mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-20 11:23:06 +08:00
Removed obsolete voxl 2 board default parameter setting
This commit is contained in:
Eric Katzfey
committed by
Daniel Agar
Daniel Agar
parent
253208fdd4
commit
839f5bbb12
@@ -20,7 +20,6 @@ adb shell chmod a+x /usr/bin/voxl-px4-hitl-start
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# Push configuration file
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adb shell mkdir -p /etc/modalai
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adb push boards/modalai/voxl2/target/voxl-px4-set-default-parameters.config /etc/modalai
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adb push boards/modalai/voxl2/target/voxl-px4-fake-imu-calibration.config /etc/modalai
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adb push boards/modalai/voxl2/target/voxl-px4-hitl-set-default-parameters.config /etc/modalai
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@@ -129,12 +129,6 @@ else
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DAEMON="-d"
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fi
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if [ ! -f /data/px4/param/parameters ]; then
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echo "[INFO] Setting default parameters for PX4 on voxl"
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px4 $DAEMON -s /etc/modalai/voxl-px4-set-default-parameters.config
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/bin/sync
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fi
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if [ $SENSOR_CAL == "FAKE" ]; then
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/bin/echo "[INFO] Setting up fake sensor calibration values"
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px4 $DAEMON -s /etc/modalai/voxl-px4-fake-imu-calibration.config
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@@ -1,192 +0,0 @@
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#!/bin/sh
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# PX4 commands need the 'px4-' prefix in bash.
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# (px4-alias.sh is expected to be in the PATH)
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. px4-alias.sh
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param select /data/px4/param/parameters
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# Make sure we are running at 800Hz on IMU
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param set IMU_GYRO_RATEMAX 800
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# EKF2 Parameters
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param set EKF2_IMU_POS_X 0.027
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param set EKF2_IMU_POS_Y 0.009
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param set EKF2_IMU_POS_Z -0.019
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param set EKF2_EV_DELAY 5
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param set EKF2_AID_MASK 280
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param set EKF2_ABL_LIM 0.8
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param set EKF2_TAU_POS 0.25
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param set EKF2_TAU_VEL 0.25
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param set MC_AIRMODE 0
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param set MC_YAW_P 2.0
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param set MC_YAWRATE_P 0.15
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param set MC_YAWRATE_I 0.1
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param set MC_YAWRATE_D 0.0
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param set MC_YAWRATE_K 1.0
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param set MC_PITCH_P 5.5
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param set MC_PITCHRATE_P 0.08
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param set MC_PITCHRATE_I 0.2
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param set MC_PITCHRATE_D 0.0013
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param set MC_PITCHRATE_K 1.0
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param set MC_ROLL_P 5.5
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param set MC_ROLLRATE_P 0.08
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param set MC_ROLLRATE_I 0.2
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param set MC_ROLLRATE_D 0.0013
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param set MC_ROLLRATE_K 1.0
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param set MPC_VELD_LP 5.0
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# tweak MPC_THR_MIN to prevent roll/pitch losing control
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# authority under rapid downward acceleration
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param set MPC_THR_MAX 0.75
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param set MPC_THR_MIN 0.08
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param set MPC_THR_HOVER 0.42
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param set MPC_MANTHR_MIN 0.05
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# default position mode with a little expo, smooth mode is terrible
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param set MPC_POS_MODE 0
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param set MPC_YAW_EXPO 0.20
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param set MPC_XY_MAN_EXPO 0.20
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param set MPC_Z_MAN_EXPO 0.20
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# max velocities
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param set MPC_VEL_MANUAL 5.0
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param set MPC_XY_VEL_MAX 5.0
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param set MPC_XY_CRUISE 5.0
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param set MPC_Z_VEL_MAX_DN 1.5
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param set MPC_Z_VEL_MAX_UP 4.0
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param set MPC_LAND_SPEED 1.0
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# Horizontal position PID
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param set MPC_XY_P 0.95
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param set MPC_XY_VEL_P_ACC 3.00
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param set MPC_XY_VEL_I_ACC 0.10
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param set MPC_XY_VEL_D_ACC 0.00
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# Vertical position PID
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# PX4 Defaults
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param set MPC_Z_P 1.0
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param set MPC_Z_VEL_P_ACC 8.0
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param set MPC_Z_VEL_I_ACC 2.0
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param set MPC_Z_VEL_D_ACC 0.0
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param set MPC_TKO_RAMP_T 1.50
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param set MPC_TKO_SPEED 1.50
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# Set the ESC outputs to function as motors
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param set VOXL_ESC_FUNC1 101
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param set VOXL_ESC_FUNC2 103
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param set VOXL_ESC_FUNC3 104
