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ROMFS: remove unnecessary parameter zero padding

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This commit is contained in:
Daniel Agar
2020-07-20 15:30:39 -04:00
committed by Beat Küng
parent 0b50f85096
commit 730af406a6
9 changed files with 135 additions and 135 deletions
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ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2
+6 -6
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@@ -28,7 +28,7 @@ sh /etc/init.d/rc.fw_defaults
if [ $AUTOCNF = yes ]
then
param set BAT_CAPACITY 2500.0
param set BAT_CAPACITY 2500
param set BAT_N_CELLS 3
param set PWM_AUX_RATE 50
@@ -41,13 +41,13 @@ then
param set FW_AIRSPD_TRIM 13
param set FW_THR_CRUISE 0.8
param set FW_MAN_P_MAX 25.0
param set FW_MAN_R_MAX 25.0
param set FW_MAN_P_MAX 25
param set FW_MAN_R_MAX 25
param set FW_PR_I 0.02
param set FW_R_LIM 40
param set FW_P_LIM_MAX 25.0
param set FW_P_LIM_MIN -5.0
param set FW_P_RMAX_NEG 20.0
param set FW_P_LIM_MAX 25
param set FW_P_LIM_MIN -5
param set FW_P_RMAX_NEG 20
fi
set MIXER TF-AutoG2
ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
+1 -1
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@@ -79,7 +79,7 @@ then
param set MC_YAWRATE_P 0.3
# Position Control Tuning
param set CP_DIST 6.0
param set CP_DIST 6
param set MPC_ACC_DOWN_MAX 5
param set MPC_ACC_HOR_MAX 10
param set MPC_ACC_UP_MAX 4
ROMFS/px4fmu_common/init.d/airframes/4041_beta75x
+4 -4
View File
@@ -33,15 +33,15 @@ then
param set IMU_DGYRO_CUTOFF 60
param set MC_AIRMODE 2
param set MC_PITCHRATE_D 0.0010
param set MC_PITCHRATE_D 0.001
param set MC_PITCHRATE_I 0.5
param set MC_PITCHRATE_MAX 600
param set MC_PITCHRATE_P 0.0750
param set MC_PITCHRATE_P 0.075
param set MC_PITCH_P 6
param set MC_ROLLRATE_D 0.0010
param set MC_ROLLRATE_D 0.001
param set MC_ROLLRATE_I 0.4
param set MC_ROLLRATE_MAX 600
param set MC_ROLLRATE_P 0.0750
param set MC_ROLLRATE_P 0.075
param set MC_YAWRATE_I 0.3
param set MC_YAWRATE_MAX 400
param set MC_YAWRATE_P 0.12
ROMFS/px4fmu_common/init.d/airframes/4070_aerofc
+19 -19
View File
@@ -24,44 +24,44 @@ sh /etc/init.d/rc.mc_defaults
if [ $AUTOCNF = yes ]
then
# Set all params here, then disable autoconfig
param set EKF2_GPS_POS_X -0.0600
param set EKF2_GPS_POS_Z -0.1000
param set EKF2_GPS_POS_X -0.06
param set EKF2_GPS_POS_Z -0.1
param set EKF2_MIN_OBS_DT 50
param set EKF2_BARO_GATE 10
param set EKF2_BARO_NOISE 5
param set EKF2_ACC_NOISE 0.7
param set LNDMC_Z_VEL_MAX 2.0000
param set LNDMC_Z_VEL_MAX 2
param set MC_ROLL_P 8.0000
param set MC_ROLLRATE_P 0.1300
param set MC_ROLL_P 8
param set MC_ROLLRATE_P 0.13
param set MC_ROLLRATE_I 0.07
param set MC_ROLLRATE_D 0.0012
param set MC_ROLLRATE_MAX 360
param set MC_PITCH_P 8.0000
param set MC_PITCHRATE_P 0.1300
param set MC_PITCH_P 8
param set MC_PITCHRATE_P 0.13
param set MC_PITCHRATE_I 0.07
