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control_allocator: remove min/max/scale params

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This commit is contained in:
Beat Küng
2021-11-11 11:39:40 +01:00
committed by Daniel Agar
parent b29d9db7f1
commit 2809dd8944
10 changed files with 24 additions and 463 deletions
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ROMFS/px4fmu_common/init.d-posix/airframes/10017_iris_ctrlalloc
+1 -18
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@@ -11,38 +11,21 @@
param set-default SYS_CTRL_ALLOC 1
param set-default MPC_USE_HTE 0
param set-default VM_MASS 1.5
param set-default VM_INERTIA_XX 0.03
param set-default VM_INERTIA_YY 0.03
param set-default VM_INERTIA_ZZ 0.05
param set-default CA_AIRFRAME 0
param set-default CA_ACT0_MIN 0.0
param set-default CA_ACT1_MIN 0.0
param set-default CA_ACT2_MIN 0.0
param set-default CA_ACT3_MIN 0.0
param set-default CA_ACT0_MAX 1.0
param set-default CA_ACT1_MAX 1.0
param set-default CA_ACT2_MAX 1.0
param set-default CA_ACT3_MAX 1.0
param set-default CA_MC_R_COUNT 4
param set-default CA_MC_R0_PX 0.1515
param set-default CA_MC_R0_PY 0.245
param set-default CA_MC_R0_CT 6.5
param set-default CA_MC_R0_KM 0.05
param set-default CA_MC_R1_PX -0.1515
param set-default CA_MC_R1_PY -0.1875
param set-default CA_MC_R1_CT 6.5
param set-default CA_MC_R1_KM 0.05
param set-default CA_MC_R2_PX 0.1515
param set-default CA_MC_R2_PY -0.245
param set-default CA_MC_R2_CT 6.5
param set-default CA_MC_R2_KM -0.05
param set-default CA_MC_R3_PX -0.1515
param set-default CA_MC_R3_PY 0.1875
param set-default CA_MC_R3_CT 6.5
param set-default CA_MC_R3_KM -0.05
param set-default PWM_MAIN_FUNC1 101
ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_h480_ctrlalloc
+1 -25
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@@ -29,50 +29,26 @@ param set-default TRIG_MODE 4
param set-default MNT_MODE_IN 0
param set-default MAV_PROTO_VER 2
param set-default MPC_USE_HTE 0
param set-default VM_MASS 2.66
param set-default VM_INERTIA_XX 0.06
param set-default VM_INERTIA_YY 0.06
param set-default VM_INERTIA_ZZ 0.10
param set-default CA_AIRFRAME 0
param set-default CA_ACT0_MIN 0.0
param set-default CA_ACT1_MIN 0.0
param set-default CA_ACT2_MIN 0.0
param set-default CA_ACT3_MIN 0.0
param set-default CA_ACT4_MIN 0.0
param set-default CA_ACT5_MIN 0.0
param set-default CA_ACT0_MAX 1.0
param set-default CA_ACT1_MAX 1.0
param set-default CA_ACT2_MAX 1.0
param set-default CA_ACT3_MAX 1.0
param set-default CA_ACT4_MAX 1.0
param set-default CA_ACT5_MAX 1.0
param set-default CA_MC_R_COUNT 6
param set-default CA_MC_R0_PX 0.0
param set-default CA_MC_R0_PY 1.0
param set-default CA_MC_R0_CT 9.5
param set-default CA_MC_R0_KM -0.05
param set-default CA_MC_R1_PX 0.0
param set-default CA_MC_R1_PY -1.0
param set-default CA_MC_R1_CT 9.5
param set-default CA_MC_R1_KM 0.05
param set-default CA_MC_R2_PX 0.866025
param set-default CA_MC_R2_PY -0.5
param set-default CA_MC_R2_CT 9.5
param set-default CA_MC_R2_KM -0.05
param set-default CA_MC_R3_PX -0.866025
param set-default CA_MC_R3_PY 0.5
param set-default CA_MC_R3_CT 9.5
param set-default CA_MC_R3_KM 0.05
param set-default CA_MC_R4_PX 0.866025
param set-default CA_MC_R4_PY 0.5
param set-default CA_MC_R4_CT 9.5
