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# Contributor Covenant Code of Conduct
## Our Pledge
In the interest of fostering an open and welcoming environment, we as contributors and maintainers pledge to making participation in our project and our community a harassment-free experience for everyone, regardless of age, body size, disability, ethnicity, gender identity and expression, level of experience, nationality, personal appearance, race, religion, or sexual identity and orientation.
## Our Standards
Examples of behavior that contributes to creating a positive environment include:
* Using welcoming and inclusive language
* Being respectful of differing viewpoints and experiences
* Gracefully accepting constructive criticism
* Focusing on what is best for the community
* Showing empathy towards other community members
Examples of unacceptable behavior by participants include:
* The use of sexualized language or imagery and unwelcome sexual attention or advances
* Trolling, insulting/derogatory comments, and personal or political attacks
* Public or private harassment
* Publishing others' private information, such as a physical or electronic address, without explicit permission
* Other conduct which could reasonably be considered inappropriate in a professional setting
## Our Responsibilities
Project maintainers are responsible for clarifying the standards of acceptable behavior and are expected to take appropriate and fair corrective action in response to any instances of unacceptable behavior.
Project maintainers have the right and responsibility to remove, edit, or reject comments, commits, code, wiki edits, issues, and other contributions that are not aligned to this Code of Conduct, or to ban temporarily or permanently any contributor for other behaviors that they deem inappropriate, threatening, offensive, or harmful.
## Scope
This Code of Conduct applies both within project spaces and in public spaces when an individual is representing the project or its community. Examples of representing a project or community include using an official project e-mail address, posting via an official social media account, or acting as an appointed representative at an online or offline event. Representation of a project may be further defined and clarified by project maintainers.
## Enforcement
Instances of abusive, harassing, or otherwise unacceptable behavior may be reported by contacting the project team at lorenz@px4.io. The project team will review and investigate all complaints, and will respond in a way that it deems appropriate to the circumstances. The project team is obligated to maintain confidentiality with regard to the reporter of an incident. Further details of specific enforcement policies may be posted separately.
Project maintainers who do not follow or enforce the Code of Conduct in good faith may face temporary or permanent repercussions as determined by other members of the project's leadership.
## Attribution
This Code of Conduct is adapted from the [Contributor Covenant][homepage], version 1.4, available at [http://contributor-covenant.org/version/1/4][version]
[homepage]: http://contributor-covenant.org
[version]: http://contributor-covenant.org/version/1/4/
# Contributing to PX4 Firmware
We follow the [Github flow](https://guides.github.com/introduction/flow/) development model.
### Fork the project, then clone your repo
First [fork and clone](https://help.github.com/articles/fork-a-repo) the project project.
### Create a feature branch
*Always* branch off master for new features.
```
git checkout -b mydescriptivebranchname
```
### Edit and build the code
The [developer guide](http://dev.px4.io/) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](https://dev.px4.io/master/en/contribute/code.html) when editing files.
### Commit your changes
Always write descriptive commit messages and add a fixes or relates note to them with an [issue number](https://github.com/px4/Firmware/issues) (Github will link these then conveniently)
**Example:**
```
Change how the attitude controller works
- Fixes rate feed forward
- Allows a local body rate override
Fixes issue #123
```
### Test your changes
Since we care about safety, we will regularly ask you for test results. Best is to do a test flight (or bench test where it applies) and upload the logfile from it (on the microSD card in the logs directory) to Google Drive or Dropbox and share the link.
### Push your changes
Push changes to your repo and send a [pull request](https://github.com/PX4/Firmware/compare/).
Make sure to provide some testing feedback and if possible the link to a flight log file. Upload flight log files to [Flight Review](http://logs.px4.io) and link the resulting report.
## This file should be placed in the root directory of your project.
## Then modify the CMakeLists.txt file in the root directory of your
## project to incorporate the testing dashboard.
##
## # The following are required to submit to the CDash dashboard:
## ENABLE_TESTING()
## INCLUDE(CTest)
set(CTEST_PROJECT_NAME "PX4 Firmware")
set(CTEST_NIGHTLY_START_TIME "00:00:00 EST")
set(CTEST_DROP_METHOD "http")
set(CTEST_DROP_SITE "my.cdash.org")
set(CTEST_DROP_LOCATION "/submit.php?project=PX4+Firmware")
set(CTEST_DROP_SITE_CDASH TRUE)
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{
"folders":
[
{
"path": ".",
"file_exclude_patterns":
[
"*.o",
"*.a",
"*.d",
".built",
".context",
".depend",
".config",
".version",
"Make.dep",
".configured",
"*.sublime-project",
"*.sublime-workspace",
".project",
".cproject",
"cscope.out"
],
"folder_exclude_patterns":
[
".settings",
"nuttx/arch/arm/src/board",
"nuttx/arch/arm/src/chip",
"build_*"
]
}
],
"settings":
{
"tab_size": 8,
"translate_tabs_to_spaces": false,
"highlight_line": true,
"AStyleFormatter":
{
"options_c":
{
"use_only_additional_options": true,
"additional_options_file": "${project_path}/Tools/astyle/astylerc"
},
"options_c++":
{
"use_only_additional_options": true,
"additional_options_file": "${project_path}/Tools/astyle/astylerc"
}
}
},
"build_systems":
[
{
"name": "PX4: make all",
"working_dir": "${project_path}",
"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
"cmd": ["make"],
"shell": true
},
{
"name": "PX4: make and upload",
"working_dir": "${project_path}",
"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
"cmd": ["make upload px4_fmu-v2_default -j8"],
"shell": true
},
{
"name": "PX4: make posix",
"working_dir": "${project_path}",
"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
"cmd": ["make posix"],
"shell": true
},
{
"name": "MindPX_V2: make and upload",
"working_dir": "${project_path}",
"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
"cmd": ["make upload mindpx-v2_default -j8"],
"shell": true
}
]
}
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BSD 3-Clause License
Copyright (c) 2012 - 2021, PX4 Development Team
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
* Neither the name of the copyright holder nor the names of its
contributors may be used to endorse or promote products derived from
this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
This diff is collapsed. Click to expand it.
Please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/) to align on pull requests if necessary. You can then open draft pull requests to get early feedback.
**Describe problem solved by this pull request**
A clear and concise description of the problem this proposed change will solve.
E.g. For this use case I ran into...
**Describe your solution**
A clear and concise description of what you have implemented.
**Describe possible alternatives**
A clear and concise description of alternative solutions or features you've considered.
**Test data / coverage**
How was it tested? What cases were covered? Logs uploaded to https://review.px4.io/ and screenshots of the important plot parts.
**Additional context**
Add any other related context or media.
# PX4 Drone Autopilot
[![Releases](https://img.shields.io/github/release/PX4/PX4-Autopilot.svg)](https://github.com/PX4/PX4-Autopilot/releases) [![DOI](https://zenodo.org/badge/22634/PX4/PX4-Autopilot.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/PX4-Autopilot)
[![Nuttx Targets](https://github.com/PX4/PX4-Autopilot/workflows/Nuttx%20Targets/badge.svg)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22Nuttx+Targets%22?branch=master) [![SITL Tests](https://github.com/PX4/PX4-Autopilot/workflows/SITL%20Tests/badge.svg?branch=master)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22SITL+Tests%22)
[![Slack](https://px4-slack.herokuapp.com/badge.svg)](http://slack.px4.io)
This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
PX4 is highly portable, OS-independent and supports Linux, NuttX and QuRT out of the box.
* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/master/LICENSE))
* [Supported airframes](https://docs.px4.io/master/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
* [Multicopters](https://docs.px4.io/master/en/frames_multicopter/)
* [Fixed wing](https://docs.px4.io/master/en/frames_plane/)
* [VTOL](https://docs.px4.io/master/en/frames_vtol/)
* [Autogyro](https://docs.px4.io/master/en/frames_autogyro/)
* [Rover](https://docs.px4.io/master/en/frames_rover/)
* many more experimental types (Blimps, Boats, Submarines, High altitude balloons, etc)
* Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)
## Building a PX4 based drone, rover, boat or robot
The [PX4 User Guide](https://docs.px4.io/master/en/) explains how to assemble [supported vehicles](https://docs.px4.io/master/en/airframes/airframe_reference.html) and fly drones with PX4.
See the [forum and chat](https://docs.px4.io/master/en/#support) if you need help!
## Changing code and contributing
This [Developer Guide](https://docs.px4.io/master/en/development/development.html) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
Developers should read the [Guide for Contributions](https://docs.px4.io/master/en/contribute/).
See the [forum and chat](https://dev.px4.io/master/en/#support) if you need help!
### Weekly Dev Call
The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/contribute/#dev_call).
> **Note** The dev call is open to all interested developers (not just the core dev team). This is a great opportunity to meet the team and contribute to the ongoing development of the platform. It includes a QA session for newcomers. All regular calls are listed in the [Dronecode calendar](https://www.dronecode.org/calendar/).
## Maintenance Team
* Project: Founder
* [Lorenz Meier](https://github.com/LorenzMeier)
* Architecture
* [Daniel Agar](https://github.com/dagar)
* [Dev Call](https://github.com/PX4/PX4-Autopilot/labels/devcall)
* [Ramon Roche](https://github.com/mrpollo)
* Communication Architecture
* [Beat Kueng](https://github.com/bkueng)
* [Julian Oes](https://github.com/JulianOes)
* UI in QGroundControl
* [Gus Grubba](https://github.com/dogmaphobic)
* [Multicopter Flight Control](https://github.com/PX4/PX4-Autopilot/labels/multicopter)
* [Mathieu Bresciani](https://github.com/bresch)
* [Multicopter Software Architecture](https://github.com/PX4/PX4-Autopilot/labels/multicopter)
* [Matthias Grob](https://github.com/MaEtUgR)
* [VTOL Flight Control](https://github.com/PX4/PX4-Autopilot/labels/vtol)
* [Roman Bapst](https://github.com/RomanBapst)
* [Fixed Wing Flight Control](https://github.com/PX4/PX4-Autopilot/labels/fixedwing)
* [Roman Bapst](https://github.com/RomanBapst)
* OS / NuttX
* [David Sidrane](https://github.com/davids5)
* Driver Architecture
* [Daniel Agar](https://github.com/dagar)
* Commander Architecture
* [Julian Oes](https://github.com/julianoes)
* [UAVCAN](https://github.com/PX4/PX4-Autopilot/labels/uavcan)
* [Daniel Agar](https://github.com/dagar)
* [State Estimation](https://github.com/PX4/PX4-Autopilot/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22)
* [Paul Riseborough](https://github.com/priseborough)
* Vision based navigation and Obstacle Avoidance
* [Markus Achtelik](https://github.com/markusachtelik)
* RTPS/ROS2 Interface
* [Nuno Marques](https://github.com/TSC21)
See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github).
## Supported Hardware
This repository contains code supporting Pixhawk standard boards (best supported, best tested, recommended choice) and proprietary boards.
### Pixhawk Standard Boards
* FMUv6X and FMUv6U (STM32H7, 2021)
* Various vendors will provide FMUv6X and FMUv6U based designs Q3/2021
* FMUv5 and FMUv5X (STM32F7, 2019/20)
* [Pixhawk 4 (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
* [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
* [CUAV V5+ (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
* [CUAV V5 nano (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
* [Auterion Skynode (FMUv5X)](https://docs.px4.io/master/en/flight_controller/auterion_skynode.html)
* FMUv4 (STM32F4, 2015)
* [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html)
* [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html)
* FMUv3 (STM32F4, 2014)
* [Pixhawk 2](https://docs.px4.io/master/en/flight_controller/pixhawk-2.html)
* [Pixhawk Mini](https://docs.px4.io/master/en/flight_controller/pixhawk_mini.html)
* [CUAV Pixhack v3](https://docs.px4.io/master/en/flight_controller/pixhack_v3.html)
* FMUv2 (STM32F4, 2013)
* [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
* [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)
### Manufacturer and Community supported
* [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html)
* [Hex Cube Orange](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_orange.html)
* [Hex Cube Yellow](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_yellow.html)
* [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
* [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
* [Bitcraze Crazyflie 2.0](https://docs.px4.io/master/en/flight_controller/crazyflie2.html)
* [Omnibus F4 SD](https://docs.px4.io/master/en/flight_controller/omnibus_f4_sd.html)
* [Holybro Kakute F7](https://docs.px4.io/master/en/flight_controller/kakutef7.html)
* [Raspberry PI with Navio 2](https://docs.px4.io/master/en/flight_controller/raspberry_pi_navio2.html)
Additional information about supported hardware can be found in [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/master/en/flight_controller/).
## Project Roadmap
A high level project roadmap is available [here](https://github.com/orgs/PX4/projects/25).
This diff is collapsed. Click to expand it.