param set MC_PITCHRATE_D 0.0012
param set MC_PITCHRATE_MAX 360
param set MC_YAW_P 4
param set MC_YAWRATE_P 0.119999997317790985
param set MC_YAWRATE_I 0.050000000745058060
param set MC_YAWRATE_P 0.12
param set MC_YAWRATE_I 0.05
param set MC_YAWRATE_D 0
param set MPC_LAND_SPEED 0.7000
param set MPC_MANTHR_MIN 0.0400
param set MPC_THR_HOVER 0.5000
param set MPC_THR_MAX 0.9400
param set MPC_THR_MIN 0.1000
param set MPC_XY_CRUISE 8.0000
param set MPC_XY_P 1.5000
param set MPC_LAND_SPEED 0.7
param set MPC_MANTHR_MIN 0.04
param set MPC_THR_HOVER 0.5
param set MPC_THR_MAX 0.94
param set MPC_THR_MIN 0.1
param set MPC_XY_CRUISE 8
param set MPC_XY_P 1.5
param set MPC_XY_VEL_P_ACC 3
param set MPC_Z_P 1.5000
param set MPC_Z_P 1.5
param set MPC_Z_VEL_P_ACC 16
param set MPC_Z_VEL_I_ACC 3
param set MPC_Z_VEL_MAX_DN 4.0000
param set MPC_Z_VEL_MAX_UP 5.0000
param set MPC_Z_VEL_MAX_DN 4
param set MPC_Z_VEL_MAX_UP 5
# TELEM2 config
param set MAV_1_CONFIG 102
ROMFS/px4fmu_common/init.d/airframes/4071_ifo
+32 -32
View File
@@ -28,41 +28,41 @@ set PWM_OUT 1234
if [ $AUTOCNF = yes ]
then
# Attitude & rate gains
#param set MC_ROLL_P 7.00000
param set MC_ROLLRATE_P 0.15000
#param set MC_ROLLRATE_I 0.90000
param set MC_ROLLRATE_D 0.00130
#param set MC_ROLL_P 7
param set MC_ROLLRATE_P 0.15
#param set MC_ROLLRATE_I 0.9
param set MC_ROLLRATE_D 0.0013
#param set MC_PITCH_P 7.00000
param set MC_PITCHRATE_P 0.15000
#param set MC_PITCHRATE_I 1.10000
param set MC_PITCHRATE_D 0.00160
#param set MC_PITCH_P 7
param set MC_PITCHRATE_P 0.15
#param set MC_PITCHRATE_I 1.1
param set MC_PITCHRATE_D 0.0016
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.2
#param set MC_YAWRATE_I 0.15
param set MC_YAWRATE_D 0.0
param set MC_YAWRATE_D 0
param set MC_YAW_FF 0.5
#param set MC_ROLL_TC 0.19
#param set MC_PITCH_TC 0.16
# Manual mode settings: Unleash Draco R's power :)
#param set MPC_MAN_TILT_MAX 70.00000
#param set MC_PITCHRATE_MAX 1600.00000
#param set MC_ROLLRATE_MAX 1600.00000
#param set MC_YAWRATE_MAX 700.00000
param set MPC_MANTHR_MAX 0.90000
param set MPC_MANTHR_MIN 0.08000
#param set MPC_MAN_TILT_MAX 35.0000
#param set MPC_TILTMAX_AIR 20.0000
#param set MPC_MAN_TILT_MAX 70
#param set MC_PITCHRATE_MAX 1600
#param set MC_ROLLRATE_MAX 1600
#param set MC_YAWRATE_MAX 700
param set MPC_MANTHR_MAX 0.9
param set MPC_MANTHR_MIN 0.08
#param set MPC_MAN_TILT_MAX 35
#param set MPC_TILTMAX_AIR 20
# Disable RC filtering
param set RC_FLT_CUTOFF 0.00000
param set RC_FLT_CUTOFF 0
# Filter settings
param set IMU_DGYRO_CUTOFF 90.00000
param set IMU_GYRO_CUTOFF 100.00000
param set IMU_DGYRO_CUTOFF 90
param set IMU_GYRO_CUTOFF 100
# Thrust curve (avoids the need for TPA)
#param set THR_MDL_FAC 0.25
@@ -76,37 +76,37 @@ then
param set SENS_BOARD_ROT 10
# EKF2
param set EKF2_GND_EFF_DZ 6.0
param set EKF2_GND_EFF_DZ 6
param set EKF2_HGT_MODE 1
# Position control
param set MPC_Z_P 1.00000
