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config: enable dynamic control allocation by default (SYS_CTRL_ALLOC=1)

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This commit is contained in:
Beat Küng
2022-07-28 10:18:06 +02:00
parent 6ea3c6a7d2
commit 720cf5a485
18 changed files with 1 additions and 24 deletions
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ROMFS/px4fmu_common/init.d-posix/airframes/10017_iris_ctrlalloc
-2
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@@ -9,8 +9,6 @@
. ${R}etc/init.d/rc.mc_defaults . ${R}etc/init.d/rc.mc_defaults
param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 0 param set-default CA_AIRFRAME 0
ROMFS/px4fmu_common/init.d-posix/airframes/10019_omnicopter
-2
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@@ -9,8 +9,6 @@
. ${R}etc/init.d/rc.mc_defaults . ${R}etc/init.d/rc.mc_defaults
param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 0 param set-default CA_AIRFRAME 0
ROMFS/px4fmu_common/init.d-posix/airframes/1022_uuv_bluerov2_heavy
-1
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@@ -8,7 +8,6 @@
# disable circuit breaker for airspeed sensor # disable circuit breaker for airspeed sensor
param set-default CBRK_AIRSPD_CHK 162128 param set-default CBRK_AIRSPD_CHK 162128
param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 7 param set-default CA_AIRFRAME 7
param set-default CA_ROTOR_COUNT 8 param set-default CA_ROTOR_COUNT 8
ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane
-1
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@@ -41,7 +41,6 @@ param set-default NAV_DLL_ACT 2
param set-default RWTO_TKOFF 1 param set-default RWTO_TKOFF 1
#param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 1 param set-default CA_AIRFRAME 1
param set-default CA_ROTOR_COUNT 1 param set-default CA_ROTOR_COUNT 1
ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol
-1
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@@ -12,7 +12,6 @@
param set-default FD_ACT_EN 0 param set-default FD_ACT_EN 0
param set-default FD_ACT_MOT_TOUT 500 param set-default FD_ACT_MOT_TOUT 500
# param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 2 param set-default CA_AIRFRAME 2
param set-default CA_ROTOR_COUNT 5 param set-default CA_ROTOR_COUNT 5
ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter
-1
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@@ -9,7 +9,6 @@
param set-default MAV_TYPE 20 param set-default MAV_TYPE 20
# param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 4 param set-default CA_AIRFRAME 4
param set-default CA_ROTOR_COUNT 4 param set-default CA_ROTOR_COUNT 4
ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor
-1
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@@ -9,7 +9,6 @@
param set-default MAV_TYPE 21 param set-default MAV_TYPE 21
param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 3 param set-default CA_AIRFRAME 3
param set-default CA_ROTOR_COUNT 4 param set-default CA_ROTOR_COUNT 4
ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover
-1
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@@ -28,7 +28,6 @@ param set-default CBRK_AIRSPD_CHK 162128
param set-default GND_MAX_ANG 0.6 param set-default GND_MAX_ANG 0.6
param set-default GND_WHEEL_BASE 2.0 param set-default GND_WHEEL_BASE 2.0
param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 5 param set-default CA_AIRFRAME 5
param set-default CA_R_REV 1 param set-default CA_R_REV 1
ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover
-1
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@@ -28,7 +28,6 @@ param set-default CBRK_AIRSPD_CHK 162128
param set-default GND_MAX_ANG 0.6 param set-default GND_MAX_ANG 0.6
param set-default GND_WHEEL_BASE 2.0 param set-default GND_WHEEL_BASE 2.0
param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 6 param set-default CA_AIRFRAME 6
param set-default CA_R_REV 3 param set-default CA_R_REV 3
ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat
-1