param set-default CA_MC_R4_KM 0.05
param set-default CA_MC_R5_PX -0.866025
param set-default CA_MC_R5_PY -0.5
param set-default CA_MC_R5_CT 9.5
param set-default CA_MC_R5_KM -0.05
param set-default PWM_MAIN_FUNC1 101
ROMFS/px4fmu_common/init.d/airframes/4018_s500_ctrlalloc
+1 -19
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@@ -17,38 +17,20 @@ set MIXER_AUX none
param set-default SYS_CTRL_ALLOC 1
param set-default MPC_USE_HTE 0
param set-default VM_MASS 1.5
param set-default VM_INERTIA_XX 0.03
param set-default VM_INERTIA_YY 0.03
param set-default VM_INERTIA_ZZ 0.05
param set-default CA_AIRFRAME 0
param set-default CA_ACT0_MIN 0.0
param set-default CA_ACT1_MIN 0.0
param set-default CA_ACT2_MIN 0.0
param set-default CA_ACT3_MIN 0.0
param set-default CA_ACT0_MAX 1.0
param set-default CA_ACT1_MAX 1.0
param set-default CA_ACT2_MAX 1.0
param set-default CA_ACT3_MAX 1.0
param set-default CA_MC_R_COUNT 4
param set-default CA_MC_R0_PX 0.177
param set-default CA_MC_R0_PY 0.177
param set-default CA_MC_R0_CT 6.5
param set-default CA_MC_R0_KM 0.05
param set-default CA_MC_R1_PX -0.177
param set-default CA_MC_R1_PY -0.177
param set-default CA_MC_R1_CT 6.5
param set-default CA_MC_R1_KM 0.05
param set-default CA_MC_R2_PX 0.177
param set-default CA_MC_R2_PY -0.177
param set-default CA_MC_R2_CT 6.5
param set-default CA_MC_R2_KM -0.05
param set-default CA_MC_R3_PX -0.177
param set-default CA_MC_R3_PY 0.177
param set-default CA_MC_R3_CT 6.5
param set-default CA_MC_R3_KM -0.05
param set-default PWM_MAIN_FUNC1 101
ROMFS/px4fmu_common/init.d/airframes/6003_hexa_x_ctrlalloc
+1 -25
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@@ -13,56 +13,32 @@
. ${R}etc/init.d/rc.mc_defaults
param set-default SYS_CTRL_ALLOC 1
param set-default MPC_USE_HTE 0
param set-default VM_MASS 1.5
param set-default VM_INERTIA_XX 0.03
param set-default VM_INERTIA_YY 0.03
param set-default VM_INERTIA_ZZ 0.05
param set-default CA_AIRFRAME 0
param set-default CA_ACT0_MIN 0.0
param set-default CA_ACT1_MIN 0.0
param set-default CA_ACT2_MIN 0.0
param set-default CA_ACT3_MIN 0.0
param set-default CA_ACT4_MIN 0.0
param set-default CA_ACT5_MIN 0.0
param set-default CA_ACT0_MAX 1.0
param set-default CA_ACT1_MAX 1.0
param set-default CA_ACT2_MAX 1.0
param set-default CA_ACT3_MAX 1.0
param set-default CA_ACT4_MAX 1.0
param set-default CA_ACT5_MAX 1.0
param set-default CA_MC_R_COUNT 6
param set-default CA_MC_R0_PX 0.0
param set-default CA_MC_R0_PY 0.275
param set-default CA_MC_R0_CT 6.5
param set-default CA_MC_R0_KM -0.05
param set-default CA_MC_R1_PX 0.0
param set-default CA_MC_R1_PY -0.275
param set-default CA_MC_R1_CT 6.5
param set-default CA_MC_R1_KM 0.05
param set-default CA_MC_R2_PX 0.238
param set-default CA_MC_R2_PY -0.1375
param set-default CA_MC_R2_CT 6.5
param set-default CA_MC_R2_KM -0.05
param set-default CA_MC_R3_PX -0.238
param set-default CA_MC_R3_PY 0.1375
param set-default CA_MC_R3_CT 6.5
param set-default CA_MC_R3_KM 0.05
param set-default CA_MC_R4_PX 0.238
param set-default CA_MC_R4_PY 0.1375
param set-default CA_MC_R4_CT 6.5
param set-default CA_MC_R4_KM 0.05
param set-default CA_MC_R5_PX -0.238
param set-default CA_MC_R5_PY -0.1375
param set-default CA_MC_R5_CT 6.5
param set-default CA_MC_R5_KM -0.05
param set-default PWM_MAIN_FUNC1 101