param set MPC_Z_P 1
param set MPC_Z_VEL_P_ACC 4
param set MPC_Z_VEL_I_ACC 0.4
param set MPC_THR_MIN 0.06000
param set MPC_THR_HOVER 0.3000
param set MPC_THR_MIN 0.06
param set MPC_THR_HOVER 0.3
param set MIS_TAKEOFF_ALT 1.1000
param set MPC_XY_P 1.7000
param set MIS_TAKEOFF_ALT 1.1
param set MPC_XY_P 1.7
param set MPC_XY_VEL_P_ACC 2.6
param set MPC_XY_VEL_I_ACC 1.2
param set MPC_XY_VEL_D_ACC 0.2
param set MPC_TKO_RAMP_T 1.0000
param set MPC_TKO_SPEED 1.1000
param set MPC_VEL_MANUAL 3.0000
param set MPC_TKO_RAMP_T 1
param set MPC_TKO_SPEED 1.1
param set MPC_VEL_MANUAL 3
param set BAT_SOURCE 0
param set BAT_N_CELLS 4
param set BAT_V_DIV 10.14
param set BAT_A_PER_V 18.18
#param set CBRK_IO_SAFETY 22027
param set COM_ARM_EKF_AB 0.00500
param set COM_ARM_EKF_AB 0.005
param set COM_DISARM_LAND 2
# Filter settings
param set IMU_GYRO_CUTOFF 90.00000
param set IMU_DGYRO_CUTOFF 70.00000
param set IMU_GYRO_CUTOFF 90
param set IMU_DGYRO_CUTOFF 70
# Don't try to be intelligent on RC loss: just cut the motors
param set NAV_RCL_ACT 6
ROMFS/px4fmu_common/init.d/airframes/4072_draco
+12 -12
View File
@@ -31,8 +31,8 @@ then
# use the Q attitude estimator, it works w/o mag or GPS.
param set SYS_MC_EST_GROUP 3
param set ATT_ACC_COMP 0
param set ATT_W_ACC 0.4000
param set ATT_W_GYRO_BIAS 0.0000
param set ATT_W_ACC 0.4
param set ATT_W_GYRO_BIAS 0
param set SYS_HAS_MAG 0
# Attitude & rate gains
@@ -40,31 +40,31 @@ then
param set MC_ROLLRATE_P 0.11
param set MC_ROLLRATE_I 0.3
param set MC_ROLLRATE_D 0.0015
param set MC_ROLLRATE_MAX 1600.0
param set MC_ROLLRATE_MAX 1600
param set MC_PITCH_P 8.0
param set MC_PITCH_P 8
param set MC_PITCHRATE_P 0.13
param set MC_PITCHRATE_I 0.35
param set MC_PITCHRATE_D 0.0015
param set MC_PITCHRATE_MAX 1600.0
param set MC_PITCHRATE_MAX 1600
param set MC_YAW_P 4.0
param set MC_YAW_P 4
param set MC_YAWRATE_P 0.21
param set MC_YAWRATE_I 0.3
param set MC_YAWRATE_D 0.0
param set MC_YAW_FF 0.5
param set MC_YAWRATE_MAX 600.0
param set MC_YAWRATE_MAX 600
param set MC_ROLL_TC 0.19
param set MC_PITCH_TC 0.16
param set MC_AIRMODE 1
param set MPC_MAN_TILT_MAX 60.0
param set MPC_MAN_TILT_MAX 60
param set MPC_THR_CURVE 1
param set MPC_THR_HOVER 0.25
# Disable RC filtering
param set RC_FLT_CUTOFF 0.00000
param set RC_FLT_CUTOFF 0
# Thrust curve (avoids the need for TPA)
param set THR_MDL_FAC 0.3
@@ -80,12 +80,12 @@ then
param set BAT_SOURCE 0
param set CBRK_IO_SAFETY 22027
#param set COM_ARM_EKF_AB 0.00500
#param set COM_ARM_EKF_AB 0.005
#param set COM_DISARM_LAND 3
# Filter settings
param set IMU_GYRO_CUTOFF 90.00000
param set IMU_DGYRO_CUTOFF 100.00000
param set IMU_GYRO_CUTOFF 90
param set IMU_DGYRO_CUTOFF 100
# Don't try to be intelligent on RC loss: just cut the motors
#param set NAV_RCL_ACT 6
ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s
+29 -29
View File
@@ -27,38 +27,38 @@ set PWM_OUT 1234
if [ $AUTOCNF = yes ]
