diff --git a/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard b/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard index a58fd1c2fcc..e41fc87d6b8 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard +++ b/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard @@ -24,6 +24,27 @@ . ${R}etc/init.d/rc.vtol_defaults +param set-default CA_AIRFRAME 2 +param set-default CA_ROTOR_COUNT 4 +param set-default CA_ROTOR0_PX 0.15 +param set-default CA_ROTOR0_PY 0.15 +param set-default CA_ROTOR1_PX -0.15 +param set-default CA_ROTOR1_PY -0.15 +param set-default CA_ROTOR2_PX 0.15 +param set-default CA_ROTOR2_PY -0.15 +param set-default CA_ROTOR2_KM -0.05 +param set-default CA_ROTOR3_PX -0.15 +param set-default CA_ROTOR3_PY 0.15 +param set-default CA_ROTOR3_KM -0.05 +param set-default CA_SV_CS_COUNT 4 +param set-default CA_SV_CS0_TYPE 1 +param set-default CA_SV_CS0_TRQ_R -0.5 +param set-default CA_SV_CS1_TYPE 2 +param set-default CA_SV_CS1_TRQ_R 0.5 +param set-default CA_SV_CS2_TYPE 3 +param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS3_TRQ_Y 1.0 +param set-default CA_SV_CS3_TYPE 4 param set-default PWM_AUX_DIS5 950 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter b/ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter index b109fd9ba7f..bb87b6c30e1 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter +++ b/ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter @@ -13,6 +13,25 @@ . ${R}etc/init.d/rc.vtol_defaults +param set-default CA_AIRFRAME 4 +param set-default CA_ROTOR_COUNT 4 +param set-default CA_ROTOR0_PX 0.15 +param set-default CA_ROTOR0_PY 0.15 +param set-default CA_ROTOR1_PX -0.15 +param set-default CA_ROTOR1_PY -0.15 +param set-default CA_ROTOR2_PX 0.15 +param set-default CA_ROTOR2_PY -0.15 +param set-default CA_ROTOR2_KM -0.05 +param set-default CA_ROTOR3_PX -0.15 +param set-default CA_ROTOR3_PY 0.15 +param set-default CA_ROTOR3_KM -0.05 +param set-default CA_SV_CS_COUNT 2 +param set-default CA_SV_CS0_TRQ_P 0.5 +param set-default CA_SV_CS0_TRQ_Y 0.5 +param set-default CA_SV_CS0_TYPE 5 +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 PWM_MAIN_MAX 2000 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor b/ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor index ba2cc64f234..1ef3c9a1f02 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor +++ b/ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor @@ -31,6 +31,32 @@ param set-default VT_IDLE_PWM_MC 1100 param set-default VT_TYPE 1 param set-default VT_MOT_ID 1234 param set-default VT_FW_MOT_OFFID 24 + +param set-default CA_AIRFRAME 3 +param set-default CA_ROTOR_COUNT 4 +param set-default CA_ROTOR0_PX 0.15 +param set-default CA_ROTOR0_PY 0.15 +param set-default CA_ROTOR0_TILT 1 +param set-default CA_ROTOR1_PX -0.15 +param set-default CA_ROTOR1_PY -0.15 +param set-default CA_ROTOR1_TILT 2 +param set-default CA_ROTOR2_PX 0.15 +param set-default CA_ROTOR2_PY -0.15 +param set-default CA_ROTOR2_KM -0.05 +param set-default CA_ROTOR2_TILT 3 +param set-default CA_ROTOR3_PX -0.15 +param set-default CA_ROTOR3_PY 0.15 +param set-default CA_ROTOR3_KM -0.05 +param set-default CA_ROTOR3_TILT 4 +param set-default CA_SV_CS_COUNT 4 +param set-default CA_SV_CS1_TRQ_R 0.5 +param set-default CA_SV_CS1_TYPE 2 +param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS2_TYPE 3 +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 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter b/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter index b3cc0d12245..06f650be357 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter +++ b/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter @@ -23,6 +23,20 @@ param set-default VT_ELEV_MC_LOCK 0 param set-default VT_MOT_COUNT 2 param set-default VT_TYPE 0 +param set-default CA_AIRFRAME 4 +param set-default CA_ROTOR_COUNT 2 +param set-default CA_ROTOR0_KM -0.05 +param set-default CA_ROTOR0_PY 0.2 +param set-default CA_ROTOR1_KM -0.05 +param set-default CA_ROTOR1_PY -0.2 +param set-default CA_SV_CS_COUNT 2 +param set-default CA_SV_CS0_TRQ_P 0.5 +param set-default CA_SV_CS0_TRQ_Y 0.5 +param set-default CA_SV_CS0_TYPE 5 +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 diff --git a/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane b/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane index 82744725038..99e53f618bb 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane +++ b/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane @@ -23,6 +23,18 @@ . ${R}etc/init.d/rc.fw_defaults +param set-default CA_AIRFRAME 1 +param set-default CA_ROTOR_COUNT 1 +param set-default CA_ROTOR0_PX 0.3 +param set-default CA_SV_CS_COUNT 4 +param set-default CA_SV_CS0_TRQ_R -0.5 +param set-default CA_SV_CS1_TRQ_R 0.5 +param set-default CA_SV_CS1_TYPE 2 +param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS2_TYPE 3 +param set-default CA_SV_CS3_TRQ_Y 1.0 +param set-default CA_SV_CS3_TYPE 4 + param set-default PWM_AUX_RATE 50 param set-default PWM_MAIN_RATE 50 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4001_quad_x b/ROMFS/px4fmu_common/init.d/airframes/4001_quad_x index aabc2b29cab..fa2fd6d9e9e 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4001_quad_x +++ b/ROMFS/px4fmu_common/init.d/airframes/4001_quad_x @@ -21,3 +21,16 @@ # . ${R}etc/init.d/rc.mc_defaults + +param set-default CA_ROTOR_COUNT 4 +param set-default CA_ROTOR0_PX 0.15 +param set-default CA_ROTOR0_PY 0.15 +param set-default CA_ROTOR1_PX -0.15 +param set-default CA_ROTOR1_PY -0.15 +param set-default CA_ROTOR2_PX 0.15 +param set-default CA_ROTOR2_PY -0.15 +param set-default CA_ROTOR2_KM -0.05 +param set-default CA_ROTOR3_PX -0.15 +param set-default CA_ROTOR3_PY 0.15 +param set-default CA_ROTOR3_KM -0.05 + diff --git a/ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x b/ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x index 893bb991c9f..bccd44fc9a8 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x +++ b/ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x @@ -23,6 +23,23 @@ . ${R}etc/init.d/rc.mc_defaults +param set-default CA_ROTOR_COUNT 6 +param set-default CA_ROTOR0_PX 0.0 +param set-default CA_ROTOR0_PY 0.5 +param set-default CA_ROTOR0_KM -0.05 +param set-default CA_ROTOR1_PX 0.0 +param set-default CA_ROTOR1_PY -0.5 +param set-default CA_ROTOR2_PX 0.43 +param set-default CA_ROTOR2_PY -0.25 +param set-default CA_ROTOR2_KM -0.05 +param set-default CA_ROTOR3_PX -0.43 +param set-default CA_ROTOR3_PY 0.25 +param set-default CA_ROTOR4_PX 0.43 +param set-default CA_ROTOR4_PY 0.25 +param set-default CA_ROTOR5_PX -0.43 +param set-default CA_ROTOR5_PY -0.25 +param set-default CA_ROTOR5_KM -0.05 + set MIXER hexa_x # Need to set all 8 channels diff --git a/ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+ b/ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+ index 8f9e6f7cf98..b95143a44bb 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+ +++ b/ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+ @@ -23,6 +23,23 @@ . ${R}etc/init.d/rc.mc_defaults +param set-default CA_ROTOR_COUNT 6 +param set-default CA_ROTOR0_PX 0.5 +param set-default CA_ROTOR0_PY 0.0 +param set-default CA_ROTOR0_KM -0.05 +param set-default CA_ROTOR1_PX -0.5 +param set-default CA_ROTOR1_PY 0.0 +param set-default CA_ROTOR2_PX -0.25 +param set-default CA_ROTOR2_PY -0.43 +param set-default CA_ROTOR2_KM -0.05 +param set-default CA_ROTOR3_PX 0.25 +param set-default CA_ROTOR3_PY 0.43 +param set-default CA_ROTOR4_PX 0.25 +param set-default CA_ROTOR4_PY -0.43 +param set-default CA_ROTOR5_PX -0.25 +param set-default CA_ROTOR5_PY 0.43 +param set-default CA_ROTOR5_KM -0.05 + set MIXER hexa_+ # Need to set all 8 channels diff --git a/ROMFS/px4fmu_common/init.d/airframes/8001_octo_x b/ROMFS/px4fmu_common/init.d/airframes/8001_octo_x index e69776f3149..02895522f7d 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/8001_octo_x +++ b/ROMFS/px4fmu_common/init.d/airframes/8001_octo_x @@ -25,6 +25,28 @@ . ${R}etc/init.d/rc.mc_defaults +param set-default CA_ROTOR_COUNT 8 +param set-default CA_ROTOR0_KM -0.05 +param set-default CA_ROTOR0_PX 0.46 +param set-default CA_ROTOR0_PY 0.19 +param set-default CA_ROTOR1_KM -0.05 +param set-default CA_ROTOR1_PX -0.46 +param set-default CA_ROTOR1_PY -0.19 +param set-default CA_ROTOR2_PX 0.19 +param set-default CA_ROTOR2_PY 0.46 +param set-default CA_ROTOR3_PX -0.46 +param set-default CA_ROTOR3_PY 0.19 +param set-default CA_ROTOR4_PX 0.46 +param set-default CA_ROTOR4_PY -0.19 +param set-default CA_ROTOR5_PX -0.19 +param set-default CA_ROTOR5_PY -0.46 +param set-default CA_ROTOR6_KM -0.05 +param set-default CA_ROTOR6_PX 0.19 +param set-default CA_ROTOR6_PY -0.46 +param set-default CA_ROTOR7_KM -0.05 +param set-default CA_ROTOR7_PX -0.19 +param set-default CA_ROTOR7_PY 0.46 + set MIXER octo_x set PWM_OUT 12345678