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1 -# Contributor Covenant Code of Conduct
2 -
3 -## Our Pledge
4 -
5 -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.
6 -
7 -## Our Standards
8 -
9 -Examples of behavior that contributes to creating a positive environment include:
10 -
11 -* Using welcoming and inclusive language
12 -* Being respectful of differing viewpoints and experiences
13 -* Gracefully accepting constructive criticism
14 -* Focusing on what is best for the community
15 -* Showing empathy towards other community members
16 -
17 -Examples of unacceptable behavior by participants include:
18 -
19 -* The use of sexualized language or imagery and unwelcome sexual attention or advances
20 -* Trolling, insulting/derogatory comments, and personal or political attacks
21 -* Public or private harassment
22 -* Publishing others' private information, such as a physical or electronic address, without explicit permission
23 -* Other conduct which could reasonably be considered inappropriate in a professional setting
24 -
25 -## Our Responsibilities
26 -
27 -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.
28 -
29 -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.
30 -
31 -## Scope
32 -
33 -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.
34 -
35 -## Enforcement
36 -
37 -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.
38 -
39 -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.
40 -
41 -## Attribution
42 -
43 -This Code of Conduct is adapted from the [Contributor Covenant][homepage], version 1.4, available at [http://contributor-covenant.org/version/1/4][version]
44 -
45 -[homepage]: http://contributor-covenant.org
46 -[version]: http://contributor-covenant.org/version/1/4/
1 -# Contributing to PX4 Firmware
2 -
3 -We follow the [Github flow](https://guides.github.com/introduction/flow/) development model.
4 -
5 -### Fork the project, then clone your repo
6 -
7 -First [fork and clone](https://help.github.com/articles/fork-a-repo) the project project.
8 -
9 -### Create a feature branch
10 -
11 -*Always* branch off master for new features.
12 -
13 -```
14 -git checkout -b mydescriptivebranchname
15 -```
16 -
17 -### Edit and build the code
18 -
19 -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.
20 -
21 -### Commit your changes
22 -
23 -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)
24 -
25 -**Example:**
26 -
27 -```
28 -Change how the attitude controller works
29 -
30 -- Fixes rate feed forward
31 -- Allows a local body rate override
32 -
33 -Fixes issue #123
34 -```
35 -
36 -### Test your changes
37 -
38 -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.
39 -
40 -### Push your changes
41 -
42 -Push changes to your repo and send a [pull request](https://github.com/PX4/Firmware/compare/).
43 -
44 -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.
1 -## This file should be placed in the root directory of your project.
2 -## Then modify the CMakeLists.txt file in the root directory of your
3 -## project to incorporate the testing dashboard.
4 -##
5 -## # The following are required to submit to the CDash dashboard:
6 -## ENABLE_TESTING()
7 -## INCLUDE(CTest)
8 -
9 -set(CTEST_PROJECT_NAME "PX4 Firmware")
10 -set(CTEST_NIGHTLY_START_TIME "00:00:00 EST")
11 -
12 -set(CTEST_DROP_METHOD "http")
13 -set(CTEST_DROP_SITE "my.cdash.org")
14 -set(CTEST_DROP_LOCATION "/submit.php?project=PX4+Firmware")
15 -set(CTEST_DROP_SITE_CDASH TRUE)
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1 -{
2 - "folders":
3 - [
4 - {
5 - "path": ".",
6 - "file_exclude_patterns":
7 - [
8 - "*.o",
9 - "*.a",
10 - "*.d",
11 - ".built",
12 - ".context",
13 - ".depend",
14 - ".config",
15 - ".version",
16 - "Make.dep",
17 - ".configured",
18 - "*.sublime-project",
19 - "*.sublime-workspace",
20 - ".project",
21 - ".cproject",
22 - "cscope.out"
23 - ],
24 - "folder_exclude_patterns":
25 - [
26 - ".settings",
27 - "nuttx/arch/arm/src/board",
28 - "nuttx/arch/arm/src/chip",
29 - "build_*"
30 - ]
31 - }
32 - ],
33 - "settings":
34 - {
35 - "tab_size": 8,
36 - "translate_tabs_to_spaces": false,
37 - "highlight_line": true,
38 - "AStyleFormatter":
39 - {
40 - "options_c":
41 - {
42 - "use_only_additional_options": true,
43 - "additional_options_file": "${project_path}/Tools/astyle/astylerc"
44 - },
45 - "options_c++":
46 - {
47 - "use_only_additional_options": true,