############################################################################
#
# Copyright (c) 2020 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
add_subdirectory(init.d)
############################################################################
#
# Copyright (c) 2020 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_romfs_files(
rcS
)
#!/bin/sh
# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
set +e
# Un comment the line below to help debug scripts by printing a trace of the script commands
#set -x
# PX4FMU startup script.
#
# NOTE: environment variable references:
# If the dollar sign ('$') is followed by a left bracket ('{') then the
# variable name is terminated with the right bracket character ('}').
# Otherwise, the variable name goes to the end of the argument.
#
#
# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
#
#------------------------------------------------------------------------------
set R /
#
# Mount the procfs.
#
mount -t procfs /proc
#
# Start CDC/ACM serial driver.
#
sercon
#
# Print full system version.
#
ver all
if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
then
set PARAM_FILE /fs/mtd_params
fi
if mft query -q -k MTD -s MTD_PARAMETERS -v /dev/eeeprom0
then
set PARAM_FILE /dev/eeeprom0
fi
#
# Load parameters.
#
param select $PARAM_FILE
if ! param load
then
param reset_all
fi
#
# Optional board architecture defaults: rc.board_arch_defaults
#
set BOARD_ARCH_RC_DEFAULTS ${R}etc/init.d/rc.board_arch_defaults
if [ -f $BOARD_ARCH_RC_DEFAULTS ]
then
echo "Board architecture defaults: ${BOARD_ARCH_RC_DEFAULTS}"
. $BOARD_ARCH_RC_DEFAULTS
fi
unset BOARD_ARCH_RC_DEFAULTS
#
# Optional board defaults: rc.board_defaults
#
set BOARD_RC_DEFAULTS ${R}etc/init.d/rc.board_defaults
if [ -f $BOARD_RC_DEFAULTS ]
then
echo "Board defaults: ${BOARD_RC_DEFAULTS}"
. $BOARD_RC_DEFAULTS
fi
unset BOARD_RC_DEFAULTS
#
# Start system state indicator.
#
rgbled start -X -q
rgbled_ncp5623c start -X -q
#
# board sensors: rc.sensors
#
set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors
if [ -f $BOARD_RC_SENSORS ]
then
echo "Board sensors: ${BOARD_RC_SENSORS}"
. $BOARD_RC_SENSORS
fi
unset BOARD_RC_SENSORS
#
# Start UART/Serial device drivers.
# Note: rc.serial is auto-generated from Tools/serial/generate_config.py
#
. ${R}etc/init.d/rc.serial
# Check for flow sensor
if param compare SENS_EN_PX4FLOW 1
then
px4flow start -X
fi
uavcannode start
unset R
############################################################################
#
# Copyright (c) 2018 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
add_subdirectory(init.d)
add_subdirectory(mixers)
# TODO: make this configurable from the board config, or better combine
if("${PX4_BOARD}" MATCHES "sitl")
add_subdirectory(mixers-sitl)
add_subdirectory(init.d-posix)
endif()
############################################################################
#
# Copyright (c) 2020 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
add_subdirectory(airframes)
px4_add_romfs_files(
px4-rc.params
px4-rc.simulator
px4-rc.mavlink
rc.replay
rcS
)
#!/bin/sh
#
# @name 3DR Iris Quadrotor SITL
#
# @type Quadrotor Wide
#
# @maintainer Julian Oes <julian@oes.ch>
#
. ${R}etc/init.d/rc.mc_defaults
set MIXER quad_w
#!/bin/sh
#
# @name 3DR Iris Quadrotor SITL
#
# @type Quadrotor Wide
#
# @maintainer Julian Oes <julian@oes.ch>
#
. ${R}etc/init.d/rc.mc_defaults
. ${R}etc/init.d/rc.ctrlalloc
param set-default MPC_USE_HTE 0
param set-default VM_MASS 1.5
param set-default VM_INERTIA_XX 0.03
param set-default VM_INERTIA_YY 0.03
param set-default VM_INERTIA_ZZ 0.05
param set-default CA_AIRFRAME 0
param set-default CA_METHOD 1
param set-default CA_ACT0_MIN 0.0
param set-default CA_ACT1_MIN 0.0
param set-default CA_ACT2_MIN 0.0
param set-default CA_ACT3_MIN 0.0
param set-default CA_ACT0_MAX 1.0
param set-default CA_ACT1_MAX 1.0
param set-default CA_ACT2_MAX 1.0
param set-default CA_ACT3_MAX 1.0
param set-default CA_MC_R0_PX 0.1515
param set-default CA_MC_R0_PY 0.245
param set-default CA_MC_R0_CT 6.5
param set-default CA_MC_R0_KM 0.05
param set-default CA_MC_R1_PX -0.1515
param set-default CA_MC_R1_PY -0.1875
param set-default CA_MC_R1_CT 6.5
param set-default CA_MC_R1_KM 0.05
param set-default CA_MC_R2_PX 0.1515
param set-default CA_MC_R2_PY -0.245
param set-default CA_MC_R2_CT 6.5
param set-default CA_MC_R2_KM -0.05
param set-default CA_MC_R3_PX -0.1515
param set-default CA_MC_R3_PY 0.1875
param set-default CA_MC_R3_CT 6.5
param set-default CA_MC_R3_KM -0.05
set MIXER direct
#!/bin/sh
#
# @name 3DR Iris Quadrotor SITL (foggy_lidar)
#
# @type Quadrotor Wide
#
. ${R}etc/init.d-posix/airframes/10016_iris
param set-default EKF2_RNG_AID 1
param set-default EKF2_RNG_A_HMAX 10
#!/bin/sh
#
# @name IF750A SITL
# InspiredFlight 750 Auterion edition. Gazebo Only.
#
# @type Quadrotor
#
. ${R}etc/init.d/rc.mc_defaults
# EKF2: Multi GPS blending (as the model has 2 GPS's)
param set-default SENS_GPS_MASK 7
param set-default TRIG_INTERFACE 3
param set-default TRIG_MODE 4
param set-default MNT_MODE_IN 4
param set-default MNT_MODE_OUT 2
param set-default MNT_DO_STAB 2
set MIXER quad_x
#!/bin/sh
#
# @name PX4Vision SITL
# Holybro px4vision. Gazebo Only.
#
# @type Quadrotor
#
. ${R}etc/init.d/airframes/4016_holybro_px4vision
set MIXER quad_x
#!/bin/sh
#
# @name 3DR Iris Quadrotor SITL (Optical Flow)
#
# @type Quadrotor Wide
#
. ${R}etc/init.d-posix/airframes/10016_iris
# EKF2
param set-default EKF2_AID_MASK 2
param set-default EKF2_EVP_NOISE 0.05
param set-default EKF2_EVA_NOISE 0.05
# LPE: Flow-only mode
param set-default LPE_FUSION 242
param set-default LPE_FAKE_ORIGIN 1
param set-default MPC_ALT_MODE 2
# shellcheck disable=SC2154
mavlink stream -r 50 -s DISTANCE_SENSOR -u $udp_gcs_port_local
#!/bin/sh
#
# @name 3DR Iris Quadrotor SITL (irlock)
#
# @type Quadrotor Wide
#
. ${R}etc/init.d-posix/airframes/10016_iris
# enable fusion of landing target velocity
param set-default LTEST_MODE 1
param set-default PLD_HACC_RAD 0.1
# Start up Landing Target Estimator module
landing_target_estimator start
#!/bin/sh
#
# @name 3DR Iris Quadrotor SITL (rplidar)
#
# @type Quadrotor Wide
#
. ${R}etc/init.d-posix/airframes/10016_iris
param set-default LPE_FUSION 242
#!/bin/sh
#
# @name 3DR Iris Quadrotor SITL (Vision)
#
# @type Quadrotor Wide
#
. ${R}etc/init.d-posix/airframes/10016_iris
# EKF2: Vision position and heading
param set-default EKF2_AID_MASK 24
param set-default EKF2_EV_DELAY 5
# LPE: Vision + baro
param set-default LPE_FUSION 132
# AEQ: External heading set to use vision input
param set-default ATT_EXT_HDG_M 1
# shellcheck disable=SC2154
mavlink stream -r 30 -s ODOMETRY -u $udp_gcs_port_local
#!/bin/sh
#
# @name Solo
#
# @type Quadrotor
#
. ${R}etc/init.d/rc.mc_defaults
param set-default MC_PITCHRATE_P 0.1
param set-default MC_ROLLRATE_P 0.1
set MIXER quad_x
#!/bin/sh
#
# @name 3DR Iris Quadrotor SITL (Obstacle Avoidance)
#
# @type Quadrotor Wide
#
. ${R}etc/init.d-posix/airframes/10016_iris
param set-default COM_OBS_AVOID 1
param set-default MPC_XY_CRUISE 5.0
# shellcheck disable=SC2154
mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 -p # add mavlink stream for SDK
#!/bin/sh
#
# @name 3DR Iris Quadrotor SITL (RTPS)
#
# @type Quadrotor Wide
#
. ${R}etc/init.d-posix/airframes/10016_iris
#!/bin/sh
# shellcheck disable=SC2154
micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
#!/bin/sh
#
# @name 3DR Iris Quadrotor SITL (Optical Flow)
#
# @type Quadrotor Wide
#
. ${R}etc/init.d-posix/airframes/10016_iris
# EKF2
param set-default EKF2_AID_MASK 2
param set-default SENS_FLOW_ROT 0
# LPE: Flow-only mode
param set-default LPE_FUSION 242
param set-default LPE_FAKE_ORIGIN 1
param set-default MPC_ALT_MODE 2
#!/bin/sh
#
# @name 3DR Iris Quadrotor SITL (Vision Velocity)
#
# @type Quadrotor Wide
#
. ${R}etc/init.d-posix/airframes/10016_iris
# EKF2: Vision velocity and heading
param set-default EKF2_AID_MASK 272
param set-default EKF2_EV_DELAY 5
#!/bin/sh
#
# @name 3DR Iris Quadrotor SITL (Dual GPS)
#
# @type Quadrotor Wide
#
. ${R}etc/init.d-posix/airframes/10016_iris
# EKF2: Multi GPS blending
param set-default SENS_GPS_MASK 7
#!/bin/sh
#
# @name UUV
#
. ${R}etc/init.d/rc.uuv_defaults
#Set data link loss failsafe mode (0: disabled)
param set-default NAV_DLL_ACT 0
# disable circuit breaker for airspeed sensor
param set-default CBRK_AIRSPD_CHK 162128
#param set CBRK_GPSFAIL 240024
set MAV_TYPE 12
param set MAV_TYPE ${MAV_TYPE}
set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
set MIXER custom
#!/bin/sh
#
# @name Hippocampus UUV
#
. ${R}etc/init.d/rc.uuv_defaults
#Set data link loss failsafe mode (0: disabled)
param set-default NAV_DLL_ACT 0
# disable circuit breaker for airspeed sensor
param set-default CBRK_AIRSPD_CHK 162128
#param set CBRK_GPSFAIL 240024
set MAV_TYPE 12
param set MAV_TYPE ${MAV_TYPE}
set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
set MIXER custom
#!/bin/sh
#
# @name BlueROV2 Heavy Configuration
#
. ${R}etc/init.d/rc.uuv_defaults
#Set data link loss failsafe mode (0: disabled)