then
# Attitude & rate gains
#param set MC_ROLL_P 7.00000
param set MC_ROLLRATE_P 0.15000
#param set MC_ROLLRATE_I 0.90000
param set MC_ROLLRATE_D 0.00130
#param set MC_ROLL_P 7
param set MC_ROLLRATE_P 0.15
#param set MC_ROLLRATE_I 0.9
param set MC_ROLLRATE_D 0.0013
#param set MC_PITCH_P 7.00000
param set MC_PITCHRATE_P 0.15000
#param set MC_PITCHRATE_I 1.10000
param set MC_PITCHRATE_D 0.00160
#param set MC_PITCH_P 7
param set MC_PITCHRATE_P 0.15
#param set MC_PITCHRATE_I 1.1
param set MC_PITCHRATE_D 0.0016
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.2
#param set MC_YAWRATE_I 0.15
param set MC_YAWRATE_D 0.0
param set MC_YAWRATE_D 0
#param set MC_ROLL_TC 0.19
#param set MC_PITCH_TC 0.16
# Manual mode settings: Unleash Draco R's power :)
#param set MPC_MAN_TILT_MAX 70.00000
#param set MC_PITCHRATE_MAX 1600.00000
#param set MC_ROLLRATE_MAX 1600.00000
#param set MC_YAWRATE_MAX 700.00000
param set MPC_MANTHR_MIN 0.08000
#param set MPC_MAN_TILT_MAX 35.0000
#param set MPC_TILTMAX_AIR 20.0000
#param set MPC_MAN_TILT_MAX 70
#param set MC_PITCHRATE_MAX 1600
#param set MC_ROLLRATE_MAX 1600
#param set MC_YAWRATE_MAX 700
param set MPC_MANTHR_MIN 0.08
#param set MPC_MAN_TILT_MAX 35
#param set MPC_TILTMAX_AIR 20
# Disable RC filtering
param set RC_FLT_CUTOFF 0.00000
param set RC_FLT_CUTOFF 0
# Filter settings
param set IMU_GYRO_CUTOFF 100.00000
param set IMU_GYRO_CUTOFF 100
# Thrust curve (avoids the need for TPA)
#param set THR_MDL_FAC 0.25
@@ -80,7 +80,7 @@ then
# EKF2
param set EKF2_AID_MASK 3
param set EKF2_GND_EFF_DZ 6.0
param set EKF2_GND_EFF_DZ 6
param set EKF2_HGT_MODE 1
param set EKF2_MIN_RNG 0.3
param set EKF2_RNG_AID 1
@@ -89,32 +89,32 @@ then
param set EKF2_OF_QMIN 70
# Position control
param set MPC_Z_P 1.10000
param set MPC_Z_P 1.1
param set MPC_Z_VEL_P_ACC 6
param set MPC_Z_VEL_I_ACC 1
param set MPC_THR_MIN 0.06000
param set MPC_THR_HOVER 0.4400
param set MPC_THR_MIN 0.06
param set MPC_THR_HOVER 0.44
param set MIS_TAKEOFF_ALT 1.1000
param set MPC_XY_P 1.7000
param set MIS_TAKEOFF_ALT 1.1
param set MPC_XY_P 1.7
param set MPC_XY_VEL_P_ACC 2.6
param set MPC_XY_VEL_I_ACC 1.2
param set MPC_XY_VEL_D_ACC 0.2
param set MPC_TKO_RAMP_T 1.0000
param set MPC_TKO_SPEED 1.1000
param set MPC_VEL_MANUAL 3.0000
param set MPC_TKO_RAMP_T 1
param set MPC_TKO_SPEED 1.1
param set MPC_VEL_MANUAL 3
param set BAT_SOURCE 0
param set BAT_N_CELLS 4
param set BAT_V_DIV 10.14
param set BAT_A_PER_V 18.18
#param set CBRK_IO_SAFETY 22027
param set COM_ARM_EKF_AB 0.00500
param set COM_ARM_EKF_AB 0.005
param set COM_DISARM_LAND 2
# Filter settings
param set IMU_GYRO_CUTOFF 90.00000
param set IMU_GYRO_CUTOFF 90
# Don't try to be intelligent on RC loss: just cut the motors
param set NAV_RCL_ACT 6
ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover
+3 -3
View File
@@ -34,8 +34,8 @@ then
param set FW_AIRSPD_MAX 3
param set GND_SP_CTRL_MODE 1
param set GND_L1_DIST 5.0
param set GND_L1_PERIOD 3.0
