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Rotorcraft static ap add option to use failsafe throttle setting (#3453)

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This commit is contained in:
NoahWe
2025-04-29 12:59:11 +02:00
committed by GitHub
parent c18137ac49
commit 4aa83b108f
9 changed files with 35 additions and 2 deletions
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conf/airframes/tudelft/rotwing_7kg_common.xml
+9 -1
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@@ -2,7 +2,15 @@
<airframe>
<section name="CTRL_EFF_SHED" prefix="ROTWING_EFF_SCHED_">
<section name="AP_FAILSAFE">
<!-- <define name="NO_GPS_LOST_WITH_DATALINK_TIME" value="20"/> --> <!-- Only commented out for navy testing -->
<define name="NO_GPS_LOST_WITH_RC_VALID" value="FALSE"/> <!-- Set to FALSE for navy testing -->
<define name="RC_LOST_MODE" value="AP_MODE_NAV"/>
<define name="GPS_FIX_TIMEOUT" value="5"/>
<define name="FAILSAFE_DESCENT_SPEED" value="1.0"/> <!-- Does not work as expected with AP static -->
</section>
<section name="CTRL_EFF_SCHED" prefix="ROTWING_EFF_SCHED_">
<define name="IXX_BODY" value="0.04780"/>
<define name="IYY_BODY" value="0.7546"/>
<define name="IZZ" value="0.9752"/>
conf/airframes/tudelft/rotwing_v3b.xml
+3
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@@ -242,6 +242,9 @@
</section>
<section name="CALIBRATION">
<!-- Throttle value in AP_MODE_FAILSAFE -->
<define name="FAILSAFE_THROTTLE" value="5800"/>
<!-- Voltage and current measurements -->
<define name="VoltageOfAdc(adc)" value="((3.3f/65536.0f) * 11.98389 * adc)"/>
<define name="VBoardOfAdc(adc)" value="((3.3f/65536.0f) * 1.89036 * adc)"/>
conf/airframes/tudelft/rotwing_v3d.xml
+3
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@@ -236,6 +236,9 @@
</section>
<section name="CALIBRATION">
<!-- Throttle value in AP_MODE_FAILSAFE -->
<define name="FAILSAFE_THROTTLE" value="5300"/>
<!-- Voltage and current measurements -->
<define name="VoltageOfAdc(adc)" value="((3.3f/65536.0f) * 11.98389 * adc)"/>
<define name="VBoardOfAdc(adc)" value="((3.3f/65536.0f) * 1.89036 * adc)"/>
conf/airframes/tudelft/rotwing_v3e.xml
+3
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@@ -236,6 +236,9 @@
</section>
<section name="CALIBRATION">
<!-- Throttle value in AP_MODE_FAILSAFE -->
<define name="FAILSAFE_THROTTLE" value="5300"/>
<!-- Voltage and current measurements -->
<define name="VoltageOfAdc(adc)" value="((3.3f/65536.0f) * 11.98389 * adc)"/>
<define name="VBoardOfAdc(adc)" value="((3.3f/65536.0f) * 1.89036 * adc)"/>
conf/airframes/tudelft/rotwing_v3f.xml
+3
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@@ -234,6 +234,9 @@
</section>
<section name="CALIBRATION">
<!-- Throttle value in AP_MODE_FAILSAFE -->
<define name="FAILSAFE_THROTTLE" value="5300"/>
<!-- Voltage and current measurements -->
<define name="VoltageOfAdc(adc)" value="((3.3f/65536.0f) * 11.98389 * adc)"/>
<define name="VBoardOfAdc(adc)" value="((3.3f/65536.0f) * 1.89036 * adc)"/>
conf/airframes/tudelft/rotwing_v3g.xml
+3
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@@ -236,6 +236,9 @@
</section>
<section name="CALIBRATION">
<!-- Throttle value in AP_MODE_FAILSAFE -->
<define name="FAILSAFE_THROTTLE" value="5300"/>
<!-- Voltage and current measurements -->
<define name="VoltageOfAdc(adc)" value="((3.3f/65536.0f) * 11.98389 * adc)"/>
<define name="VBoardOfAdc(adc)" value="((3.3f/65536.0f) * 1.89036 * adc)"/>
conf/airframes/tudelft/rotwing_v3h.xml
+3
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@@ -236,6 +236,9 @@
</section>
<section name="CALIBRATION">
<!-- Throttle value in AP_MODE_FAILSAFE -->
<define name="FAILSAFE_THROTTLE" value="5300"/>
<!-- Voltage and current measurements -->
<define name="VoltageOfAdc(adc)" value="((3.3f/65536.0f) * 11.98389 * adc)"/>
<define name="VBoardOfAdc(adc)" value="((3.3f/65536.0f) * 1.89036 * adc)"/>