param set-default NAV_DLL_ACT 0
# disable circuit breaker for airspeed sensor
param set-default CBRK_AIRSPD_CHK 162128
set PWM_OUT 12345678
set MIXER_FILE etc/mixers-sitl/vectored6dof_sitl.main.mix
set MIXER custom
#!/bin/sh
#
# @name Plane SITL
#
. ${R}etc/init.d/rc.fw_defaults
param set-default EKF2_ARSP_THR 8
param set-default EKF2_FUSE_BETA 1
param set-default EKF2_MAG_ACCLIM 0
param set-default EKF2_MAG_YAWLIM 0
param set-default FW_LND_AIRSPD_SC 1
param set-default FW_LND_ANG 8
param set-default FW_THR_LND_MAX 0
param set-default FW_L1_PERIOD 12
param set-default FW_MAN_P_MAX 30
param set-default FW_PR_I 0.4
param set-default FW_PR_P 0.9
param set-default FW_PR_FF 0.2
param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MAX 32
param set-default FW_P_LIM_MIN -15
param set-default FW_RR_FF 0.1
param set-default FW_RR_P 0.3
param set-default FW_THR_MAX 0.6
param set-default FW_THR_MIN 0.05
param set-default FW_THR_CRUISE 0.25
param set-default FW_T_ALT_TC 2
param set-default FW_T_CLMB_MAX 8
param set-default FW_T_HRATE_FF 0.5
param set-default FW_T_SINK_MAX 2.7
param set-default FW_T_SINK_MIN 2.2
param set-default FW_T_TAS_TC 2
param set-default FW_W_EN 1
param set-default MIS_LTRMIN_ALT 30
param set-default MIS_TAKEOFF_ALT 30
param set-default NAV_ACC_RAD 15
param set-default NAV_DLL_ACT 2
param set-default NAV_LOITER_RAD 50
param set-default RWTO_TKOFF 1
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
set MIXER custom
#!/bin/sh
#
# @name Plane SITL with camera
#
. ${R}etc/init.d-posix/airframes/1030_plane
# Camera trigger interface is MAVLink
param set-default TRIG_INTERFACE 3
# Distance trigger mode enabled
param set-default TRIG_MODE 4
#!/bin/sh
#
# @name Plane SITL with catapult
#
. ${R}etc/init.d-posix/airframes/1030_plane
param set-default RWTO_TKOFF 0
#!/bin/sh
#
# @name Plane SITL with downward facing LIDAR.
#
. ${R}etc/init.d-posix/airframes/1030_plane
param set-default FW_LND_USETER 1
#!/bin/sh
#
# @name Plane SITL
#
. ${R}etc/init.d/rc.fw_defaults
param set-default EKF2_ARSP_THR 8
param set-default EKF2_FUSE_BETA 1
param set-default FW_LND_AIRSPD_SC 1.1
param set-default FW_LND_ANG 5
param set-default FW_THR_LND_MAX 0
param set-default FW_LND_HHDIST 30
param set-default FW_LND_FL_PMIN 9.5
param set-default FW_LND_FL_PMAX 20
param set-default FW_LND_FLALT 5
param set-default FW_LND_TLALT 15
param set-default FW_L1_PERIOD 25
param set-default FW_P_TC 0.4
param set-default FW_PR_FF 0.40
param set-default FW_PR_I 0.05
param set-default FW_PR_P 0.05
param set-default FW_R_TC 0.45
param set-default FW_RR_FF 0.40
param set-default FW_RR_I 0.132
param set-default FW_RR_P 0.085
param set-default FW_W_EN 1
param set-default MIS_LTRMIN_ALT 30
param set-default MIS_TAKEOFF_ALT 20
param set-default MIS_DIST_1WP 2500
param set-default MIS_DIST_WPS 10000
param set-default NAV_ACC_RAD 15
param set-default NAV_DLL_ACT 2
param set-default NAV_LOITER_RAD 50
param set-default RWTO_TKOFF 1
# fix takeoff failure for JSBsim in autonomous mission mode.
#param set FW_THR_SLEW_MAX 0.3
param set-default RWTO_MAX_PITCH 20
param set-default RWTO_MAX_ROLL 10
# fix takeoff failure for JSBsim in autonomous mission mode.
#param set-default RWTO_MAX_THR 0.6
param set-default RWTO_PSP 8
param set-default RWTO_AIRSPD_SCL 1.8
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
set MIXER custom
#!/bin/sh
#
# @name Plane SITL
#
. ${R}etc/init.d/rc.fw_defaults
param set-default EKF2_ARSP_THR 8
param set-default EKF2_FUSE_BETA 1
param set-default FW_LND_AIRSPD_SC 1.1
param set-default FW_LND_ANG 5
param set-default FW_THR_LND_MAX 0
param set-default FW_LND_HHDIST 30
param set-default FW_LND_FL_PMIN 9.5
param set-default FW_LND_FL_PMAX 20
param set-default FW_LND_FLALT 5
param set-default FW_LND_TLALT 15
param set-default FW_L1_PERIOD 25
param set-default FW_P_TC 0.4
param set-default FW_PR_FF 0.40
param set-default FW_PR_I 0.05
param set-default FW_PR_P 0.05
param set-default FW_R_TC 0.45
param set-default FW_RR_FF 0.40
param set-default FW_RR_I 0.132
param set-default FW_RR_P 0.085
param set-default FW_W_EN 1
param set-default MIS_LTRMIN_ALT 30
param set-default MIS_TAKEOFF_ALT 20
param set-default MIS_DIST_1WP 2500
param set-default MIS_DIST_WPS 10000
param set-default NAV_ACC_RAD 15
param set-default NAV_DLL_ACT 2
param set-default NAV_LOITER_RAD 50
param set-default RWTO_TKOFF 1
# fix takeoff failure for JSBsim in autonomous mission mode.
#param set FW_THR_SLEW_MAX 0.3
param set-default RWTO_MAX_PITCH 20
param set-default RWTO_MAX_ROLL 10
# fix takeoff failure for JSBsim in autonomous mission mode.
#param set RWTO_MAX_THR 0.6
param set-default RWTO_PSP 8
param set-default RWTO_AIRSPD_SCL 1.8
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
set MIXER custom
#!/bin/sh
#
# @name Plane SITL
#
. ${R}etc/init.d/rc.fw_defaults
param set-default EKF2_ARSP_THR 8
param set-default EKF2_FUSE_BETA 1
param set-default EKF2_MAG_ACCLIM 0
param set-default EKF2_MAG_YAWLIM 0
param set-default FW_LND_AIRSPD_SC 1
param set-default FW_LND_ANG 8
param set-default FW_THR_LND_MAX 0
param set-default FW_L1_PERIOD 15
param set-default FW_P_TC 0.5
param set-default FW_PR_FF 0.40
param set-default FW_PR_I 0.05
param set-default FW_PR_P 0.05
param set-default FW_R_TC 0.7
param set-default FW_RR_FF 0.20
param set-default FW_RR_I 0.02
param set-default FW_RR_P 0.22
param set-default FW_L1_PERIOD 12
param set-default FW_W_EN 1
param set-default MIS_LTRMIN_ALT 30
param set-default MIS_TAKEOFF_ALT 30
param set-default NAV_ACC_RAD 15
param set-default NAV_DLL_ACT 2
param set-default NAV_LOITER_RAD 50
param set-default RWTO_TKOFF 1
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
set MIXER custom
#!/bin/sh
#
# @name Plane SITL
#
. ${R}etc/init.d/rc.fw_defaults
param set-default EKF2_ARSP_THR 8
param set-default EKF2_FUSE_BETA 1
param set-default FW_LND_AIRSPD_SC 1.1
param set-default FW_LND_ANG 5
param set-default FW_THR_LND_MAX 0
param set-default FW_LND_HHDIST 30
param set-default FW_LND_FL_PMIN 9.5
param set-default FW_LND_FL_PMAX 20
param set-default FW_LND_FLALT 5
param set-default FW_LND_TLALT 15
param set-default FW_L1_PERIOD 25
param set-default FW_P_TC 0.4
param set-default FW_PR_FF 0.40
param set-default FW_PR_I 0.05
param set-default FW_PR_P 0.05
param set-default FW_R_TC 0.45
param set-default FW_RR_FF 0.40
param set-default FW_RR_I 0.132
param set-default FW_RR_P 0.085
param set-default FW_W_EN 1
param set-default MIS_LTRMIN_ALT 30
param set-default MIS_TAKEOFF_ALT 20
param set-default MIS_DIST_1WP 2500
param set-default MIS_DIST_WPS 10000
param set-default NAV_ACC_RAD 15
param set-default NAV_DLL_ACT 2
param set-default NAV_LOITER_RAD 50
param set-default RWTO_TKOFF 1
param set-default RWTO_MAX_PITCH 20
param set-default RWTO_MAX_ROLL 10
param set-default RWTO_PSP 8
param set-default RWTO_AIRSPD_SCL 1.8
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
set MIXER custom
#!/bin/sh
#
# @name Standard VTOL
#
# @type Standard VTOL
#
. ${R}etc/init.d/rc.vtol_defaults
param set-default FW_L1_PERIOD 12
param set-default FW_MAN_P_MAX 30
param set-default FW_PR_FF 0.2
param set-default FW_PR_I 0.4
param set-default FW_PR_P 0.9
param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MAX 32
param set-default FW_P_LIM_MIN -15
param set-default FW_RR_FF 0.1
param set-default FW_RR_P 0.3
param set-default FW_THR_CRUISE 0.25
param set-default FW_THR_MAX 0.6
param set-default FW_THR_MIN 0.05
param set-default FW_T_ALT_TC 2
param set-default FW_T_CLMB_MAX 8
param set-default FW_T_HRATE_FF 0.5
param set-default FW_T_SINK_MAX 2.7
param set-default FW_T_SINK_MIN 2.2
param set-default FW_T_TAS_TC 2
param set-default MC_ROLLRATE_P 0.3
param set-default MC_YAW_P 1.6
param set-default MIS_TAKEOFF_ALT 10
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_XY_P 0.8
param set-default MPC_XY_VEL_P_ACC 3
param set-default MPC_XY_VEL_I_ACC 4
param set-default MPC_XY_VEL_D_ACC 0.1
param set-default NAV_ACC_RAD 5
param set-default NAV_LOITER_RAD 80
param set-default VT_FWD_THRUST_EN 4
param set-default VT_F_TRANS_THR 0.75
param set-default VT_MOT_ID 1234
param set-default VT_FW_MOT_OFFID 1234
param set-default VT_B_TRANS_DUR 8
param set-default VT_TYPE 2
set MAV_TYPE 22
set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
set MIXER custom
#!/bin/sh
#
# @name Quadrotor + Tailsitter
#
# @type VTOL Quad Tailsitter
#
. ${R}etc/init.d/rc.vtol_defaults
param set-default FW_L1_PERIOD 12
param set-default FW_MAN_P_MAX 30
param set-default FW_PR_I 0.2
param set-default FW_PR_P 0.3
param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MAX 32
param set-default FW_P_LIM_MIN -15
param set-default FW_RR_P 0.3
param set-default FW_THR_CRUISE 0.33
param set-default FW_THR_MAX 0.6
param set-default FW_THR_MIN 0.05
param set-default FW_T_ALT_TC 2
param set-default FW_T_CLMB_MAX 8
param set-default FW_T_HRATE_FF 0.5
param set-default FW_T_SINK_MAX 2.7
param set-default FW_T_SINK_MIN 2.2
param set-default FW_T_TAS_TC 2
param set-default MC_ROLLRATE_P 0.3
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_XY_P 0.8
param set-default MPC_XY_VEL_P_ACC 3
param set-default MPC_XY_VEL_I_ACC 4
param set-default MPC_XY_VEL_D_ACC 0.1
param set-default NAV_ACC_RAD 5
param set-default NAV_LOITER_RAD 80
param set-default VT_F_TRANS_DUR 1.5
param set-default VT_F_TRANS_THR 0.7
param set-default VT_TYPE 0
param set-default WV_EN 0
set MAV_TYPE 20
set MIXER_FILE etc/mixers-sitl/quad_x_vtol.main.mix
set MIXER custom
#!/bin/sh
#
# @name VTOL Tiltrotor
#
# @type VTOL Tiltrotor
#
. ${R}etc/init.d/rc.vtol_defaults
param set-default FW_L1_PERIOD 12
param set-default FW_MAN_P_MAX 30
param set-default FW_PR_FF 0.2
param set-default FW_PR_I 0.4
param set-default FW_PR_P 0.9
param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MAX 32
param set-default FW_P_LIM_MIN -15
param set-default FW_RR_FF 0.1
param set-default FW_RR_P 0.3
param set-default FW_THR_CRUISE 0.38
param set-default FW_THR_MAX 0.6
param set-default FW_THR_MIN 0.05
param set-default FW_T_ALT_TC 2
param set-default FW_T_CLMB_MAX 8
param set-default FW_T_HRATE_FF 0.5
param set-default FW_T_SINK_MAX 2.7
param set-default FW_T_SINK_MIN 2.2
param set-default FW_T_TAS_TC 2
param set-default MC_YAW_P 1.6
param set-default MIS_TAKEOFF_ALT 10
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_XY_P 0.8
param set-default MPC_XY_VEL_P_ACC 3
param set-default MPC_XY_VEL_I_ACC 4
param set-default MPC_XY_VEL_D_ACC 0.1
param set-default NAV_ACC_RAD 5
param set-default NAV_LOITER_RAD 80
param set-default VT_B_TRANS_DUR 8
param set-default VT_FWD_THRUST_EN 4
param set-default VT_MOT_ID 1234
param set-default VT_TILT_TRANS 0.6
param set-default VT_TYPE 1
set MAV_TYPE 21
set MIXER_FILE etc/mixers-sitl/tiltrotor_sitl.main.mix
set MIXER custom
#!/bin/sh
#
# @name Standard VTOL
#
# @type Standard VTOL
#
. ${R}etc/init.d/rc.vtol_defaults
param set-default FW_L1_PERIOD 12
param set-default FW_MAN_P_MAX 30
param set-default FW_PR_FF 0.2
param set-default FW_PR_I 0.4
param set-default FW_PR_P 0.9
param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MAX 32
param set-default FW_P_LIM_MIN -15
param set-default FW_RR_FF 0.1
param set-default FW_RR_P 0.3
param set-default FW_THR_CRUISE 0.25
param set-default FW_THR_MAX 0.6
param set-default FW_THR_MIN 0.05
param set-default FW_T_ALT_TC 2
param set-default FW_T_CLMB_MAX 8
param set-default FW_T_HRATE_FF 0.5
param set-default FW_T_SINK_MAX 2.7
param set-default FW_T_SINK_MIN 2.2
param set-default FW_T_TAS_TC 2
param set-default MC_ROLLRATE_P 0.3
param set-default MC_YAW_P 1.6
param set-default MIS_TAKEOFF_ALT 10
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_XY_P 0.8
param set-default MPC_XY_VEL_P_ACC 3
param set-default MPC_XY_VEL_I_ACC 4
param set-default MPC_XY_VEL_D_ACC 0.1
param set-default NAV_ACC_RAD 5
param set-default NAV_LOITER_RAD 80
param set-default VT_FWD_THRUST_EN 4
param set-default VT_F_TRANS_THR 0.75
param set-default VT_MOT_ID 1234
param set-default VT_FW_MOT_OFFID 1234
param set-default VT_B_TRANS_DUR 8
param set-default VT_TYPE 2
param set-default RC_MAP_AUX1 8
param set-default RC_MAP_AUX2 9
param set-default RC_MAP_AUX3 10
set MAV_TYPE 22
set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
set MIXER custom
mixer append /dev/pwm_output0 etc/mixers-sitl/package_drop.aux.mix
#!/bin/sh
#
# @name Rover
#
. ${R}etc/init.d/rc.rover_defaults
param set-default GND_L1_DIST 5
param set-default GND_L1_PERIOD 10
param set-default GND_SP_CTRL_MODE 1
param set-default GND_SPEED_D 0.001
param set-default GND_SPEED_I 3
param set-default GND_SPEED_IMAX 0.125
param set-default GND_SPEED_P 0.25
