Minimize flash by migrating MIXER quad_x and PWM_OUT 1234 to rc.mc_defaults. Deprecate 4250_teal config file.

2026-05-22 14:24:21 +08:00 · 2021-10-12 10:43:57 -06:00
parent 8b37db7825
commit c1b0d78077
62 changed files with 9 additions and 328 deletions
@@ -18,7 +18,6 @@

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

-
 param set-default BAT1_N_CELLS 3

 param set-default FW_AIRSPD_MAX 20
@@ -40,7 +39,6 @@ param set-default FW_RR_P 0.3

 param set-default RWTO_TKOFF 1

-
 param set SYS_HITL 1

 # disable some checks to allow to fly
@@ -34,5 +34,3 @@ param set-default MC_PITCHRATE_D 0.0025
 param set-default MC_YAWRATE_P 0.28

 set MIXER quad_w
-
-set PWM_OUT 1234
@@ -23,7 +23,6 @@

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

-
 # TODO tune roll/pitch separately
 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_I 0.05
@@ -39,5 +38,3 @@ param set-default BAT1_V_DIV 12.27559
 param set-default BAT1_A_PER_V 15.39103

 set MIXER quad_w
-
-set PWM_OUT 1234
@@ -25,7 +25,6 @@

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

-
 param set-default BAT1_N_CELLS 4

 param set-default MC_ROLL_P 7
@@ -38,5 +37,3 @@ 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
-
-set PWM_OUT 1234
@@ -25,7 +25,6 @@

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

-
 param set-default BAT1_N_CELLS 6
 param set-default BAT1_V_EMPTY 3.5

@@ -42,5 +41,3 @@ param set-default MPC_XY_VEL_MAX 2
 param set-default PWM_MAIN_MIN 1080

 set MIXER quad_w
-
-set PWM_OUT 1234
@@ -12,7 +12,6 @@
 . ${R}etc/init.d/rc.mc_defaults

 set MIXER quad_x
-set PWM_OUT 1234

 param set SYS_HITL 1

@@ -22,11 +22,11 @@

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

-
 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
@@ -23,10 +23,8 @@

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

-
 param set-default PWM_AUX_DIS5 950

-
 param set-default MC_ROLL_P 6
 param set-default MC_ROLLRATE_P 0.17
 param set-default MC_ROLLRATE_I 0.002
@@ -26,7 +26,6 @@ param set-default MC_ROLLRATE_I 0.01
 param set-default MC_PITCHRATE_I 0.01
 param set-default MC_YAW_P 3.5

-
 param set-default MC_YAWRATE_MAX 50

 param set-default MPC_XY_P 0.8
@@ -13,7 +13,6 @@

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

-
 param set-default FW_AIRSPD_MAX   22
 param set-default FW_AIRSPD_MIN   14
 param set-default FW_AIRSPD_TRIM  16
@@ -68,7 +67,6 @@ param set-default PWM_AUX_REV4    1

 param set-default PWM_AUX_DIS5 950

-
 param set-default VT_ARSP_TRANS   15
 param set-default VT_F_TRANS_THR    0.6
 param set-default VT_IDLE_PWM_MC 1180
@@ -13,7 +13,6 @@

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

-
 param set-default PWM_AUX_DISARM 1000
 param set-default PWM_AUX_MAX 2000
 param set-default PWM_AUX_MIN 1000
@@ -22,7 +22,6 @@

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

-
 param set-default CBRK_AIRSPD_CHK 162128

 param set-default FW_ARSP_MODE 1
@@ -22,7 +22,6 @@

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

-
 param set-default BAT1_CAPACITY 23000
 param set-default BAT1_N_CELLS 4
 param set-default BAT1_R_INTERNAL 0.0025
@@ -22,7 +22,6 @@

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

-
 param set-default BAT1_N_CELLS 6

 param set-default FW_AIRSPD_MAX 30
@@ -26,8 +26,6 @@

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

-
-
 param set-default VT_IDLE_PWM_MC 1100
 param set-default VT_TYPE 1
 param set-default VT_MOT_ID 1234
@@ -25,7 +25,6 @@