48 - "additional_options_file": "${project_path}/Tools/astyle/astylerc"
49 - }
50 - }
51 - },
52 - "build_systems":
53 - [
54 - {
55 - "name": "PX4: make all",
56 - "working_dir": "${project_path}",
57 - "file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
58 - "cmd": ["make"],
59 - "shell": true
60 - },
61 - {
62 - "name": "PX4: make and upload",
63 - "working_dir": "${project_path}",
64 - "file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
65 - "cmd": ["make upload px4_fmu-v2_default -j8"],
66 - "shell": true
67 - },
68 - {
69 - "name": "PX4: make posix",
70 - "working_dir": "${project_path}",
71 - "file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
72 - "cmd": ["make posix"],
73 - "shell": true
74 - },
75 - {
76 - "name": "MindPX_V2: make and upload",
77 - "working_dir": "${project_path}",
78 - "file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
79 - "cmd": ["make upload mindpx-v2_default -j8"],
80 - "shell": true
81 - }
82 - ]
83 -}
This diff is collapsed. Click to expand it.
1 -BSD 3-Clause License
2 -
3 -Copyright (c) 2012 - 2021, PX4 Development Team
4 -All rights reserved.
5 -
6 -Redistribution and use in source and binary forms, with or without
7 -modification, are permitted provided that the following conditions are met:
8 -
9 -* Redistributions of source code must retain the above copyright notice, this
10 - list of conditions and the following disclaimer.
11 -
12 -* Redistributions in binary form must reproduce the above copyright notice,
13 - this list of conditions and the following disclaimer in the documentation
14 - and/or other materials provided with the distribution.
15 -
16 -* Neither the name of the copyright holder nor the names of its
17 - contributors may be used to endorse or promote products derived from
18 - this software without specific prior written permission.
19 -
20 -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
21 -AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
22 -IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
23 -DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
24 -FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
25 -DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
26 -SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
27 -CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
28 -OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
29 -OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
This diff is collapsed. Click to expand it.
1 -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.
2 -
3 -**Describe problem solved by this pull request**
4 -A clear and concise description of the problem this proposed change will solve.
5 -E.g. For this use case I ran into...
6 -
7 -**Describe your solution**
8 -A clear and concise description of what you have implemented.
9 -
10 -**Describe possible alternatives**
11 -A clear and concise description of alternative solutions or features you've considered.
12 -
13 -**Test data / coverage**
14 -How was it tested? What cases were covered? Logs uploaded to https://review.px4.io/ and screenshots of the important plot parts.
15 -
16 -**Additional context**
17 -Add any other related context or media.
1 -# PX4 Drone Autopilot
2 -
3 -[![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)
4 -
5 -[![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)
6 -
7 -[![Slack](https://px4-slack.herokuapp.com/badge.svg)](http://slack.px4.io)
8 -
9 -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.
10 -
11 -PX4 is highly portable, OS-independent and supports Linux, NuttX and QuRT out of the box.
12 -
13 -* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/master/LICENSE))
14 -* [Supported airframes](https://docs.px4.io/master/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
15 - * [Multicopters](https://docs.px4.io/master/en/frames_multicopter/)
16 - * [Fixed wing](https://docs.px4.io/master/en/frames_plane/)
17 - * [VTOL](https://docs.px4.io/master/en/frames_vtol/)
18 - * [Autogyro](https://docs.px4.io/master/en/frames_autogyro/)
19 - * [Rover](https://docs.px4.io/master/en/frames_rover/)
20 - * many more experimental types (Blimps, Boats, Submarines, High altitude balloons, etc)
21 -* Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)
22 -
23 -
24 -## Building a PX4 based drone, rover, boat or robot
25 -
26 -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.