param set-default GND_SPEED_THR_SC 1
param set-default GND_SPEED_TRIM 4
param set-default GND_THR_CRUISE 0.3
param set-default GND_THR_MAX 0.5
param set-default GND_THR_MIN 0
param set-default MIS_LTRMIN_ALT 0.01
param set-default MIS_TAKEOFF_ALT 0.01
param set-default NAV_ACC_RAD 0.5
param set-default NAV_LOITER_RAD 2
param set-default CBRK_AIRSPD_CHK 162128
param set-default GND_MAX_ANG 0.6
param set-default GND_WHEEL_BASE 2.0
set MAV_TYPE 10
set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix
#!/bin/sh
#
# @name Aion Robotics R1 Rover
# @type Rover
# @class Rover
. ${R}etc/init.d/rc.rover_defaults
param set-default GND_L1_DIST 5
param set-default GND_SP_CTRL_MODE 1
param set-default GND_SPEED_D 3
param set-default GND_SPEED_I 0.001
param set-default GND_SPEED_IMAX 0.125
param set-default GND_SPEED_P 0.25
param set-default GND_SPEED_THR_SC 1
param set-default GND_SPEED_TRIM 4
param set-default GND_THR_CRUISE 0.3
param set-default GND_THR_MAX 0.5
param set-default GND_THR_MIN 0
param set-default MIS_LTRMIN_ALT 0.01
param set-default MIS_TAKEOFF_ALT 0.01
param set-default NAV_ACC_RAD 0.5
param set-default NAV_LOITER_RAD 2
param set-default CBRK_AIRSPD_CHK 162128
param set-default GND_MAX_ANG 0.6
param set-default GND_WHEEL_BASE 2.0
set MAV_TYPE 10
set MIXER_FILE etc/mixers-sitl/rover_diff_sitl.main.mix
#!/bin/sh
#
# @name ThunderFly TF-R1 UAV Rover
# @type Rover
# @class Rover
#
# @url https://github.com/ThunderFly-aerospace/TF-R1/
# @maintainer ThunderFly s.r.o.
#
. ${R}etc/init.d/rc.rover_defaults
param set-default GND_L1_DIST 5
param set-default GND_SP_CTRL_MODE 1
param set-default GND_SPEED_D 3
param set-default GND_SPEED_I 0.001
param set-default GND_SPEED_IMAX 0.125
param set-default GND_SPEED_P 0.25
param set-default GND_SPEED_THR_SC 1
param set-default GND_SPEED_TRIM 15
param set-default GND_SPEED_MAX 25
param set-default GND_THR_CRUISE 0.3
param set-default GND_THR_MAX 0.5
param set-default GND_THR_MIN 0
param set-default MIS_LTRMIN_ALT 0.01
param set-default MIS_TAKEOFF_ALT 0.01
param set-default NAV_ACC_RAD 0.5
param set-default NAV_LOITER_RAD 2
param set-default CBRK_AIRSPD_CHK 162128
param set-default GND_MAX_ANG 0.6
param set-default GND_WHEEL_BASE 3.0
set MAV_TYPE 10
set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix
#!/bin/sh
#
# @name Boat
#
. ${R}etc/init.d/rc.boat_defaults
param set-default GND_L1_DIST 5
param set-default GND_L1_PERIOD 100
param set-default GND_SP_CTRL_MODE 1
param set-default GND_SPEED_D 0.001
param set-default GND_SPEED_I 8
param set-default GND_SPEED_IMAX 0.125
param set-default GND_SPEED_P 2
param set-default GND_SPEED_THR_SC 1
param set-default GND_SPEED_TRIM 1
param set-default GND_THR_CRUISE 0.85
param set-default GND_THR_MAX 1
param set-default GND_THR_MIN 0
param set-default MIS_LTRMIN_ALT 0.01
param set-default MIS_TAKEOFF_ALT 0.01
param set-default NAV_ACC_RAD 0.5
param set-default NAV_LOITER_RAD 2
param set-default CBRK_AIRSPD_CHK 162128
param set-default GND_MAX_ANG 0.6
param set-default GND_WHEEL_BASE 2.0
set MAV_TYPE 11
set MIXER_FILE etc/mixers-sitl/boat_sitl.main.mix
#!/bin/sh
#
# @name ThunderFly TF-G1
# ThunderFly TF-G1 autogyro airframe. Only for FlightGear simulator
#
# @type Autogyro
# @class Autogyro
#
# @url https://github.com/ThunderFly-aerospace/TF-G1/
#
#
. ${R}etc/init.d/rc.fw_defaults
param set-default EKF2_ARSP_THR 8
param set-default EKF2_FUSE_BETA 1
param set-default FW_AIRSPD_STALL 8
param set-default FW_P_RMAX_NEG 20.0
param set-default FW_P_RMAX_POS 60.0
param set-default FW_W_RMAX 10
param set-default FW_W_EN 1
param set-default FW_PR_IMAX 0.4
param set-default FW_R_TC 0.4
param set-default FW_RR_FF 0.5
param set-default FW_RR_I 0.1
param set-default FW_RR_IMAX 0.2
param set-default FW_RR_P 0.08
param set-default MIS_LTRMIN_ALT 50
param set-default MIS_TAKEOFF_ALT 3
param set-default NAV_ACC_RAD 20
param set-default NAV_DLL_ACT 2
param set-default NAV_LOITER_RAD 100
param set-default RWTO_TKOFF 1
param set-default FW_ARSP_SCALE_EN 0
param set-default FW_AIRSPD_MAX 35
param set-default FW_AIRSPD_MIN 7
param set-default FW_AIRSPD_TRIM 15
param set-default FW_P_LIM_MAX 25
param set-default FW_P_LIM_MIN -5
param set-default FW_R_LIM 30
param set-default FW_MAN_P_MAX 30.0
param set-default FW_MAN_R_MAX 30.0
param set-default FW_THR_CRUISE 0.8
param set-default FW_THR_IDLE 0
param set-default COM_DISARM_PRFLT 0
set MIXER_FILE etc/mixers-sitl/autogyro_sitl.main.mix
set MIXER custom
#!/bin/sh
#
# @name Cloudship
# @type Airship
# @class Airship
#
# @output MAIN1 thrust tilt
# @output MAIN2 starboard thruster
# @output MAIN3 port thruster
# @output MAIN4 tail thruster
. ${R}etc/init.d/rc.airship_defaults
set MIXER cloudship
set PWM_OUT 1234
#!/bin/sh
#
# @name Quadrotor SITL model for JSBSim
#
# @type Quadrotor Wide
#
# @maintainer Jaeyoung Lim <jaeyoung@auterion.com>
#
. ${R}etc/init.d/rc.mc_defaults
set MIXER quad_w
#!/bin/sh
#
# @name Hexacopter SITL model for JSBSim
#
# @type Hexarotor x
#
# @maintainer Jaeyoung Lim <jaeyoung@auterion.com>
#
. ${R}etc/init.d/rc.mc_defaults
param set-default MC_PITCHRATE_P 0.1
param set-default MC_PITCHRATE_I 0.05
param set-default MC_PITCH_P 6.0
param set-default MC_ROLLRATE_P 0.15
param set-default MC_ROLLRATE_I 0.1
param set-default MC_ROLL_P 6.0
param set-default MPC_XY_VEL_I_ACC 4
param set-default MPC_XY_VEL_P_ACC 3
param set-default RTL_DESCEND_ALT 10
param set-default TRIG_INTERFACE 3
param set-default TRIG_MODE 4
param set-default MNT_MODE_IN 4
param set-default MNT_DO_STAB 2
set MAV_TYPE 13
set MIXER hexa_x
#!/bin/sh
#
# @name Typhoon H480 SITL
#
# @type Hexarotor x
#
. ${R}etc/init.d/rc.mc_defaults
param set-default MC_PITCHRATE_P 0.0800
param set-default MC_PITCHRATE_I 0.0400
param set-default MC_PITCHRATE_D 0.0010
param set-default MC_PITCH_P 9.0
param set-default MC_ROLLRATE_P 0.0800
param set-default MC_ROLLRATE_I 0.0400
param set-default MC_ROLLRATE_D 0.0010
param set-default MC_ROLL_P 9.0
param set-default MPC_XY_VEL_I_ACC 4
param set-default MPC_XY_VEL_P_ACC 3
param set-default RTL_DESCEND_ALT 10
param set-default TRIG_INTERFACE 3
param set-default TRIG_MODE 4
param set-default MNT_MODE_IN 4
param set-default MNT_MODE_OUT 2
param set-default MAV_PROTO_VER 2
set MAV_TYPE 13
set MIXER hexa_x
mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p
# shellcheck disable=SC2154
mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
# shellcheck disable=SC2154
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_offboard_port_local
mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_offboard_port_local
#!/bin/sh
#
# @name Typhoon H480 SITL
#
# @type Hexarotor x
#
. ${R}etc/init.d/rc.mc_defaults
. ${R}etc/init.d/rc.ctrlalloc
param set-default MPC_XY_VEL_I_ACC 4
param set-default MPC_XY_VEL_P_ACC 3
param set-default RTL_DESCEND_ALT 10
param set-default RTL_LAND_DELAY 0
param set-default TRIG_INTERFACE 3
param set-default TRIG_MODE 4
param set-default MNT_MODE_IN 0
param set-default MAV_PROTO_VER 2
param set-default MPC_USE_HTE 0
param set-default VM_MASS 2.66
param set-default VM_INERTIA_XX 0.06
param set-default VM_INERTIA_YY 0.06
param set-default VM_INERTIA_ZZ 0.10
param set-default CA_AIRFRAME 0
param set-default CA_METHOD 1
param set-default CA_ACT0_MIN 0.0
param set-default CA_ACT1_MIN 0.0
param set-default CA_ACT2_MIN 0.0
param set-default CA_ACT3_MIN 0.0
param set-default CA_ACT4_MIN 0.0
param set-default CA_ACT5_MIN 0.0
param set-default CA_ACT0_MAX 1.0
param set-default CA_ACT1_MAX 1.0
param set-default CA_ACT2_MAX 1.0
param set-default CA_ACT3_MAX 1.0
param set-default CA_ACT4_MAX 1.0
param set-default CA_ACT5_MAX 1.0
param set-default CA_MC_R0_PX 0.0
param set-default CA_MC_R0_PY 1.0
param set-default CA_MC_R0_CT 9.5
param set-default CA_MC_R0_KM -0.05
param set-default CA_MC_R1_PX 0.0
param set-default CA_MC_R1_PY -1.0
param set-default CA_MC_R1_CT 9.5
param set-default CA_MC_R1_KM 0.05
param set-default CA_MC_R2_PX 0.866025
param set-default CA_MC_R2_PY -0.5
param set-default CA_MC_R2_CT 9.5
param set-default CA_MC_R2_KM -0.05
param set-default CA_MC_R3_PX -0.866025
param set-default CA_MC_R3_PY 0.5
param set-default CA_MC_R3_CT 9.5
param set-default CA_MC_R3_KM 0.05
param set-default CA_MC_R4_PX 0.866025
param set-default CA_MC_R4_PY 0.5
param set-default CA_MC_R4_CT 9.5
param set-default CA_MC_R4_KM 0.05
param set-default CA_MC_R5_PX -0.866025
param set-default CA_MC_R5_PY -0.5
param set-default CA_MC_R5_CT 9.5
param set-default CA_MC_R5_KM -0.05
set MAV_TYPE 13
# set MIXER hexa_x
set MIXER direct
mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p
# shellcheck disable=SC2154
mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
# shellcheck disable=SC2154
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_offboard_port_local
mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_offboard_port_local
############################################################################
#
# Copyright (c) 2020 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_romfs_files(
10016_iris
10017_iris_ctrlalloc
10018_iris_foggy_lidar
10020_if750a
10030_px4vision
1010_iris_opt_flow
1010_iris_opt_flow.post
1011_iris_irlock
1012_iris_rplidar
1013_iris_vision
1013_iris_vision.post
1014_solo
1015_iris_obs_avoid
1015_iris_obs_avoid.post
1016_iris_rtps
1016_iris_rtps.post
1017_iris_opt_flow_mockup
1018_iris_vision_velocity
1019_iris_dual_gps
1020_uuv_generic
1021_uuv_hippocampus
1022_uuv_bluerov2_heavy
1030_plane
1031_plane_cam
1032_plane_catapult
1033_plane_lidar
1033_rascal
1034_rascal-electric
1035_techpod
1036_malolo
1040_standard_vtol
1041_tailsitter
1042_tiltrotor
1043_standard_vtol_drop
1043_standard_vtol_drop.post
1060_rover
1061_r1_rover
1062_tf-r1
1070_boat
3010_quadrotor_x
3011_hexarotor_x
17001_tf-g1
2507_cloudship
6011_typhoon_h480
6011_typhoon_h480.post
6012_typhoon_ctrlalloc
6012_typhoon_ctrlalloc.post
)
#!/bin/sh
# shellcheck disable=SC2154
udp_offboard_port_local=$((14580+px4_instance))
udp_offboard_port_remote=$((14540+px4_instance))
[ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
udp_onboard_payload_port_local=$((14280+px4_instance))
udp_onboard_payload_port_remote=$((14030+px4_instance))
udp_onboard_gimbal_port_local=$((13030+px4_instance))
udp_onboard_gimbal_port_remote=$((13280+px4_instance))
udp_gcs_port_local=$((18570+px4_instance))
# GCS link
mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
# API/Offboard link
mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote
# Onboard link to camera
mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
# Onboard link to gimbal
mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
#!/bin/sh
# shellcheck disable=SC2154
#param set MAV_SYS_ID $((px4_instance+1))
#param set IMU_INTEG_RATE 250
#!/bin/sh
# shellcheck disable=SC2154
simulator_tcp_port=$((4560+px4_instance))
# Check if PX4_SIM_HOSTNAME environment variable is empty
# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
# If both are empty use localhost for simulator
if [ -z "${PX4_SIM_HOSTNAME}" ]; then
if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
echo "PX4 SIM HOST: localhost"
simulator start -c $simulator_tcp_port
else
echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
fi
else
echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
fi
#!/bin/sh
# EKF2 replay script
# shellcheck disable=SC2154
if [ ! -f ${replay} ]; then
echo "Invalid replay log file ${replay}"
exit 1
fi
if [ ! -f replay_params.txt ]; then
echo "Creating $(pwd)/replay_params.txt"
ulog_params -i "${replay}" -d ' ' | grep -e '^EKF2' > replay_params.txt
fi
publisher_rules_file="orb_publisher.rules"
cat <<EOF > "$publisher_rules_file"
restrict_topics: sensor_combined, vehicle_gps_position, vehicle_land_detected
module: replay
ignore_others: false
EOF
param set SDLOG_DIRS_MAX 7
# apply all params before ekf starts, as some params cannot be changed after startup
replay tryapplyparams
ekf2 start -r
logger start -f -t -b 1000 -p vehicle_attitude
replay start
#!/bin/sh
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
# shellcheck disable=SC1091
. px4-alias.sh
#search path for sourcing px4-rc.*
PATH="$PATH:${R}etc/init.d-posix"
#
# Main SITL startup script
#
# check for ekf2 replay
# shellcheck disable=SC2154
if [ "$replay_mode" = "ekf2" ]
then
. ${R}etc/init.d-posix/rc.replay
exit 0
fi
# initialize script variables
set AUX_MODE none
set AUX_BANK2 none
set IO_PRESENT no
set MAV_TYPE none
set MIXER none
set MIXER_AUX none
set MIXER_FILE none
set OUTPUT_MODE sim
set EXTRA_MIXER_MODE none
set PWM_OUT none
set SDCARD_MIXERS_PATH etc/mixers
set USE_IO no
set VEHICLE_TYPE none
set LOGGER_ARGS ""