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@@ -28,7 +28,6 @@ param set-default CBRK_AIRSPD_CHK 162128
param set-default GND_MAX_ANG 0.6 param set-default GND_MAX_ANG 0.6
param set-default GND_WHEEL_BASE 2.0 param set-default GND_WHEEL_BASE 2.0
param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 9 param set-default CA_AIRFRAME 9
param set-default CA_ROTOR_COUNT 2 param set-default CA_ROTOR_COUNT 2
ROMFS/px4fmu_common/init.d-posix/airframes/2507_cloudship
-1
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@@ -11,7 +11,6 @@
. ${R}etc/init.d/rc.airship_defaults . ${R}etc/init.d/rc.airship_defaults
param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 9 param set-default CA_AIRFRAME 9
param set-default CA_ROTOR_COUNT 3 param set-default CA_ROTOR_COUNT 3
ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_h480_ctrlalloc
-2
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@@ -9,8 +9,6 @@
param set-default MAV_TYPE 13 param set-default MAV_TYPE 13
param set-default SYS_CTRL_ALLOC 1
param set-default MC_PITCHRATE_P 0.0800 param set-default MC_PITCHRATE_P 0.0800
param set-default MC_PITCHRATE_I 0.0400 param set-default MC_PITCHRATE_I 0.0400
param set-default MC_PITCHRATE_D 0.0010 param set-default MC_PITCHRATE_D 0.0010
ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard
-1
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@@ -12,7 +12,6 @@
. ${R}etc/init.d/rc.vtol_defaults . ${R}etc/init.d/rc.vtol_defaults
param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 2 param set-default CA_AIRFRAME 2
param set-default CA_ROTOR_COUNT 5 param set-default CA_ROTOR_COUNT 5
param set-default CA_ROTOR0_PX 1 param set-default CA_ROTOR0_PX 1
ROMFS/px4fmu_common/init.d/airframes/13100_generic_vtol_tiltrotor
-2
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@@ -11,8 +11,6 @@
. ${R}etc/init.d/rc.vtol_defaults . ${R}etc/init.d/rc.vtol_defaults
param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 3 param set-default CA_AIRFRAME 3
param set-default CA_ROTOR_COUNT 4 param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 1 param set-default CA_ROTOR0_PX 1
ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter
-1
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@@ -12,7 +12,6 @@
. ${R}etc/init.d/rc.vtol_defaults . ${R}etc/init.d/rc.vtol_defaults
param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 4 param set-default CA_AIRFRAME 4
param set-default CA_ROTOR_COUNT 2 param set-default CA_ROTOR_COUNT 2
param set-default CA_ROTOR0_KM -0.05 param set-default CA_ROTOR0_KM -0.05
ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane
-1
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@@ -10,7 +10,6 @@
. ${R}etc/init.d/rc.fw_defaults . ${R}etc/init.d/rc.fw_defaults
param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 1 param set-default CA_AIRFRAME 1
param set-default CA_ROTOR_COUNT 1 param set-default CA_ROTOR_COUNT 1
param set-default CA_ROTOR0_PX 0.3 param set-default CA_ROTOR0_PX 0.3
ROMFS/px4fmu_common/init.d/airframes/3000_generic_wing
-1
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@@ -10,7 +10,6 @@
. ${R}etc/init.d/rc.fw_defaults . ${R}etc/init.d/rc.fw_defaults
param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 1 param set-default CA_AIRFRAME 1
param set-default CA_ROTOR_COUNT 1 param set-default CA_ROTOR_COUNT 1
src/lib/systemlib/system_params.c
+1 -3
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@@ -289,10 +289,8 @@ PARAM_DEFINE_INT32(SYS_FAILURE_EN, 0);
* If enabled, dynamic control allocation with runtime configuration of the * If enabled, dynamic control allocation with runtime configuration of the
* mixing and output functions is used. * mixing and output functions is used.
* *
* Note: this is work-in-progress and not all vehicle types are supported yet.
*
* @boolean * @boolean
* @reboot_required true * @reboot_required true
* @group System * @group System
*/ */
PARAM_DEFINE_INT32(SYS_CTRL_ALLOC, 0); PARAM_DEFINE_INT32(SYS_CTRL_ALLOC, 1);