27 -See the [forum and chat](https://docs.px4.io/master/en/#support) if you need help!
28 -
29 -
30 -## Changing code and contributing
31 -
32 -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.
33 -
34 -Developers should read the [Guide for Contributions](https://docs.px4.io/master/en/contribute/).
35 -See the [forum and chat](https://dev.px4.io/master/en/#support) if you need help!
36 -
37 -
38 -### Weekly Dev Call
39 -
40 -The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/contribute/#dev_call).
41 -
42 -> **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/).
43 -
44 -
45 -## Maintenance Team
46 -
47 - * Project: Founder
48 - * [Lorenz Meier](https://github.com/LorenzMeier)
49 - * Architecture
50 - * [Daniel Agar](https://github.com/dagar)
51 - * [Dev Call](https://github.com/PX4/PX4-Autopilot/labels/devcall)
52 - * [Ramon Roche](https://github.com/mrpollo)
53 - * Communication Architecture
54 - * [Beat Kueng](https://github.com/bkueng)
55 - * [Julian Oes](https://github.com/JulianOes)
56 - * UI in QGroundControl
57 - * [Gus Grubba](https://github.com/dogmaphobic)
58 - * [Multicopter Flight Control](https://github.com/PX4/PX4-Autopilot/labels/multicopter)
59 - * [Mathieu Bresciani](https://github.com/bresch)
60 - * [Multicopter Software Architecture](https://github.com/PX4/PX4-Autopilot/labels/multicopter)
61 - * [Matthias Grob](https://github.com/MaEtUgR)
62 - * [VTOL Flight Control](https://github.com/PX4/PX4-Autopilot/labels/vtol)
63 - * [Roman Bapst](https://github.com/RomanBapst)
64 - * [Fixed Wing Flight Control](https://github.com/PX4/PX4-Autopilot/labels/fixedwing)
65 - * [Roman Bapst](https://github.com/RomanBapst)
66 - * OS / NuttX
67 - * [David Sidrane](https://github.com/davids5)
68 - * Driver Architecture
69 - * [Daniel Agar](https://github.com/dagar)
70 - * Commander Architecture
71 - * [Julian Oes](https://github.com/julianoes)
72 - * [UAVCAN](https://github.com/PX4/PX4-Autopilot/labels/uavcan)
73 - * [Daniel Agar](https://github.com/dagar)
74 - * [State Estimation](https://github.com/PX4/PX4-Autopilot/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22)
75 - * [Paul Riseborough](https://github.com/priseborough)
76 - * Vision based navigation and Obstacle Avoidance
77 - * [Markus Achtelik](https://github.com/markusachtelik)
78 - * RTPS/ROS2 Interface
79 - * [Nuno Marques](https://github.com/TSC21)
80 -
81 -See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github).
82 -
83 -## Supported Hardware
84 -
85 -This repository contains code supporting Pixhawk standard boards (best supported, best tested, recommended choice) and proprietary boards.
86 -
87 -### Pixhawk Standard Boards
88 - * FMUv6X and FMUv6U (STM32H7, 2021)
89 - * Various vendors will provide FMUv6X and FMUv6U based designs Q3/2021
90 - * FMUv5 and FMUv5X (STM32F7, 2019/20)
91 - * [Pixhawk 4 (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
92 - * [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
93 - * [CUAV V5+ (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
94 - * [CUAV V5 nano (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
95 - * [Auterion Skynode (FMUv5X)](https://docs.px4.io/master/en/flight_controller/auterion_skynode.html)
96 - * FMUv4 (STM32F4, 2015)
97 - * [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html)
98 - * [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html)
99 - * FMUv3 (STM32F4, 2014)
100 - * [Pixhawk 2](https://docs.px4.io/master/en/flight_controller/pixhawk-2.html)
101 - * [Pixhawk Mini](https://docs.px4.io/master/en/flight_controller/pixhawk_mini.html)
102 - * [CUAV Pixhack v3](https://docs.px4.io/master/en/flight_controller/pixhack_v3.html)
103 - * FMUv2 (STM32F4, 2013)
104 - * [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
105 - * [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)
106 -
107 -### Manufacturer and Community supported
108 - * [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html)
109 - * [Hex Cube Orange](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_orange.html)
110 - * [Hex Cube Yellow](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_yellow.html)
111 - * [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
112 - * [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
113 - * [Bitcraze Crazyflie 2.0](https://docs.px4.io/master/en/flight_controller/crazyflie2.html)
114 - * [Omnibus F4 SD](https://docs.px4.io/master/en/flight_controller/omnibus_f4_sd.html)
115 - * [Holybro Kakute F7](https://docs.px4.io/master/en/flight_controller/kakutef7.html)
116 - * [Raspberry PI with Navio 2](https://docs.px4.io/master/en/flight_controller/raspberry_pi_navio2.html)
117 -
118 -Additional information about supported hardware can be found in [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/master/en/flight_controller/).
