ROMFS: MAV_TYPE cleanup

- set MAV_TYPE as a parameter default per vehicle type, or airframe if necessary - cleanup MAV_TYPE param metadata and commander helper to only include what's currently used in PX4
2026-05-28 02:36:37 +08:00 · 2022-03-11 21:23:56 -05:00
parent cde7b1bc41
commit 36e6527013
69 changed files with 107 additions and 216 deletions
@@ -8,8 +8,5 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

-set MAV_TYPE 12
-param set MAV_TYPE ${MAV_TYPE}
-
 set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
 set MIXER custom
@@ -8,8 +8,5 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

-set MAV_TYPE 12
-param set MAV_TYPE ${MAV_TYPE}
-
 set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
 set MIXER custom
@@ -67,4 +67,3 @@ param set-default PWM_MAIN_FUNC7 107
 param set-default PWM_MAIN_FUNC8 108

 set MIXER skip
-
@@ -80,7 +80,5 @@ param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_B_TRANS_DUR 8
 param set-default VT_TYPE 2

-set MAV_TYPE 22
-
 set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
 set MIXER custom
@@ -7,6 +7,8 @@

 . ${R}etc/init.d/rc.vtol_defaults

+param set-default MAV_TYPE 20
+
 # param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 4

@@ -78,7 +80,5 @@ param set-default VT_TYPE 0

 param set-default WV_EN 0

-set MAV_TYPE 20
-
 set MIXER_FILE etc/mixers-sitl/quad_x_vtol.main.mix
 set MIXER custom
@@ -7,6 +7,8 @@

 . ${R}etc/init.d/rc.vtol_defaults

+param set-default MAV_TYPE 21
+
 # param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 3

@@ -88,7 +90,5 @@ param set-default VT_MOT_ID 1234
 param set-default VT_TILT_TRANS 0.6
 param set-default VT_TYPE 1

-set MAV_TYPE 21
-
 set MIXER_FILE etc/mixers-sitl/tiltrotor_sitl.main.mix
 set MIXER custom
@@ -51,7 +51,5 @@ param set-default RC_MAP_AUX1 8
 param set-default RC_MAP_AUX2 9
 param set-default RC_MAP_AUX3 10

-set MAV_TYPE 22
-
 set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
 set MIXER custom
@@ -37,6 +37,4 @@ param set-default PWM_MAIN_FUNC2 201
 param set-default PWM_MAIN_FUNC6 101
 param set-default PWM_MAIN_FUNC7 101

-set MAV_TYPE 10
-
 set MIXER_FILE skip
@@ -37,6 +37,4 @@ param set-default PWM_MAIN_FUNC2 101
 param set-default PWM_MAIN_FUNC6 102
 param set-default PWM_MAIN_FUNC7 102

-set MAV_TYPE 10
-
 set MIXER_FILE skip
@@ -10,6 +10,8 @@

 . ${R}etc/init.d/rc.rover_defaults

+param set-default MAV_TYPE 10
+
 param set-default GND_L1_DIST 5
 param set-default GND_SP_CTRL_MODE 1
 param set-default GND_SPEED_D 3
@@ -33,6 +35,4 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 3.0

-set MAV_TYPE 10
-
 set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix
@@ -47,6 +47,4 @@ param set-default CA_R_REV 3
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102

-set MAV_TYPE 11
-
 set MIXER skip
@@ -9,6 +9,8 @@

 . ${R}etc/init.d/rc.mc_defaults

+param set-default MAV_TYPE 13
+
 param set-default MC_PITCHRATE_P 0.1
 param set-default MC_PITCHRATE_I 0.05
 param set-default MC_PITCH_P 6.0
@@ -24,6 +26,4 @@ param set-default TRIG_MODE 4
 param set-default MNT_MODE_IN 4
 param set-default MNT_DO_STAB 2