set LOGGER_BUF 1000
set RUN_MINIMAL_SHELL no
# Use the variable set by sitl_run.sh to choose the model settings.
if [ "$PX4_SIM_MODEL" = "shell" ]; then
set RUN_MINIMAL_SHELL yes
else
# Find the matching Autostart ID (file name has the form: [0-9]+_${PX4_SIM_MODEL})
# TODO: unify with rc.autostart generation
# shellcheck disable=SC2012
REQUESTED_AUTOSTART=$(ls "${R}etc/init.d-posix/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
if [ -z "$REQUESTED_AUTOSTART" ]; then
echo "Error: Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
exit 1
else
echo "Info: found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
fi
fi
# Load parameters
set PARAM_FILE eeprom/parameters_"$REQUESTED_AUTOSTART"
param select $PARAM_FILE
if [ -f $PARAM_FILE ]
then
if param load
then
echo "[param] Loaded: $PARAM_FILE"
else
echo "[param] FAILED loading $PARAM_FILE"
fi
else
echo "[param] parameter file not found, creating $PARAM_FILE"
fi
# exit early when the minimal shell is requested
[ $RUN_MINIMAL_SHELL = yes ] && exit 0
# Use environment variable PX4_ESTIMATOR to choose estimator.
if [ "$PX4_ESTIMATOR" = "q" ]; then
param set SYS_MC_EST_GROUP 3
elif [ "$PX4_ESTIMATOR" = "ekf2" ]; then
param set SYS_MC_EST_GROUP 2
elif [ "$PX4_ESTIMATOR" = "lpe" ]; then
param set SYS_MC_EST_GROUP 1
elif [ "$PX4_ESTIMATOR" = "inav" ]; then
param set SYS_MC_EST_GROUP 0
fi
if param compare SYS_AUTOSTART $REQUESTED_AUTOSTART
then
set AUTOCNF no
else
set AUTOCNF yes
param set SYS_AUTOCONFIG 1
fi
if param compare SYS_AUTOCONFIG 1
then
set AUTOCNF yes
# Wipe out params except RC*, flight modes, total flight time, accel cal, gyro cal, next flight UUID
param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT*
fi
# multi-instance setup
# shellcheck disable=SC2154
param set MAV_SYS_ID $((px4_instance+1))
if [ $AUTOCNF = yes ]
then
param set SYS_AUTOSTART $REQUESTED_AUTOSTART
param set CAL_ACC0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
param set CAL_GYRO0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
param set CAL_ACC1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
param set CAL_GYRO1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
param set CAL_ACC2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
param set CAL_GYRO2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
param set CAL_MAG0_ID 197388
param set CAL_MAG1_ID 197644
param set SENS_BOARD_X_OFF 0.000001
param set SENS_DPRES_OFF 0.001
param set SYS_RESTART_TYPE 2
fi
param set-default BAT_N_CELLS 4
param set-default CBRK_AIRSPD_CHK 0
param set-default CBRK_SUPPLY_CHK 894281
# disable check, no CPU load reported on posix yet
param set-default COM_CPU_MAX -1
# Don't require RC calibration and configuration
param set-default COM_RC_IN_MODE 1
# Speedup SITL startup
param set-default EKF2_REQ_GPS_H 0.5
# Multi-EKF
param set-default EKF2_MULTI_IMU 3
param set-default SENS_IMU_MODE 0
param set-default EKF2_MULTI_MAG 2
param set-default SENS_MAG_MODE 0
param set-default IMU_GYRO_FFT_EN 1
# By default log from boot until first disarm.
param set-default SDLOG_MODE 1
# enable default, estimator replay and vision/avoidance logging profiles
param set-default SDLOG_PROFILE 131
param set-default SDLOG_DIRS_MAX 7
param set-default TRIG_INTERFACE 3
# Adapt timeout parameters if simulation runs faster or slower than realtime.
if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
COM_DL_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 10" | bc)
echo "COM_DL_LOSS_T set to $COM_DL_LOSS_T_LONGER"
param set COM_DL_LOSS_T $COM_DL_LOSS_T_LONGER
COM_RC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 0.5" | bc)
echo "COM_RC_LOSS_T set to $COM_RC_LOSS_T_LONGER"
param set COM_RC_LOSS_T $COM_RC_LOSS_T_LONGER
COM_OF_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 0.5" | bc)
echo "COM_OF_LOSS_T set to $COM_OF_LOSS_T_LONGER"
param set COM_OF_LOSS_T $COM_OF_LOSS_T_LONGER
COM_OBC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 5.0" | bc)
echo "COM_OBC_LOSS_T set to $COM_OBC_LOSS_T_LONGER"
param set COM_OBC_LOSS_T $COM_OBC_LOSS_T_LONGER
fi
# Autostart ID
autostart_file=''
# shellcheck disable=SC2231
for f in ${R}etc/init.d-posix/airframes/"$(param show -q SYS_AUTOSTART)"_*
do
filename=$(basename "$f")
case "$filename" in
*\.*)
# ignore files that contain a dot (e.g. <vehicle>.post)
;;
*)
autostart_file="$f"
;;
esac
done
if [ ! -e "$autostart_file" ]; then
echo "Error: no autostart file found ($autostart_file)"
exit 1
fi
. "$autostart_file"
#
# If autoconfig parameter was set, reset it and save parameters.
#
if [ $AUTOCNF = yes ]
then
param set SYS_AUTOCONFIG 0
fi
# Simulator IMU data provided at 250 Hz
param set IMU_INTEG_RATE 250
#user defined params for instances can be in PATH
. px4-rc.params
dataman start
# only start the simulator if not in replay mode, as both control the lockstep time
if ! replay tryapplyparams
then
. px4-rc.simulator
fi
load_mon start
battery_simulator start
tone_alarm start
rc_update start
sensors start
commander start
navigator start
if param greater -s MNT_MODE_IN -1
then
vmount start
fi
if param greater -s TRIG_MODE 0
then
camera_trigger start
camera_feedback start
fi
if param compare -s IMU_GYRO_FFT_EN 1
then
gyro_fft start
fi
if param compare -s IMU_GYRO_CAL_EN 1
then
gyro_calibration start
fi
# Configure vehicle type specific parameters.
# Note: rc.vehicle_setup is the entry point for rc.interface,
# rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
#
. ${R}etc/init.d/rc.vehicle_setup
#user defined mavlink streams for instances can be in PATH
. px4-rc.mavlink
# execute autostart post script if any
[ -e "$autostart_file".post ] && . "$autostart_file".post
# Run script to start logging
if param compare SYS_MC_EST_GROUP 2
then
set LOGGER_ARGS "-p ekf2_timestamps"
else
set LOGGER_ARGS "-p vehicle_attitude"
fi
. ${R}etc/init.d/rc.logging
mavlink boot_complete
replay trystart
############################################################################
#
# Copyright (c) 2018 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
add_subdirectory(airframes)
px4_add_romfs_files(
rc.airship_apps
rc.airship_defaults
rc.balloon_apps
rc.balloon_defaults
rc.boat_defaults
rc.fw_apps
rc.fw_defaults
rc.interface
rc.io
rc.logging
rc.mc_apps
rc.mc_defaults
rcS
rc.sensors
rc.thermal_cal
rc.rover_apps
rc.rover_defaults
rc.uuv_apps
rc.uuv_defaults
rc.vehicle_setup
rc.vtol_apps
rc.vtol_defaults
rc.ctrlalloc
)