119 -
120 -## Project Roadmap
121 -
122 -A high level project roadmap is available [here](https://github.com/orgs/PX4/projects/25).
This diff is collapsed. Click to expand it.
1 -############################################################################
2 -#
3 -# Copyright (c) 2020 PX4 Development Team. All rights reserved.
4 -#
5 -# Redistribution and use in source and binary forms, with or without
6 -# modification, are permitted provided that the following conditions
7 -# are met:
8 -#
9 -# 1. Redistributions of source code must retain the above copyright
10 -# notice, this list of conditions and the following disclaimer.
11 -# 2. Redistributions in binary form must reproduce the above copyright
12 -# notice, this list of conditions and the following disclaimer in
13 -# the documentation and/or other materials provided with the
14 -# distribution.
15 -# 3. Neither the name PX4 nor the names of its contributors may be
16 -# used to endorse or promote products derived from this software
17 -# without specific prior written permission.
18 -#
19 -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
20 -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
21 -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
22 -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
23 -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
24 -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
25 -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
26 -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
27 -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
28 -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
29 -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
30 -# POSSIBILITY OF SUCH DAMAGE.
31 -#
32 -############################################################################
33 -
34 -add_subdirectory(init.d)
1 -############################################################################
2 -#
3 -# Copyright (c) 2020 PX4 Development Team. All rights reserved.
4 -#
5 -# Redistribution and use in source and binary forms, with or without
6 -# modification, are permitted provided that the following conditions
7 -# are met:
8 -#
9 -# 1. Redistributions of source code must retain the above copyright
10 -# notice, this list of conditions and the following disclaimer.
11 -# 2. Redistributions in binary form must reproduce the above copyright
12 -# notice, this list of conditions and the following disclaimer in
13 -# the documentation and/or other materials provided with the
14 -# distribution.
15 -# 3. Neither the name PX4 nor the names of its contributors may be
16 -# used to endorse or promote products derived from this software
17 -# without specific prior written permission.
18 -#
19 -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
20 -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
21 -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
22 -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
23 -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
24 -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
25 -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
26 -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
27 -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
28 -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
29 -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
30 -# POSSIBILITY OF SUCH DAMAGE.
31 -#
32 -############################################################################
33 -
34 -px4_add_romfs_files(
35 - rcS
36 -)
1 -#!/bin/sh
2 -# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
3 -set +e
4 -# Un comment the line below to help debug scripts by printing a trace of the script commands
5 -#set -x
6 -# PX4FMU startup script.
7 -#
8 -# NOTE: environment variable references:
9 -# If the dollar sign ('$') is followed by a left bracket ('{') then the
10 -# variable name is terminated with the right bracket character ('}').
11 -# Otherwise, the variable name goes to the end of the argument.
12 -#
13 -#
14 -# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
15 -#
16 -#------------------------------------------------------------------------------
17 -set R /
18 -#
19 -# Mount the procfs.
20 -#
21 -mount -t procfs /proc
22 -
23 -#
24 -# Start CDC/ACM serial driver.
25 -#
26 -sercon
27 -
28 -#
29 -# Print full system version.