-set MAV_TYPE 13
-
 set MIXER hexa_x
@@ -7,6 +7,8 @@

 . ${R}etc/init.d/rc.mc_defaults

+param set-default MAV_TYPE 13
+
 param set-default MC_PITCHRATE_P 0.0800
 param set-default MC_PITCHRATE_I 0.0400
 param set-default MC_PITCHRATE_D 0.0010
@@ -26,6 +28,4 @@ param set-default MNT_MODE_IN 4
 param set-default MNT_MODE_OUT 2
 param set-default MAV_PROTO_VER 2

-set MAV_TYPE 13
-
 set MIXER hexa_x
@@ -7,6 +7,8 @@

 . ${R}etc/init.d/rc.mc_defaults

+param set-default MAV_TYPE 13
+
 param set-default SYS_CTRL_ALLOC 1

 param set-default MC_PITCHRATE_P 0.0800
@@ -58,7 +60,5 @@ param set-default PWM_MAIN_FUNC4 104
 param set-default PWM_MAIN_FUNC5 105
 param set-default PWM_MAIN_FUNC6 106

-set MAV_TYPE 13
-
 set MIXER skip
 set MIXER_AUX none
@@ -24,7 +24,6 @@ fi

 # initialize script variables
 set IO_PRESENT                  no
-set MAV_TYPE                    none
 set MIXER                       none
 set MIXER_AUX                   none
 set MIXER_FILE                  none
@@ -36,4 +36,5 @@ param set-default MC_PITCHRATE_P 0.19
 param set-default MC_PITCHRATE_I 0.05
 param set-default MC_PITCHRATE_D 0.004
 param set-default MC_YAW_P 4
+
 set MIXER quad_w
@@ -104,7 +104,7 @@ param set-default CBRK_SUPPLY_CHK 894281
 param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027

-set MAV_TYPE 22
+param set-default MAV_TYPE 22

 set MIXER standard_vtol_hitl

@@ -47,7 +47,7 @@ param set-default HIL_ACT_FUNC6 201
 param set-default HIL_ACT_REV 32

 param set-default MAV_TYPE 19
-set MAV_TYPE 19
+
 set MIXER vtol_tailsitter_duo_sat

 set PWM_OUT 1234
@@ -54,7 +54,8 @@ param set-default PWM_AUX_DIS5 950
 param set-default VT_TYPE 2
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
-set MAV_TYPE 22
+
+param set-default MAV_TYPE 22

 set MIXER quad_x
 set MIXER_AUX vtol_AAERT
@@ -19,7 +19,6 @@

 . ${R}etc/init.d/rc.vtol_defaults

-
 param set-default MAV_TYPE 19

 param set-default MC_ROLL_P 6
@@ -38,7 +37,6 @@ param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_ID 12
 param set-default VT_TYPE 0
-set MAV_TYPE 19

 set MIXER vtol_tailsitter_duo

@@ -23,6 +23,7 @@

 . ${R}etc/init.d/rc.vtol_defaults

+param set-default MAV_TYPE 21

 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.19
@@ -45,7 +46,6 @@ param set-default VT_TILT_TRANS 0.5
 param set-default VT_TILT_FW 0.9
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
-set MAV_TYPE 21

 set MIXER firefly6
 set MIXER_AUX firefly6
@@ -13,6 +13,8 @@

 . ${R}etc/init.d/rc.vtol_defaults

+param set-default MAV_TYPE 20
+
 param set-default CA_AIRFRAME 4
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_ROTOR0_PX 0.15
@@ -38,7 +40,6 @@ param set-default PWM_MAIN_MAX 2000
 param set-default VT_MOT_ID 1234
 param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_TYPE 0
-set MAV_TYPE 20

 set MIXER quad_x_vtol

@@ -22,13 +22,13 @@

 . ${R}etc/init.d/rc.vtol_defaults

+param set-default MAV_TYPE 20
+
 param set-default PWM_MAIN_MAX 2000

 param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_TYPE 0

-set MAV_TYPE 20
-
 set MIXER quad_+_vtol

 set PWM_OUT 1234
@@ -52,7 +52,6 @@ param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_TYPE 2
-set MAV_TYPE 22

 set MIXER quad_x
 set MIXER_AUX vtol_AAERT
@@ -41,7 +41,6 @@ param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_TYPE 2
-set MAV_TYPE 22

 set MIXER quad_x
 set MIXER_AUX vtol_delta
@@ -33,7 +33,6 @@ param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_TYPE 2
-set MAV_TYPE 22

 set MIXER quad_x
 set MIXER_AUX vtol_AAVVT
@@ -46,7 +46,6 @@ param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_TYPE 2
-set MAV_TYPE 22

 set MIXER quad_x
 set MIXER_AUX vtol_AAERT
@@ -77,8 +77,6 @@ param set-default VT_TRANS_MIN_TM 5
 param set-default VT_TRANS_TIMEOUT    30
 param set-default VT_TYPE 2