#!/bin/sh
#
# @name HILStar (XPlane)
#
# @type Simulation
# @class Plane
#
# @output MAIN1 aileron
# @output MAIN2 elevator
# @output MAIN3 rudder
# @output MAIN4 throttle
# @output MAIN5 flaps
# @output MAIN6 gear
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
. ${R}etc/init.d/rc.fw_defaults
param set-default BAT_N_CELLS 3
param set-default FW_AIRSPD_MAX 20
param set-default FW_AIRSPD_MIN 12
param set-default FW_AIRSPD_TRIM 14
param set-default FW_R_TC 0.3
param set-default FW_P_TC 0.3
param set-default FW_L1_DAMPING 0.74
param set-default FW_L1_PERIOD 16
param set-default FW_LND_ANG 15
param set-default FW_LND_FLALT 5
param set-default FW_LND_HHDIST 15
param set-default FW_LND_HVIRT 13
param set-default FW_LND_TLALT 5
param set-default FW_THR_LND_MAX 0
param set-default FW_PR_FF 0.35
param set-default FW_PR_I 0.1
param set-default FW_PR_IMAX 0.4
param set-default FW_PR_P 0.2
param set-default FW_RR_FF 0.6
param set-default FW_RR_I 0.1
param set-default FW_RR_IMAX 0.2
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
# - with usb
param set-default CBRK_USB_CHK 197848
# - without real battery
param set-default CBRK_SUPPLY_CHK 894281
# - without safety switch
param set-default COM_PREARM_MODE 0
param set-default CBRK_IO_SAFETY 22027
set MIXER AERT
#!/bin/sh
#
# @name Team Blacksheep Discovery
#
# @type Quadrotor Wide
# @class Copter
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
# @output MAIN5 feed-through of RC AUX1 channel
# @output MAIN6 feed-through of RC AUX2 channel
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
# @output AUX4 feed-through of RC FLAPS channel
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.mc_defaults
param set-default MC_ROLL_P 6.5
param set-default MC_ROLLRATE_P 0.1
param set-default MC_ROLLRATE_I 0.05
param set-default MC_ROLLRATE_D 0.0017
param set-default MC_PITCH_P 6.5
param set-default MC_PITCHRATE_P 0.14
param set-default MC_PITCHRATE_I 0.1
param set-default MC_PITCHRATE_D 0.0025
param set-default MC_YAW_P 2.8
param set-default MC_YAWRATE_P 0.28
param set-default MC_YAWRATE_I 0.1
param set-default MC_YAWRATE_D 0
set MIXER quad_w
set PWM_OUT 1234
#!/bin/sh
#
# @name 3DR Iris Quadrotor
#
# @type Quadrotor Wide
# @class Copter
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
# @output AUX4 feed-through of RC FLAPS channel
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.mc_defaults
# TODO tune roll/pitch separately
param set-default MC_ROLL_P 7
param set-default MC_ROLLRATE_P 0.15
param set-default MC_ROLLRATE_I 0.05
param set-default MC_ROLLRATE_D 0.004
param set-default MC_PITCH_P 7
param set-default MC_PITCHRATE_P 0.15
param set-default MC_PITCHRATE_I 0.05
param set-default MC_PITCHRATE_D 0.004
param set-default MC_YAW_P 2.5
param set-default MC_YAWRATE_P 0.25
param set-default MC_YAWRATE_I 0.25
param set-default MC_YAWRATE_D 0
param set-default BAT_V_DIV 12.27559
param set-default BAT_A_PER_V 15.39103
set MIXER quad_w
set PWM_OUT 1234
#!/bin/sh
#
# @name Steadidrone QU4D
#
# @type Quadrotor Wide
# @class Copter
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
# @output MAIN5 feed-through of RC AUX1 channel
# @output MAIN6 feed-through of RC AUX2 channel
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
# @output AUX4 feed-through of RC FLAPS channel
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.mc_defaults
param set-default BAT_N_CELLS 4
param set-default MC_ROLL_P 7
param set-default MC_ROLLRATE_P 0.13
param set-default MC_ROLLRATE_I 0.05
param set-default MC_ROLLRATE_D 0.004
param set-default MC_PITCH_P 7
param set-default MC_PITCHRATE_P 0.19
param set-default MC_PITCHRATE_I 0.05
param set-default MC_PITCHRATE_D 0.004
param set-default MC_YAW_P 4
param set-default MC_YAWRATE_P 0.2
param set-default MC_YAWRATE_I 0.1
param set-default MC_YAWRATE_D 0
set MIXER quad_w
set PWM_OUT 1234
#!/bin/sh
#
# @name Team Blacksheep Discovery Endurance
#
# @type Quadrotor Wide
# @class Copter
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
# @output MAIN5 feed-through of RC AUX1 channel
# @output MAIN6 feed-through of RC AUX2 channel
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
# @output AUX4 feed-through of RC FLAPS channel
#
# @maintainer Simon Wilks <simon@uaventure.com>
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.mc_defaults
param set-default BAT_N_CELLS 6
param set-default BAT_V_EMPTY 3.5
param set-default MC_ROLL_P 7
param set-default MC_ROLLRATE_P 0.08
param set-default MC_ROLLRATE_I 0.02
param set-default MC_ROLLRATE_D 0.003
param set-default MC_PITCH_P 7
param set-default MC_PITCHRATE_P 0.13
param set-default MC_PITCHRATE_I 0.02
param set-default MC_PITCHRATE_D 0.005
param set-default MC_YAW_P 2.8
param set-default MC_YAWRATE_P 0.2
param set-default MC_YAWRATE_I 0.1
param set-default MC_YAWRATE_D 0
param set-default MPC_XY_VEL_MAX 2
param set-default PWM_MAIN_MIN 1080
set MIXER quad_w
set PWM_OUT 1234
#!/bin/sh
#
# @name HIL Quadcopter X
#
# @type Simulation
# @class Copter
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
. ${R}etc/init.d/rc.mc_defaults
set MIXER quad_x
set PWM_OUT 1234
param set SYS_HITL 1
# disable some checks to allow to fly
# - with usb
param set-default CBRK_USB_CHK 197848
# - without real battery
param set-default CBRK_SUPPLY_CHK 894281
# - without safety switch
param set-default COM_PREARM_MODE 0
param set-default CBRK_IO_SAFETY 22027
#!/bin/sh
#
# @name HIL Standard VTOL QuadPlane
#
# @type Standard VTOL
# @class VTOL
#
# @maintainer Roman Bapst <roman@auterion.com>
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.vtol_defaults
param set-default BAT_N_CELLS 3
param set-default COM_RC_IN_MODE 1
param set-default EKF2_AID_MASK 1
param set-default EKF2_ANGERR_INIT 0.01
param set-default EKF2_GBIAS_INIT 0.01
param set-default EKF2_HGT_MODE 0
param set-default EKF2_MAG_TYPE 1
param set-default FW_AIRSPD_MAX 25
param set-default FW_AIRSPD_MIN 14
param set-default FW_AIRSPD_TRIM 16
param set-default MC_PITCH_P 6
param set-default MC_PITCHRATE_P 0.2
param set-default MC_ROLL_P 6
param set-default MC_ROLLRATE_P 0.3
param set-default MIS_LTRMIN_ALT 10
param set-default MIS_TAKEOFF_ALT 10
param set-default MIS_YAW_TMT 10
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_THR_MIN 0.1
param set-default MPC_TKO_SPEED 1
param set-default MPC_XY_P 0.8
param set-default MPC_XY_VEL_D_ACC 0.1
param set-default MPC_XY_VEL_I_ACC 4
param set-default MPC_XY_VEL_P_ACC 3
param set-default MPC_Z_VEL_P_ACC 12
param set-default MPC_Z_VEL_I_ACC 3
param set-default MPC_Z_VEL_MAX_DN 1.5
param set-default NAV_ACC_RAD 5
param set-default NAV_DLL_ACT 2
param set-default NAV_LOITER_RAD 80
param set-default RTL_DESCEND_ALT 10
param set-default RTL_RETURN_ALT 30
param set-default SDLOG_DIRS_MAX 7
param set-default SYS_RESTART_TYPE 2
param set-default VT_F_TRANS_THR 0.75
param set-default VT_MOT_ID 1234
param set-default VT_FW_MOT_OFFID 1234
param set-default VT_TYPE 2
param set SYS_HITL 1
# disable some checks to allow to fly
# - with usb
param set-default CBRK_USB_CHK 197848
# - without real battery
param set-default CBRK_SUPPLY_CHK 894281
# - without safety switch
param set-default COM_PREARM_MODE 0
param set-default CBRK_IO_SAFETY 22027
set MAV_TYPE 22
set MIXER standard_vtol_hitl
set PWM_OUT 1234
#!/bin/sh
#
# @name Generic Hexarotor coaxial geometry
#
# @type Hexarotor Coaxial
# @class Copter
#
# @output MAIN1 front right top, CW; angle:60; direction:CW
# @output MAIN2 front right bottom, CCW; angle:60; direction:CCW
# @output MAIN3 back top, CW; angle:180; direction:CW
# @output MAIN4 back bottom, CCW; angle:180; direction:CCW
# @output MAIN5 front left top, CW; angle:-60; direction:CW
# @output MAIN6 front left bottom, CCW;angle:-60; direction:CCW
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.mc_defaults
set MIXER hexa_cox
# Need to set all 8 channels
set PWM_OUT 12345678
#!/bin/sh
#
# @name SIH Quadcopter X
#
# @type Simulation
# @class Copter
#
# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
#
# @board px4_fmu-v2 exclude
#
. ${R}etc/init.d/rc.mc_defaults
set MIXER quad_x
set PWM_OUT 1234
# set SYS_HITL to 2 to start the SIH and avoid sensors startup
param set SYS_HITL 2
# disable some checks to allow to fly:
# - with usb
param set-default CBRK_USB_CHK 197848
# - without real battery
param set-default CBRK_SUPPLY_CHK 894281
# - without safety switch
param set-default COM_PREARM_MODE 0
param set-default CBRK_IO_SAFETY 22027
#!/bin/sh
#
# @name Generic 10" Octo coaxial geometry
#
# @type Octorotor Coaxial
# @class Copter
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
# @output MAIN5 motor 5
# @output MAIN6 motor 6
# @output MAIN7 motor 7
# @output MAIN8 motor 8
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.mc_defaults
set MIXER octo_cox
set PWM_OUT 12345678
#!/bin/sh
#
# @name Steadidrone MAVRIK
#
# @type Octo Coax Wide
# @class Copter
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
# @output MAIN5 motor 5
# @output MAIN6 motor 6
# @output MAIN7 motor 7
# @output MAIN8 motor 8
#
# @maintainer Simon Wilks <simon@uaventure.com>
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.mc_defaults
param set-default MC_PITCH_P 4
param set-default MC_PITCHRATE_P 0.24
param set-default MC_PITCHRATE_I 0.09
param set-default MC_PITCHRATE_D 0.013
param set-default MC_PITCHRATE_MAX 180
param set-default MC_ROLL_P 4
param set-default MC_ROLLRATE_P 0.16
param set-default MC_ROLLRATE_I 0.07
param set-default MC_ROLLRATE_D 0.009
param set-default MC_ROLLRATE_MAX 180
param set-default MC_YAW_P 3
param set-default MC_YAWRATE_P 0.2
param set-default MC_YAWRATE_I 0.1
param set-default MC_YAWRATE_D 0
param set-default MPC_HOLD_MAX_XY 0.25
param set-default MPC_THR_MIN 0.15
param set-default MPC_Z_VEL_MAX_DN 2
param set-default BAT_N_CELLS 4
set MIXER octo_cox_w
set PWM_OUT 12345678
#!/bin/sh
#
# @name Generic Quadplane VTOL
#
# @type Standard VTOL
# @class VTOL
#
# @maintainer
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
# @output AUX1 Aileron 1
# @output AUX2 Aileron 2
# @output AUX3 Elevator
# @output AUX4 Rudder
# @output AUX5 Throttle
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.vtol_defaults
param set-default PWM_AUX_DIS5 950
param set-default PWM_MAIN_RATE 400
param set-default VT_TYPE 2
param set-default VT_MOT_ID 1234
param set-default VT_FW_MOT_OFFID 1234
set MAV_TYPE 22
set MIXER quad_x
set MIXER_AUX vtol_AAERT
set PWM_OUT 1234
#!/bin/sh
#
# @name Caipiroshka Duo Tailsitter
#
# @type VTOL Duo Tailsitter
# @class VTOL
#
# @output MAIN1 motor right
# @output MAIN2 motor left
# @output MAIN5 elevon right
# @output MAIN6 elevon left
#
# @maintainer Roman Bapst <roman@px4.io>
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.vtol_defaults
param set-default MAV_TYPE 19
param set-default MC_ROLL_P 6
param set-default MC_ROLLRATE_P 0.12
param set-default MC_ROLLRATE_I 0.002
param set-default MC_ROLLRATE_D 0.003
param set-default MC_ROLLRATE_FF 0
param set-default MC_PITCH_P 4.5
param set-default MC_PITCHRATE_P 0.3
param set-default MC_PITCHRATE_I 0.002
param set-default MC_PITCHRATE_D 0.003
param set-default MC_PITCHRATE_FF 0
param set-default MC_YAW_P 3.8
param set-default MC_YAWRATE_P 0.22
param set-default MC_YAWRATE_I 0.02
param set-default MC_YAWRATE_D 0
param set-default MC_YAWRATE_FF 0
param set-default VT_IDLE_PWM_MC 1080
param set-default VT_ELEV_MC_LOCK 0
param set-default VT_MOT_ID 12
param set-default VT_TYPE 0
set MAV_TYPE 19
set MIXER vtol_tailsitter_duo
set PWM_OUT 123456
#!/bin/sh