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param set VOXL_ESC_FUNC4 102
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param set VOXL_ESC_SDIR1 0
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param set VOXL_ESC_SDIR2 0
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param set VOXL_ESC_SDIR3 0
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param set VOXL_ESC_SDIR4 0
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param set VOXL_ESC_CONFIG 1
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param set VOXL_ESC_REV 0
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param set VOXL_ESC_MODE 0
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param set VOXL_ESC_BAUD 2000000
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param set VOXL_ESC_RPM_MAX 10500
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param set VOXL_ESC_RPM_MIN 1000
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# Set the Voxl2 IO outputs to function as motors
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param set VOXL2_IO_FUNC1 101
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param set VOXL2_IO_FUNC2 102
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param set VOXL2_IO_FUNC3 103
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param set VOXL2_IO_FUNC4 104
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param set VOXL2_IO_BAUD 921600
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param set VOXL2_IO_MIN 1000
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param set VOXL2_IO_MAX 2000
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# Some parameters for control allocation
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param set CA_ROTOR_COUNT 4
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param set CA_R_REV 0
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param set CA_AIRFRAME 0
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param set CA_ROTOR_COUNT 4
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param set CA_ROTOR0_PX 0.15
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param set CA_ROTOR0_PY 0.15
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param set CA_ROTOR1_PX -0.15
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param set CA_ROTOR1_PY -0.15
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param set CA_ROTOR2_PX 0.15
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param set CA_ROTOR2_PY -0.15
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param set CA_ROTOR2_KM -0.05
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param set CA_ROTOR3_PX -0.15
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param set CA_ROTOR3_PY 0.15
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param set CA_ROTOR3_KM -0.05
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# Some parameter settings to disable / ignore certain preflight checks
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# No GPS driver yet so disable it
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param set SYS_HAS_GPS 0
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# Allow arming wihtout a magnetometer (Need magnetometer driver)
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param set SYS_HAS_MAG 0
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param set EKF2_MAG_TYPE 5
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# Allow arming without battery check (Need voxlpm driver)
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param set CBRK_SUPPLY_CHK 894281
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# Allow arming without an SD card
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param set COM_ARM_SDCARD 0
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# Allow arming wihtout CPU load information
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param set COM_CPU_MAX 0.0
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# Disable auto disarm. This is number of seconds to wait for takeoff
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# after arming. If no takeoff happens then it will disarm. A negative
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# value disables this.
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param set COM_DISARM_PRFLT -1
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# This parameter doesn't exist anymore. Need to see what the new method is.
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# param set MAV_BROADCAST 0
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# Doesn't work without setting this to Quadcopter
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param set MAV_TYPE 2
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# Parameters that we don't use but QGC complains about if they aren't there
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param set SYS_AUTOSTART 4001
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# Default RC channel mappings
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param set RC_MAP_ACRO_SW 0
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param set RC_MAP_ARM_SW 0
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param set RC_MAP_AUX1 0
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param set RC_MAP_AUX2 0
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param set RC_MAP_AUX3 0
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param set RC_MAP_AUX4 0
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param set RC_MAP_AUX5 0
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param set RC_MAP_AUX6 0
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param set RC_MAP_FAILSAFE 0
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param set RC_MAP_FLAPS 0
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param set RC_MAP_FLTMODE 6
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param set RC_MAP_GEAR_SW 0
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param set RC_MAP_KILL_SW 7
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param set RC_MAP_LOITER_SW 0
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param set RC_MAP_MAN_SW 0
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param set RC_MAP_MODE_SW 0
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param set RC_MAP_OFFB_SW 0
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param set RC_MAP_PARAM1 0
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param set RC_MAP_PARAM2 0
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param set RC_MAP_PARAM3 0
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param set RC_MAP_PITCH 2
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param set RC_MAP_POSCTL_SW 0
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param set RC_MAP_RATT_SW 0
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param set RC_MAP_RETURN_SW 0
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param set RC_MAP_ROLL 1
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param set RC_MAP_STAB_SW 0
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param set RC_MAP_THROTTLE 3
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param set RC_MAP_TRANS_SW 0
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param set RC_MAP_YAW 4
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param save
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sleep 2
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# Need px4-shutdown otherwise Linux system shutdown is called
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px4-shutdown
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