param set GND_L1_DIST 5
param set GND_L1_PERIOD 3
param set GND_THR_IDLE 0
param set GND_THR_CRUISE 0.7
param set GND_THR_MAX 0.5
@@ -48,7 +48,7 @@ then
# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase
# to support negative throttle.
param set GND_THR_MIN 0.0
param set GND_THR_MIN 0
param set GND_SPEED_P 0.25
param set GND_SPEED_I 3
param set GND_SPEED_D 0.001
ROMFS/px4fmu_common/init.d/airframes/6002_draco_r
+29 -29
View File
@@ -36,33 +36,33 @@ then
# Attitude & rate gains
###############################################
# Roll
param set MC_ROLL_P 6.50000
param set MC_ROLLRATE_P 0.15000
param set MC_ROLLRATE_I 0.05000
param set MC_ROLLRATE_D 0.00130
param set MC_ROLLRATE_MAX 800.00000
param set MC_ROLL_P 6.5
param set MC_ROLLRATE_P 0.15
param set MC_ROLLRATE_I 0.05
param set MC_ROLLRATE_D 0.0013
param set MC_ROLLRATE_MAX 800
# Pitch
param set MC_PITCH_P 6.50000
param set MC_PITCHRATE_P 0.15000
param set MC_PITCHRATE_I 0.05000
param set MC_PITCHRATE_D 0.00160
param set MC_PITCHRATE_MAX 800.00000
param set MC_PITCH_P 6.5
param set MC_PITCHRATE_P 0.15
param set MC_PITCHRATE_I 0.05
param set MC_PITCHRATE_D 0.0016
param set MC_PITCHRATE_MAX 800
# Yaw
param set MC_YAW_P 2.80000
param set MC_YAWRATE_P 0.20000
param set MC_YAWRATE_I 0.10000
param set MC_YAWRATE_D 0.00000
param set MC_YAW_FF 0.00000
param set MC_YAWRATE_MAX 700.00000
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0
param set MC_YAW_FF 0
param set MC_YAWRATE_MAX 700
###############################################
# Multirotor Position Gains
###############################################
param set MPC_ACC_HOR 8.0000
param set MPC_THR_MIN 0.06000
param set MPC_THR_HOVER 0.3000
param set MPC_ACC_HOR 8
param set MPC_THR_MIN 0.06
param set MPC_THR_HOVER 0.3
# altitude control gains
param set MPC_Z_P 1.00000
param set MPC_Z_P 1
param set MPC_Z_VEL_P_ACC 4
param set MPC_Z_VEL_I_ACC 0.4
# position control gains
@@ -71,16 +71,16 @@ then
param set MPC_XY_VEL_I_ACC 0.4
param set MPC_XY_VEL_D_ACC 0.2
# etc gains
param set MPC_TKO_RAMP_T 0.4000
param set MPC_TKO_SPEED 1.5000
param set MPC_VEL_MANUAL 5.0000
param set MPC_TKO_RAMP_T 0.4
param set MPC_TKO_SPEED 1.5
param set MPC_VEL_MANUAL 5
# Disable RC filtering
param set RC_FLT_CUTOFF 0.00000
param set RC_FLT_CUTOFF 0
# Filter settings
param set IMU_DGYRO_CUTOFF 90.00000
param set IMU_GYRO_CUTOFF 100.00000
param set IMU_DGYRO_CUTOFF 90
param set IMU_GYRO_CUTOFF 100
# Thrust curve (avoids the need for TPA)
param set THR_MDL_FAC 0.25
@@ -94,9 +94,9 @@ then
# DSHOT
param set DSHOT_CONFIG 600
param set COM_ARM_MAG 0.2000
param set COM_ARM_MAG 0.2
param set MIS_TAKEOFF_ALT 1.1000
param set MIS_TAKEOFF_ALT 1.1
#####################################
# EKF
@@ -107,7 +107,7 @@ then
param set EKF2_AID_MASK 1
param set EKF2_RNG_AID 1
param set EKF2_MAG_TYPE 1
param set EKF2_OF_QMIN 80.0000
param set EKF2_OF_QMIN 80
# default horizontal stablization sensors
param set SENS_EN_PMW3901 1