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

-
 param set-default PWM_AUX_DIS5 950

 param set-default VT_TYPE 2
@@ -18,7 +18,6 @@

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

-
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_COUNT 2
 param set-default VT_TYPE 0
@@ -19,5 +19,3 @@
 . ${R}etc/init.d/rc.mc_defaults

 set MIXER tri_y_yaw+
-
-set PWM_OUT 1234
@@ -19,5 +19,3 @@
 . ${R}etc/init.d/rc.mc_defaults

 set MIXER tri_y_yaw-
-
-set PWM_OUT 1234
@@ -19,7 +19,6 @@
 . ${R}etc/init.d/rc.mc_defaults
 set MIXER coax

-
 param set-default MC_ROLLRATE_P 0.17
 param set-default MC_ROLLRATE_I 0.05
 param set-default MC_ROLLRATE_D 0.005
@@ -41,5 +40,4 @@ param set-default RTL_DESCEND_ALT 10
 set MIXER_AUX pass

 # use PWM parameters for throttle channel
-set PWM_AUX_OUT 1234
 set PWM_OUT 34
@@ -24,8 +24,7 @@ set MAV_TYPE 4

 set MIXER blade130

-#set PWM_OUT 1234
-
+set PWM_OUT none

 param set-default ATT_BIAS_MAX 0

@@ -15,7 +15,6 @@

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

-
 param set-default COM_PREARM_MODE 2  # always in prearm state
 param set-default CBRK_IO_SAFETY 22027
 param set-default SDLOG_PROFILE 17
@@ -28,6 +27,5 @@ 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
@@ -28,7 +28,6 @@

 set VEHICLE_TYPE mc

-
 param set-default NAV_ACC_RAD 2

 param set-default PWM_AUX_RATE 400
@@ -18,6 +18,5 @@
 param set-default COM_PREARM_MODE 2
 param set-default CBRK_IO_SAFETY 22027

-
 set MIXER cloudship
 set PWM_OUT 1234
@@ -37,5 +37,4 @@ param set-default FW_PR_FF 0.35
 param set-default FW_RR_FF 0.6
 param set-default FW_RR_P 0.04

-
 set MIXER fw_generic_wing
@@ -41,7 +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

@@ -21,7 +21,6 @@

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

-
 param set-default FW_AIRSPD_MAX 25
 param set-default FW_AIRSPD_MIN 12.5
 param set-default FW_AIRSPD_TRIM 16.5
@@ -21,7 +21,3 @@
 #

 . ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-
-set PWM_OUT 1234
@@ -13,10 +13,6 @@

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

-set MIXER quad_x
-set PWM_OUT 1234
-
-
 param set-default MC_ROLL_P 8
 param set-default MC_ROLLRATE_P 0.08
 param set-default MC_ROLLRATE_I 0.16
@@ -13,10 +13,6 @@

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

-set MIXER quad_x
-set PWM_OUT 1234
-
-
 param set-default ATT_BIAS_MAX 0

 param set-default CBRK_IO_SAFETY 22027
@@ -11,9 +11,6 @@

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

-set MIXER quad_x
-set PWM_OUT 1234
-
 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_I 0.05
 param set-default MC_PITCH_P 7
@@ -10,9 +10,6 @@

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

-set MIXER quad_x
-set PWM_OUT 1234
-
 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_I 0.05
 param set-default MC_PITCH_P 7
@@ -13,10 +13,6 @@

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

-set MIXER quad_x
-set PWM_OUT 1234
-
-
 param set-default MC_ROLLRATE_P 0.18
 param set-default MC_PITCHRATE_P 0.18
 param set-default MC_ROLLRATE_I 0.15
@@ -13,10 +13,6 @@

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

-set MIXER quad_x
-set PWM_OUT 1234
-
-
 param set-default IMU_GYRO_CUTOFF 30

 param set-default MC_ROLLRATE_P 0.14
@@ -16,10 +16,6 @@

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

-set MIXER quad_x
-set PWM_OUT 1234
-
-
 # System parameters
 # use FMU motor outputs for less delay in the rate control loop
 param set-default SYS_USE_IO 0
@@ -18,9 +18,6 @@

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

-set MIXER quad_x
-set PWM_OUT 1234
-
 param set-default IMU_DGYRO_CUTOFF 20

 param set-default MC_ROLLRATE_P 0.18
@@ -13,6 +13,7 @@
 . ${R}etc/init.d/rc.mc_defaults
 . ${R}etc/init.d/rc.ctrlalloc