#
# @name BirdsEyeView Aerobotics FireFly6
# @type VTOL Tiltrotor
# @class VTOL
#
# @maintainer Roman Bapst <roman@uaventure.com>
#
# @output MAIN1 Front right motor bottom
# @output MAIN2 Front right motor top
# @output MAIN3 Back motor bottom
# @output MAIN4 Back motor top
# @output MAIN5 Front left motor bottom
# @output MAIN6 Front left motor top
# @output AUX1 Tilt servo
# @output AUX2 Elevon 1
# @output AUX3 Elevon 2
# @output AUX4 Gear
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.vtol_defaults
param set-default MC_ROLL_P 7
param set-default MC_ROLLRATE_P 0.19
param set-default MC_ROLLRATE_I 0.002
param set-default MC_ROLLRATE_D 0.005
param set-default MC_ROLLRATE_FF 0
param set-default MC_PITCH_P 7
param set-default MC_PITCHRATE_P 0.14
param set-default MC_PITCHRATE_I 0.002
param set-default MC_PITCHRATE_D 0.004
param set-default MC_PITCHRATE_FF 0
param set-default MC_YAW_P 4
param set-default MC_YAWRATE_P 0.22
param set-default MC_YAWRATE_I 0.02
param set-default MC_YAWRATE_D 0
param set-default MC_YAWRATE_FF 0
param set-default PWM_MAIN_RATE 400
param set-default VT_FW_MOT_OFFID 34
param set-default VT_IDLE_PWM_MC 1080
param set-default VT_MOT_ID 123456
param set-default VT_FW_MOT_OFFID 56
param set-default VT_TILT_MC 0.08
param set-default VT_TILT_TRANS 0.5
param set-default VT_TILT_FW 0.9
param set-default VT_ELEV_MC_LOCK 0
param set-default VT_TYPE 1
set MAV_TYPE 21
set MIXER firefly6
set MIXER_AUX firefly6
set PWM_OUT 12345678
#!/bin/sh
#
# @name Quadrotor X Tailsitter
#
# @type VTOL Quad Tailsitter
# @class VTOL
#
# @maintainer Roman Bapst <roman@px4.io>
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.vtol_defaults
param set-default PWM_MAIN_MAX 2000
param set-default PWM_MAIN_RATE 400
param set-default VT_MOT_ID 1234
param set-default VT_IDLE_PWM_MC 1080
param set-default VT_TYPE 0
param set-default VT_ELEV_MC_LOCK 1
set MAV_TYPE 20
set MIXER quad_x_vtol
set PWM_OUT 1234
#!/bin/sh
#
# @name Quadrotor + Tailsitter
#
# @type VTOL Quad Tailsitter
# @class VTOL
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 4
# @output MAIN4 motor 5
# @output MAIN5 elevon left
# @output MAIN6 elevon right
# @output MAIN7 canard surface
# @output MAIN8 rudder
#
# @maintainer Roman Bapst <roman@px4.io>
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.vtol_defaults
param set-default PWM_MAIN_MAX 2000
param set-default PWM_MAIN_RATE 400
param set-default VT_IDLE_PWM_MC 1080
param set-default VT_TYPE 0
param set-default VT_ELEV_MC_LOCK 1
set MAV_TYPE 20
set MIXER quad_+_vtol
set PWM_OUT 1234
#!/bin/sh
#
# @name Fun Cub Quad VTOL
#
# @type Standard VTOL
# @class VTOL
#
# @maintainer Simon Wilks <simon@uaventure.com>
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
# @output AUX1 Aileron 1
# @output AUX2 Aileron 2
# @output AUX3 Elevator
# @output AUX4 Rudder
# @output AUX5 Throttle
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.vtol_defaults
param set-default PWM_AUX_DIS5 950
param set-default PWM_MAIN_RATE 400
param set-default MC_ROLL_P 6
param set-default MC_ROLLRATE_P 0.17
param set-default MC_ROLLRATE_I 0.002
param set-default MC_ROLLRATE_D 0.004
param set-default MC_ROLLRATE_FF 0
param set-default MC_PITCH_P 6
param set-default MC_PITCHRATE_P 0.19
param set-default MC_PITCHRATE_I 0.002
param set-default MC_PITCHRATE_D 0.004
param set-default MC_PITCHRATE_FF 0
param set-default MC_YAW_P 2.8
param set-default MC_YAWRATE_P 0.22
param set-default MC_YAWRATE_I 0.02
param set-default MC_YAWRATE_D 0
param set-default MC_YAWRATE_FF 0
param set-default MC_YAWRATE_MAX 40
param set-default MPC_YAWRAUTO_MAX 40
param set-default FW_PR_FF 0.5
param set-default FW_PR_I 0.02
param set-default FW_PR_IMAX 0.4
param set-default FW_PR_P 0.08
param set-default FW_RR_FF 0.6
param set-default FW_RR_I 0.01
param set-default FW_RR_IMAX 0.2
param set-default FW_RR_P 0.05
param set-default FW_THR_CRUISE 0.75
param set-default VT_ARSP_BLEND 6
param set-default VT_ARSP_TRANS 12
param set-default VT_F_TRANS_THR 0.75
param set-default VT_MOT_ID 1234
param set-default VT_FW_MOT_OFFID 1234
param set-default VT_IDLE_PWM_MC 1080
param set-default VT_TYPE 2
set MAV_TYPE 22
set MIXER quad_x
set MIXER_AUX vtol_AAERT
set PWM_OUT 1234
#!/bin/sh
#
# @name Generic quad delta VTOL
#
# @type Standard VTOL
# @class VTOL
#
# @maintainer Simon Wilks <simon@uaventure.com>
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
# @output AUX1 Right elevon
# @output AUX2 Left elevon
# @output AUX3 Motor
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.vtol_defaults
param set-default MC_ROLL_P 6.5
param set-default MC_ROLLRATE_P 0.15
param set-default MC_ROLLRATE_I 0.01
param set-default MC_ROLLRATE_D 0.003
param set-default MC_ROLLRATE_FF 0
param set-default MC_PITCH_P 6.5
param set-default MC_PITCHRATE_P 0.15
param set-default MC_PITCHRATE_I 0.01
param set-default MC_PITCHRATE_D 0.003
param set-default MC_PITCHRATE_FF 0
param set-default MC_YAW_P 3.5
param set-default MC_YAWRATE_P 0.2
param set-default MC_YAWRATE_I 0.1
param set-default MC_YAWRATE_D 0
param set-default MC_YAWRATE_FF 0
param set-default MC_YAWRATE_MAX 50
param set-default MPC_XY_P 0.8
param set-default MPC_XY_VEL_P_ACC 2
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_YAWRAUTO_MAX 20
param set-default PWM_AUX_DIS3 950
param set-default PWM_MAIN_RATE 400
param set-default VT_MOT_ID 1234
param set-default VT_FW_MOT_OFFID 1234
param set-default VT_F_TRANS_THR 0.75
param set-default VT_IDLE_PWM_MC 1080
param set-default VT_TYPE 2
set MAV_TYPE 22
set MIXER quad_x
set MIXER_AUX vtol_delta
set PWM_OUT 1234
#!/bin/sh
#
# @name Generic AAVVT v-tail plane airframe with Quad VTOL.
#
# @type Standard VTOL
# @class VTOL
#
# @maintainer Sander Smeets <sander@droneslab.com>
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.vtol_defaults
param set-default MC_ROLL_P 7
param set-default MC_ROLLRATE_P 0.15
param set-default MC_ROLLRATE_I 0.002
param set-default MC_ROLLRATE_D 0.003
param set-default MC_ROLLRATE_FF 0
param set-default MC_PITCH_P 7
param set-default MC_PITCHRATE_P 0.12
param set-default MC_PITCHRATE_I 0.002
param set-default MC_PITCHRATE_D 0.003
param set-default MC_PITCHRATE_FF 0
param set-default MC_YAW_P 2.8
param set-default MC_YAWRATE_P 0.22
param set-default MC_YAWRATE_I 0.02
param set-default MC_YAWRATE_D 0
param set-default MC_YAWRATE_FF 0
param set-default MC_YAWRATE_MAX 40
param set-default MPC_YAWRAUTO_MAX 40
param set-default PWM_AUX_DIS5 950
param set-default PWM_MAIN_RATE 400
param set-default VT_F_TRANS_THR 0.75
param set-default VT_MOT_ID 1234
param set-default VT_FW_MOT_OFFID 1234
param set-default VT_IDLE_PWM_MC 1080
param set-default VT_TYPE 2
set MAV_TYPE 22
set MIXER quad_x
set MIXER_AUX vtol_AAVVT
set PWM_OUT 1234
#!/bin/sh
#
# @name QuadRanger
#
# @type Standard VTOL
# @class VTOL
#
# @maintainer Sander Smeets <sander@droneslab.com>
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.vtol_defaults
param set-default FW_THR_CRUISE 65
param set-default FW_PR_P 0.08
param set-default FW_PR_FF 0.5
param set-default FW_RR_P 0.05
param set-default FW_RR_FF 0.6
param set-default MIS_YAW_TMT 10
param set-default MC_ROLL_P 7
param set-default MC_ROLLRATE_P 0.15
param set-default MC_ROLLRATE_I 0.1
param set-default MC_ROLLRATE_D 0.004
param set-default MC_ROLLRATE_FF 0
param set-default MC_PITCH_P 7
param set-default MC_PITCHRATE_P 0.15
param set-default MC_PITCHRATE_I 0.1
param set-default MC_PITCHRATE_D 0.004
param set-default MC_PITCHRATE_FF 0
param set-default MC_YAW_P 3.5
param set-default MC_YAWRATE_P 0.6
param set-default MC_YAWRATE_I 0.04
param set-default MC_YAWRATE_D 0
param set-default MC_YAWRATE_FF 0
param set-default MC_YAWRATE_MAX 40
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_Z_VEL_MAX_DN 1.5
param set-default MPC_TKO_SPEED 1.5
param set-default MPC_LAND_SPEED 0.8
param set-default MPC_YAWRAUTO_MAX 40
param set-default PWM_AUX_DIS5 950
param set-default PWM_AUX_REV1 1
param set-default PWM_AUX_REV2 1
param set-default PWM_MAIN_RATE 400
param set-default VT_ARSP_TRANS 15
param set-default VT_ARSP_BLEND 8
param set-default VT_B_TRANS_DUR 4
param set-default VT_F_TRANS_THR 0.75
param set-default VT_IDLE_PWM_MC 1080
param set-default VT_MOT_ID 1234
param set-default VT_FW_MOT_OFFID 1234
param set-default VT_TYPE 2
set MAV_TYPE 22
set MIXER quad_x
set MIXER_AUX vtol_AAERT
set PWM_OUT 1234
#!/bin/sh
#
# @name Sparkle Tech Ranger VTOL
#
# @type Standard VTOL
# @class VTOL
#
# @maintainer Andreas Antener <andreas@uaventure.com>
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#
. ${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
param set-default FW_L1_PERIOD 25
param set-default FW_PR_P 0.060
param set-default FW_P_RMAX_NEG 40
param set-default FW_P_RMAX_POS 40
param set-default FW_RR_FF 0.4
param set-default FW_RR_P 0.04
param set-default FW_R_RMAX 40
param set-default MC_PITCHRATE_D 0.004
param set-default MC_PITCHRATE_I 0
param set-default MC_PITCHRATE_MAX 60
param set-default MC_PITCHRATE_P 0.21
param set-default MC_PITCH_P 4
param set-default MC_ROLLRATE_D 0.004
param set-default MC_ROLLRATE_I 0.002
param set-default MC_ROLLRATE_MAX 60
param set-default MC_ROLLRATE_P 0.24
param set-default MC_ROLL_P 4
param set-default MC_YAWRATE_I 0.02
param set-default MC_YAWRATE_MAX 40
param set-default MC_YAWRATE_P 0.18
param set-default MIS_TAKEOFF_ALT 2.5
param set-default MIS_YAW_TMT 20
param set-default MPC_ACC_HOR_MAX 1
param set-default MPC_HOLD_MAX_XY 0.5
param set-default MPC_HOLD_MAX_Z 0.5
param set-default MPC_LAND_SPEED 1
param set-default MPC_MANTHR_MIN 0.05
param set-default MPC_MAN_Y_MAX 120
param set-default MPC_THR_MIN 0.07
param set-default MPC_TILTMAX_AIR 35
param set-default MPC_TILTMAX_LND 20
param set-default MPC_TKO_SPEED 1
param set-default MPC_XY_P 0.3
param set-default MPC_XY_VEL_MAX 3
param set-default MPC_XY_VEL_P_ACC 1
param set-default MPC_Z_P 0.5
param set-default MPC_Z_VEL_P_ACC 2
param set-default MPC_YAWRAUTO_MAX 40
param set-default NAV_ACC_RAD 3
param set-default PWM_AUX_REV1 1
param set-default PWM_AUX_REV2 1
param set-default PWM_AUX_REV3 1
param set-default PWM_AUX_REV4 1
param set-default PWM_AUX_DIS5 950
param set-default PWM_MAIN_RATE 400
param set-default VT_ARSP_TRANS 15
param set-default VT_B_TRANS_DUR 4
param set-default VT_F_TRANS_THR 0.6
param set-default VT_IDLE_PWM_MC 1180
param set-default VT_MOT_ID 1234
param set-default VT_FW_MOT_OFFID 1234
param set-default VT_TRANS_MIN_TM 5
param set-default VT_TRANS_TIMEOUT 30
param set-default VT_TYPE 2
set MAV_TYPE 22
set MIXER quad_x
set MIXER_AUX vtol_AAERT
set PWM_OUT 1234
#!/bin/sh
#
# @name CruiseAder Claire
#
# @type VTOL Tiltrotor
# @class VTOL
#
# @maintainer Samay Siga <samay_s@icloud.com>
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#
. ${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
param set-default PWM_AUX_RATE 50
param set-default PWM_MAIN_MAX 2000
param set-default PWM_MAIN_RATE 400
param set-default VT_MOT_ID 1234
param set-default VT_FW_MOT_OFFID 13
param set-default VT_IDLE_PWM_MC 1080
param set-default VT_TILT_FW 0.9
param set-default VT_TILT_MC 0.08
param set-default VT_TILT_TRANS 0.5
param set-default VT_ELEV_MC_LOCK 0
param set-default VT_TYPE 1
set MAV_TYPE 21
set MIXER claire
set MIXER_AUX claire
set PWM_OUT 1234
#!/bin/sh
#
# @name E-flite Convergence
#
# @type VTOL Tiltrotor
# @class VTOL
#
# @maintainer Andreas Antener <andreas@uaventure.com>
#
# @output MAIN1 Motor right
# @output MAIN2 Motor left
# @output MAIN3 Motor back
# @output MAIN4 empty
# @output MAIN5 Tilt servo right
# @output MAIN6 Tilt servo left
# @output MAIN7 Elevon right
# @output MAIN8 Elevon left
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.vtol_defaults
param set-default CBRK_AIRSPD_CHK 162128
param set-default FW_ARSP_MODE 1
param set-default FW_L1_PERIOD 17