-set MAV_TYPE 22
-
 set MIXER quad_x
 set MIXER_AUX vtol_AAERT

@@ -13,6 +13,8 @@

 . ${R}etc/init.d/rc.vtol_defaults

+param set-defualt MAV_TYPE 21
+
 param set-default PWM_AUX_DISARM 1000
 param set-default PWM_AUX_MAX 2000
 param set-default PWM_AUX_MIN 1000
@@ -28,7 +30,6 @@ param set-default VT_TILT_MC 0.08
 param set-default VT_TILT_TRANS 0.5
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
-set MAV_TYPE 21

 set MIXER claire
 set MIXER_AUX claire
@@ -22,6 +22,8 @@

 . ${R}etc/init.d/rc.vtol_defaults

+param set-defualt MAV_TYPE 21
+
 param set-default CBRK_AIRSPD_CHK 162128

 param set-default FW_ARSP_MODE 1
@@ -64,7 +66,6 @@ param set-default VT_TRANS_MIN_TM 1.2
 param set-default VT_TRANS_P2_DUR 1.3
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
-set MAV_TYPE 21

 set MIXER vtol_convergence

@@ -22,6 +22,8 @@

 . ${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
@@ -134,7 +136,6 @@ param set-default VT_TRANS_TIMEOUT 22
 param set-default VT_F_TRANS_RAMP 4

 param set-default COM_RC_OVERRIDE 0
-set MAV_TYPE 22

 set MIXER deltaquad
 set MIXER_AUX pass
@@ -23,6 +23,8 @@

 . ${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
@@ -94,8 +96,6 @@ param set-default VT_PSHER_RMP_DT 2
 param set-default VT_TRANS_MIN_TM 4
 param set-default VT_TYPE 2

-set MAV_TYPE 22
-
 set MIXER babyshark
 set MIXER_AUX pass

@@ -27,6 +27,8 @@

 . ${R}etc/init.d/rc.vtol_defaults

+param set-default MAV_TYPE 21
+
 param set-default VT_IDLE_PWM_MC 1100
 param set-default VT_TYPE 1
 param set-default VT_MOT_ID 1234
@@ -57,8 +59,6 @@ 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

-set MAV_TYPE 21
-
 set MIXER quad_x
 set MIXER_AUX vtol_TTTTAAER

@@ -31,7 +31,6 @@ param set-default PWM_AUX_DIS5 950
 param set-default VT_TYPE 2
 param set-default VT_MOT_ID 12345678
 param set-default VT_FW_MOT_OFFID 12345678
-set MAV_TYPE 22

 set MIXER octo_cox
 set MIXER_AUX vtol_AAERT
@@ -19,6 +19,8 @@

 . ${R}etc/init.d/rc.vtol_defaults

+param set-default MAV_TYPE 19
+
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_COUNT 2
 param set-default VT_TYPE 0
@@ -37,8 +39,6 @@ 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
-set MAV_TYPE 19
 set MIXER vtol_tailsitter_duo

 set PWM_OUT 1234
@@ -18,4 +18,7 @@

 . ${R}etc/init.d/rc.mc_defaults

+# MAV_TYPE_TRICOPTER 15
+param set-default MAV_TYPE 15
+
 set MIXER tri_y_yaw+
@@ -18,4 +18,7 @@

 . ${R}etc/init.d/rc.mc_defaults

+# MAV_TYPE_TRICOPTER 15
+param set-default MAV_TYPE 15
+
 set MIXER tri_y_yaw-
@@ -17,7 +17,9 @@
 #