+set MIXER none

 param set-default MPC_USE_HTE 0

@@ -50,7 +51,5 @@ param set-default CA_MC_R3_CT 6.5
 param set-default CA_MC_R3_KM -0.05

 set MIXER direct
-set PWM_OUT 1234

 set MIXER_AUX direct_aux
-set PWM_AUX_OUT 1234
@@ -18,7 +18,6 @@

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

-
 # tuning
 param set-default MC_PITCHRATE_P    0.11
 param set-default MC_ROLLRATE_P     0.11
@@ -83,7 +82,5 @@ param set-default RC5_TRIM          1500
 param set-default MAV_0_RATE 80000
 param set-default MAV_0_MODE 2
 param set-default SER_TEL1_BAUD 921600
-set MIXER quad_x

-set PWM_OUT 1234
 set MIXER_AUX none
@@ -13,9 +13,6 @@

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

-set MIXER quad_x
-set PWM_OUT 1234
-
 param set-default MC_ROLLRATE_P 0.14
 param set-default MC_ROLLRATE_I 0.1
 param set-default MC_ROLLRATE_D 0.004
@@ -42,8 +42,4 @@ param set-default RTL_DESCEND_ALT 10

 set MIXER quad_h

-set PWM_OUT 1234
-
 set MIXER_AUX pass
-
-set PWM_AUX_OUT 1234
@@ -23,7 +23,6 @@

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

-
 param set-default CBRK_SUPPLY_CHK 894281
 param set-default CBRK_USB_CHK 197848

@@ -57,5 +56,3 @@ param set-default SYS_HAS_MAG 0
 param set-default BAT1_N_CELLS 2
 # The Whoop uses reversed props
 set MIXER quad_h
-set PWM_OUT 1234
-
@@ -12,10 +12,6 @@

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

-set MIXER quad_x
-set PWM_OUT 1234
-
-
 param set-default MC_ROLL_P 8
 param set-default MC_ROLLRATE_P 0.08
 param set-default MC_ROLLRATE_I 0.25
@@ -23,11 +23,9 @@
 . ${R}etc/init.d/rc.mc_defaults

 set MIXER quad_s250aq
+
 set MAV_TYPE 2

-set PWM_OUT 1234
-
-
 param set-default ATT_BIAS_MAX 0

 param set-default CBRK_IO_SAFETY 22027
@@ -15,10 +15,6 @@

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

-set MIXER quad_x
-set PWM_OUT 1234
-
-
 # The set does not include a battery, but most people will probably use 4S
 param set-default BAT1_N_CELLS 4

@@ -13,10 +13,6 @@

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

-set MIXER quad_x
-set PWM_OUT 1234
-
-
 param set-default BAT1_N_CELLS 4

 param set-default GPS_1_CONFIG 0
@@ -13,10 +13,6 @@

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

-set MIXER quad_x
-set PWM_OUT 1234
-
-
 param set-default BAT1_N_CELLS 6

 param set-default MC_ROLLRATE_P 0.05
@@ -19,7 +19,6 @@
 set MIXER none
 set MIXER_AUX none

-
 # Battery settings
 param set-default BAT_CRIT_THR 0.20
 param set-default BAT_LOW_THR 0.25
@@ -28,10 +28,8 @@ set PWM_OUT 1234

 # Attitude & rate gains
 param set-default MC_ROLLRATE_D 0.0013
-
 param set-default MC_PITCHRATE_D 0.0016

-
 param set-default MC_YAW_FF 0.5

 param set-default MPC_MANTHR_MAX 0.9
@@ -22,10 +22,6 @@

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

-set MIXER quad_x
-set PWM_OUT 1234
-
-
 # use the Q attitude estimator, it works w/o mag or GPS.
 param set-default SYS_MC_EST_GROUP 3
 param set-default ATT_ACC_COMP 0
@@ -17,10 +17,6 @@

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

-set MIXER quad_x
-set PWM_OUT 1234
-
-
 param set-default BAT1_N_CELLS 1

 param set-default MC_ROLL_P 8
--- a/Show More
+++ b/Show More