param set-default FW_MAN_R_MAX 50
param set-default FW_ACRO_X_MAX 270
param set-default FW_ACRO_Y_MAX 270
param set-default FW_ACRO_Z_MAX 180
param set-default FW_PR_FF 0.5
param set-default FW_PR_P 0.08
param set-default FW_PSP_OFF 5
param set-default FW_P_LIM_MAX 30
param set-default FW_P_LIM_MIN -30
param set-default FW_P_RMAX_NEG 60
param set-default FW_P_RMAX_POS 60
param set-default FW_RR_FF 0.33
param set-default FW_RR_P 0.11
param set-default FW_YR_FF 0.3
param set-default FW_YR_P 0.05
param set-default MC_PITCHRATE_D 0.003
param set-default MC_PITCHRATE_P 0.15
param set-default MC_PITCH_P 6
param set-default MC_ROLLRATE_D 0.003
param set-default MC_ROLLRATE_P 0.15
param set-default MC_ROLL_P 6
param set-default MC_YAWRATE_MAX 120
param set-default MC_YAWRATE_P 0.27
param set-default MC_YAW_P 2.5
param set-default MC_YAWRATE_P 0.3
param set-default MPC_LAND_SPEED 1.2
param set-default MPC_TKO_SPEED 2.5
param set-default MPC_Z_VEL_MAX_UP 3
param set-default PWM_MAIN_RATE 400
param set-default SENS_BOARD_ROT 8
param set-default VT_B_TRANS_DUR 1
param set-default VT_F_TRANS_DUR 1.2
param set-default VT_F_TR_OL_TM 4
param set-default VT_FW_DIFTHR_EN 1
param set-default VT_FW_DIFTHR_SC 0.17
param set-default VT_FW_MOT_OFFID 3
param set-default VT_FW_PERM_STAB 0
param set-default VT_IDLE_PWM_MC 1200
param set-default VT_MOT_ID 123
param set-default VT_TILT_FW 1
param set-default VT_TILT_MC 0
param set-default VT_TILT_TRANS 0.45
param set-default VT_TRANS_MIN_TM 1.2
param set-default VT_TRANS_P2_DUR 1.3
param set-default VT_ELEV_MC_LOCK 0
param set-default VT_TYPE 1
set MAV_TYPE 21
set MIXER vtol_convergence
set PWM_OUT 1234
#!/bin/sh
#
# @name Vertical Technologies DeltaQuad
#
# @type Standard VTOL
# @class VTOL
#
# @maintainer Sander Smeets <sander@droneslab.com>
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
# @output MAIN5 Right elevon
# @output MAIN6 Left elevon
# @output MAIN7 Pusher motor
# @output MAIN8 Pusher reverse channel
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.vtol_defaults
param set-default BAT_CAPACITY 23000
param set-default BAT_N_CELLS 4
param set-default BAT_R_INTERNAL 0.0025
param set-default CBRK_AIRSPD_CHK 162128
param set-default CBRK_IO_SAFETY 22027
param set-default EKF2_GPS_POS_X -0.12
param set-default EKF2_IMU_POS_X -0.12
param set-default EKF2_TAU_VEL 0.5
param set-default EKF2_GPS_P_GATE 10
param set-default EKF2_GPS_V_GATE 10
param set-default FW_ARSP_MODE 1
param set-default FW_L1_PERIOD 25
param set-default FW_PR_FF 0.7
param set-default FW_PR_I 0.18
param set-default FW_PR_P 0.15
param set-default FW_P_TC 0.5
param set-default FW_PSP_OFF 5
param set-default FW_R_LIM 35
param set-default FW_RR_FF 0.9
param set-default FW_RR_I 0.08
param set-default FW_RR_P 0.18
param set-default FW_T_HRATE_FF 0.5
param set-default FW_T_CLMB_MAX 3
param set-default FW_T_SINK_MAX 3
param set-default FW_T_SINK_MIN 1
param set-default FW_T_VERT_ACC 6
param set-default FW_THR_CRUISE 0.70
param set-default FW_THR_SLEW_MAX 1
param set-default FW_MAN_P_MAX 30
param set-default FW_P_LIM_MAX 15
param set-default FW_P_LIM_MIN -25
param set-default FW_P_RMAX_NEG 45
param set-default FW_P_RMAX_POS 45
param set-default FW_R_RMAX 50
param set-default FW_THR_MIN 0.55
param set-default FW_BAT_SCALE_EN 1
param set-default FW_THR_ALT_SCL 2.7
param set-default FW_T_RLL2THR 20
param set-default LNDMC_ALT_MAX 9999
param set-default LNDMC_XY_VEL_MAX 1
param set-default LNDMC_Z_VEL_MAX 0.7
param set-default MC_ROLL_P 6.5
param set-default MC_ROLLRATE_P 0.16
param set-default MC_ROLLRATE_I 0.01
param set-default MC_ROLLRATE_D 0.003
param set-default MC_ROLLRATE_FF 0
param set-default MC_ROLLRATE_MAX 80
param set-default MC_PITCH_P 6.5
param set-default MC_PITCHRATE_P 0.15
param set-default MC_PITCHRATE_I 0.05
param set-default MC_PITCHRATE_D 0.003
param set-default MC_PITCHRATE_FF 0
param set-default MC_PITCHRATE_MAX 80
param set-default MC_YAW_P 3.5
param set-default MC_YAWRATE_P 0.2
param set-default MC_YAWRATE_I 0.1
param set-default MC_YAWRATE_D 0
param set-default MC_YAWRATE_FF 0
param set-default MC_YAWRATE_MAX 20
param set-default MC_AIRMODE 1
param set-default MIS_DIST_1WP 100
param set-default MIS_DIST_WPS 100000
param set-default MIS_TAKEOFF_ALT 15
param set-default MPC_XY_P 0.8
param set-default MPC_XY_VEL_P_ACC 2
param set-default MPC_XY_VEL_MAX 5
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_LAND_SPEED 1.2
param set-default MPC_TILTMAX_LND 35
param set-default MPC_Z_VEL_MAX_UP 1.5
param set-default MPC_Z_VEL_MAX_DN 1.5
param set-default MPC_HOLD_MAX_XY 0.5
param set-default MPC_HOLD_MAX_Z 0.5
param set-default MPC_TKO_RAMP_T 0.8
param set-default MPC_XY_CRUISE 5
param set-default MPC_TILTMAX_AIR 25
param set-default MPC_TILTMAX_LND 25
param set-default MPC_YAWRAUTO_MAX 20
param set-default NAV_DLL_ACT 0
param set-default NAV_LOITER_RAD 100
param set-default PWM_AUX_DISARM 950
param set-default PWM_MAIN_DIS5 1500
param set-default PWM_MAIN_DIS6 1500
param set-default PWM_MAIN_DIS7 900
param set-default PWM_MAIN_DIS8 900
param set-default PWM_MAIN_RATE 400
param set-default SENS_BOARD_ROT 18
# TELEM2 config
param set-default MAV_1_CONFIG 102
param set-default MAV_1_RATE 5000
param set-default MAV_1_FORWARD 1
param set-default SER_TEL2_BAUD 57600
param set-default VT_TYPE 2
param set-default VT_MOT_ID 1234
param set-default VT_FW_MOT_OFFID 1234
param set-default VT_F_TRANS_THR 1
param set-default VT_DWN_PITCH_MAX 8
param set-default VT_FW_QC_P 55
param set-default VT_FW_QC_R 55
param set-default VT_TRANS_MIN_TM 15
param set-default VT_B_TRANS_DUR 8
param set-default VT_WV_LND_EN 1
param set-default VT_WV_LTR_EN 1
param set-default VT_FWD_THRUST_SC 4
param set-default VT_F_TRANS_DUR 1
param set-default VT_IDLE_PWM_MC 1025
param set-default VT_B_REV_OUT 0.5
param set-default VT_B_TRANS_THR 0.7
param set-default VT_FW_PERM_STAB 1
param set-default VT_TRANS_TIMEOUT 22
param set-default VT_F_TRANS_RAMP 4
param set-default COM_RC_OVERRIDE 0
set MAV_TYPE 22
set MIXER deltaquad
set MIXER_AUX pass
set PWM_OUT 1234
set PWM_AUX_OUT 12345
#!/bin/sh
#
# @name BabyShark VTOL
#
# @type Standard VTOL
# @class VTOL
#
# @maintainer Silvan Fuhrer <silvan@auterion.com>
#
# @output MAIN1 Ailerons
# @output MAIN2 A-tail left
# @output MAIN3 Pusher motor
# @output MAIN4 A-tail right
# @output MAIN5 motor 1
# @output MAIN6 motor 2
# @output MAIN7 motor 3
# @output MAIN8 motor 4
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.vtol_defaults
param set-default BAT_N_CELLS 6
param set-default FW_AIRSPD_MAX 30
param set-default FW_AIRSPD_MIN 19
param set-default FW_AIRSPD_TRIM 23
param set-default FW_L1_R_SLEW_MAX 40
param set-default FW_LND_EARLYCFG 1
param set-default FW_MAN_P_MAX 30
param set-default FW_PR_I 0.1
param set-default FW_PSP_OFF 3
param set-default FW_P_LIM_MAX 18
param set-default FW_P_LIM_MIN -25
param set-default FW_RLL_TO_YAW_FF 0.1
param set-default FW_RR_I 0.1
param set-default FW_RR_P 0.08
param set-default FW_R_LIM 45
param set-default FW_R_RMAX 50
param set-default FW_THR_CRUISE 0.65
param set-default FW_THR_MIN 0.3
param set-default FW_THR_SLEW_MAX 0.6
param set-default FW_T_HRATE_FF 0
param set-default FW_T_SINK_MAX 15
param set-default FW_T_SINK_MIN 3
param set-default FW_YR_I 0.1
param set-default FW_YR_P 0.15
param set-default IMU_GYRO_CUTOFF 40
param set-default IMU_DGYRO_CUTOFF 15
param set-default MC_PITCHRATE_I 0.2
param set-default MC_PITCHRATE_MAX 60
param set-default MC_ROLLRATE_I 0.2
param set-default MC_ROLLRATE_MAX 60
param set-default MC_YAWRATE_I 0.15
param set-default MC_YAWRATE_MAX 40
param set-default MC_YAWRATE_P 0.3
param set-default MIS_TAKEOFF_ALT 30
param set-default MPC_ACC_DOWN_MAX 2
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_ACC_UP_MAX 3
param set-default MC_AIRMODE 1
param set-default MPC_JERK_AUTO 4
param set-default MPC_LAND_SPEED 1
param set-default MPC_MAN_TILT_MAX 25
param set-default MPC_MAN_Y_MAX 40
param set-default MPC_POS_MODE 3
param set-default MPC_SPOOLUP_TIME 1.5
param set-default MPC_THR_HOVER 0.45
param set-default MPC_TILTMAX_AIR 25
param set-default MPC_TKO_RAMP_T 1.8
param set-default MPC_TKO_SPEED 1
param set-default MPC_VEL_MANUAL 3
param set-default MPC_XY_CRUISE 3
param set-default MPC_XY_VEL_MAX 3.5
param set-default MPC_YAWRAUTO_MAX 40
param set-default MPC_Z_VEL_MAX_DN 1.5
param set-default MPC_Z_VEL_MAX_UP 2
param set-default NAV_ACC_RAD 3
param set-default PWM_MAIN_DIS3 1000
param set-default PWM_MAIN_MIN3 1120
param set-default PWM_MAIN_MIN 950
param set-default SENS_BOARD_ROT 4
param set-default VT_ARSP_BLEND 10
param set-default VT_ARSP_TRANS 21
param set-default VT_B_DEC_MSS 1.5
param set-default VT_B_TRANS_DUR 12
param set-default VT_ELEV_MC_LOCK 0
param set-default VT_FWD_THRUST_SC 1.2
param set-default VT_FW_MOT_OFFID 5678
param set-default VT_F_TR_OL_TM 8
param set-default VT_IDLE_PWM_MC 1000
param set-default VT_MOT_ID 5678
param set-default VT_PSHER_RMP_DT 2
param set-default VT_TRANS_MIN_TM 4
param set-default VT_TYPE 2
set MAV_TYPE 22
set MIXER babyshark
set MIXER_AUX pass
# Mark outputs for the alternate rate
# or D-Shot
set PWM_OUT 5678
#!/bin/sh
#
# @name Generic Quadplane VTOL Tiltrotor
#
# @type VTOL Tiltrotor
# @class VTOL
#
# @maintainer
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
# @output AUX1 Motor tilt front left
# @output AUX2 Motor tilt front right
# @output AUX3 Motor tilt rear left
# @output AUX4 Motor tilt rear right
# @output AUX5 Aileron left
# @output AUX6 Aileron right
# @output AUX7 Elevator
# @output AUX8 Rudder
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.vtol_defaults
param set-default PWM_MAIN_RATE 400
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
set MAV_TYPE 21
set MIXER quad_x
set MIXER_AUX vtol_TTTTAAER
set PWM_OUT 1234
#!/bin/sh
#
# @name Generic Octoplane VTOL
#
# @type VTOL Octoplane
# @class VTOL
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
# @output MAIN5 motor 5
# @output MAIN6 motor 6
# @output MAIN7 motor 7
# @output MAIN8 motor 8
# @output AUX1 Aileron 1
# @output AUX2 Aileron 2
# @output AUX3 Elevator
# @output AUX4 Rudder
# @output AUX5 Throttle
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.vtol_defaults
param set-default PWM_AUX_DIS5 950
param set-default PWM_MAIN_RATE 400
param set-default VT_TYPE 2
param set-default VT_MOT_ID 12345678
param set-default VT_FW_MOT_OFFID 12345678
set MAV_TYPE 22
set MIXER octo_cox
set MIXER_AUX vtol_AAERT
set PWM_OUT 12345678
#!/bin/sh
#
# @name Generic Tailsitter
#
# @type VTOL Duo Tailsitter
# @class VTOL
#
# @output MAIN1 motor right
# @output MAIN2 motor left
# @output MAIN5 elevon right
# @output MAIN6 elevon left
#
# @maintainer Roman Bapst <roman@px4.io>
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#
. ${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
param set-default MAV_TYPE 19
set MAV_TYPE 19
set MIXER vtol_tailsitter_duo
set PWM_OUT 1234
#!/bin/sh
#
# @name Generic Tricopter Y+ Geometry
#
# @type Tricopter Y+
# @class Copter
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 yaw servo
#
# @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
#
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.mc_defaults
set MIXER tri_y_yaw+
set PWM_OUT 1234
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flightgear_bridge @ 7c2c623d
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jMAVSim @ 0a816d81
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jsbsim_bridge @ e070c50d
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sitl_gazebo @ 5c248898
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cmake_hexagon @ 08fd0a73
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