 . ${R}etc/init.d/rc.mc_defaults
-set MIXER coax
+
+# MAV_TYPE_COAXIAL 3
+param set-default MAV_TYPE 3

 param set-default MC_ROLLRATE_P 0.17
 param set-default MC_ROLLRATE_I 0.05
@@ -36,6 +38,9 @@ param set-default PWM_MAIN_RATE 400

 param set-default RTL_RETURN_ALT 30
 param set-default RTL_DESCEND_ALT 10
+
+set MIXER coax
+
 # This is the gimbal pass mixer
 set MIXER_AUX pass

@@ -20,7 +20,7 @@
 . ${R}etc/init.d/rc.mc_defaults

 # Configure as helicopter (number 4 defined in commander_helper.cpp)
-set MAV_TYPE 4
+param set-default MAV_TYPE 4

 set MIXER blade130

@@ -41,5 +41,6 @@ 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
+
 set MIXER TF-G2
 set MIXER_AUX pass
@@ -24,8 +24,5 @@ param set-default MAV_0_CONFIG 102
 param set-default GPS_UBX_DYNMODEL 8
 param set-default SER_TEL2_BAUD 9600

-set MAV_TYPE 8
-param set MAV_TYPE ${MAV_TYPE}
-
 set MIXER IO_pass
 set MIXER_AUX pass
@@ -26,7 +26,7 @@
 # @board px4_fmu-v2 exclude
 #

-set VEHICLE_TYPE mc
+. ${R}etc/init.d/rc.mc_defaults

 param set-default NAV_ACC_RAD 2

@@ -39,6 +39,7 @@ param set-default PWM_MAIN_RATE 400

 param set-default RTL_DESCEND_ALT 10
 param set-default RTL_RETURN_ALT 30
+
 set MIXER dodeca_top_cox
 set MIXER_AUX dodeca_bottom_cox

@@ -41,9 +41,6 @@ param set-default FW_RR_P 0.04

 param set-default PWM_MAIN_DISARM 1000

-# Configure this as plane.
-set MAV_TYPE 1
-
 # Set mixer.
 set MIXER fw_generic_wing

@@ -24,8 +24,6 @@

 set MIXER quad_s250aq

-set MAV_TYPE 2
-
 param set-default ATT_BIAS_MAX 0

 param set-default CBRK_IO_SAFETY 22027
@@ -21,10 +21,7 @@
 # @board cuav_x7pro exclude
 #

-set VEHICLE_TYPE mc
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_defaults

 # Attitude & rate gains
 param set-default MC_ROLLRATE_D 0.0013
@@ -21,10 +21,7 @@
 # @maintainer Hyon Lim <lim@uvify.com>
 #

-set VEHICLE_TYPE mc
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_defaults

 # Attitude & rate gains
 param set-default MC_ROLLRATE_D 0.0013
@@ -24,10 +24,6 @@

 . ${R}etc/init.d/rc.mc_defaults

-
-# Configure this as Quadrotor
-# set MAV_TYPE 14
-
 # Set mixer
 set MIXER tilt_quad
 set MIXER_AUX tilt_quad
@@ -48,8 +48,6 @@ param set-default NAV_ACC_RAD 0.5
 param set-default PWM_MAIN_DISARM 1500
 param set-default PWM_MAIN_MAX 2000
 param set-default PWM_MAIN_MIN 1000
-# Configure this as rover
-set MAV_TYPE 10

 # Set mixer
 set MIXER rover_generic
@@ -76,9 +76,6 @@ param set-default RBCLW_SER_CFG 104
 # Start this driver after setting parameters, because the driver uses some of those parameters.
 # roboclaw start /dev/ttyS3

-# Configure this as rover
-set MAV_TYPE 10
-
 # Set mixer
 set MIXER generic_diff_rover

@@ -65,9 +65,6 @@ param set-default PWM_MAIN_MIN4 970
 # Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

-# Configure this as rover
-set MAV_TYPE 10
-
 # Set mixer
 set MIXER rover_diff_and_servo

--- a/Show More
+++ b/Show More