set VT_MOT_COUNT 2
param set VT_TYPE 0
param set MAV_TYPE 19
fi
set MAV_TYPE 19
set MIXER vtol_tailsitter_duo
set PWM_OUT 1234
ROMFS/px4fmu_common/init.d/airframes/4001_quad_x
+1 -1
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@@ -1,6 +1,6 @@
#!/bin/sh
#
# @name Generic Quadrotor x
# @name Generic Quadcopter
#
# @type Quadrotor x
# @class Copter
ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
+1
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@@ -132,6 +132,7 @@ px4_add_romfs_files(
13010_claire
13012_convergence
13013_deltaquad
13200_generic_vtol_tailsitter
# [14000, 14999] Tri Y
14001_tri_y_yaw+
ROMFS/px4fmu_common/mixers/vtol_tailsitter_duo.main.mix
+39
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@@ -0,0 +1,39 @@
Tailsitter duo mixer
============================
This file defines a mixer for a generic duo tailsitter VTOL (eg TBS Caipirinha tailsitter edition). This vehicle
has two motors in total, one attached to each wing. It also has two elevons which
are located in the slipstream of the propellers. This mixer generates 4 PWM outputs
on the main PWM ouput port, two at 400Hz for the motors, and two at 50Hz for the
elevon servos. Channels 1-4 are configured to run at 400Hz, while channels 5-8 run
at the default rate of 50Hz. Note that channels 3 and 4 are assigned but not used.
Motor mixer
------------
Channel 1 connects to the right (starboard) motor.
Channel 2 connects to the left (port) motor.
R: 2- 10000 10000 10000 0
Zero mixer (2x)
---------------
Channels 3,4 are unused.
Z:
Z:
Elevons mixer
--------------
Channel 5 connects to the right (starboard) elevon.
Channel 6 connects to the left (port) elevon.
M: 2
O: 7500 7500 0 -10000 10000
S: 1 0 -10000 -10000 0 -10000 10000
S: 1 1 10000 10000 0 -10000 10000
M: 2
O: 7500 7500 0 -10000 10000
S: 1 0 -10000 -10000 0 -10000 10000
S: 1 1 -10000 -10000 0 -10000 10000