30 -#
31 -ver all
32 -
33 -if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
34 -then
35 - set PARAM_FILE /fs/mtd_params
36 -fi
37 -
38 -if mft query -q -k MTD -s MTD_PARAMETERS -v /dev/eeeprom0
39 -then
40 - set PARAM_FILE /dev/eeeprom0
41 -fi
42 -
43 -#
44 -# Load parameters.
45 -#
46 -param select $PARAM_FILE
47 -if ! param load
48 -then
49 - param reset_all
50 -fi
51 -
52 -#
53 -# Optional board architecture defaults: rc.board_arch_defaults
54 -#
55 -set BOARD_ARCH_RC_DEFAULTS ${R}etc/init.d/rc.board_arch_defaults
56 -if [ -f $BOARD_ARCH_RC_DEFAULTS ]
57 -then
58 - echo "Board architecture defaults: ${BOARD_ARCH_RC_DEFAULTS}"
59 - . $BOARD_ARCH_RC_DEFAULTS
60 -fi
61 -unset BOARD_ARCH_RC_DEFAULTS
62 -
63 -#
64 -# Optional board defaults: rc.board_defaults
65 -#
66 -set BOARD_RC_DEFAULTS ${R}etc/init.d/rc.board_defaults
67 -if [ -f $BOARD_RC_DEFAULTS ]
68 -then
69 - echo "Board defaults: ${BOARD_RC_DEFAULTS}"
70 - . $BOARD_RC_DEFAULTS
71 -fi
72 -unset BOARD_RC_DEFAULTS
73 -
74 -#
75 -# Start system state indicator.
76 -#
77 -rgbled start -X -q
78 -rgbled_ncp5623c start -X -q
79 -
80 -#
81 -# board sensors: rc.sensors
82 -#
83 -set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors
84 -if [ -f $BOARD_RC_SENSORS ]
85 -then
86 - echo "Board sensors: ${BOARD_RC_SENSORS}"
87 - . $BOARD_RC_SENSORS
88 -fi
89 -unset BOARD_RC_SENSORS
90 -
91 -#
92 -# Start UART/Serial device drivers.
93 -# Note: rc.serial is auto-generated from Tools/serial/generate_config.py
94 -#
95 -. ${R}etc/init.d/rc.serial
96 -
97 -# Check for flow sensor
98 -if param compare SENS_EN_PX4FLOW 1
99 -then
100 - px4flow start -X
101 -fi
102 -
103 -uavcannode start
104 -unset R
1 -############################################################################
2 -#
3 -# Copyright (c) 2018 PX4 Development Team. All rights reserved.
4 -#
5 -# Redistribution and use in source and binary forms, with or without
6 -# modification, are permitted provided that the following conditions
7 -# are met:
8 -#
9 -# 1. Redistributions of source code must retain the above copyright
10 -# notice, this list of conditions and the following disclaimer.
11 -# 2. Redistributions in binary form must reproduce the above copyright
12 -# notice, this list of conditions and the following disclaimer in
13 -# the documentation and/or other materials provided with the
14 -# distribution.
15 -# 3. Neither the name PX4 nor the names of its contributors may be
16 -# used to endorse or promote products derived from this software
17 -# without specific prior written permission.
18 -#
19 -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
20 -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
21 -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
22 -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
23 -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
24 -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
25 -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
26 -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
27 -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
28 -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
29 -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
30 -# POSSIBILITY OF SUCH DAMAGE.
31 -#
32 -############################################################################
33 -
34 -add_subdirectory(init.d)
35 -add_subdirectory(mixers)
36 -# TODO: make this configurable from the board config, or better combine
37 -if("${PX4_BOARD}" MATCHES "sitl")
38 - add_subdirectory(mixers-sitl)
39 - add_subdirectory(init.d-posix)
40 -endif()
1 -############################################################################
2 -#
3 -# Copyright (c) 2020 PX4 Development Team. All rights reserved.
4 -#
5 -# Redistribution and use in source and binary forms, with or without
6 -# modification, are permitted provided that the following conditions
7 -# are met:
8 -#
9 -# 1. Redistributions of source code must retain the above copyright
10 -# notice, this list of conditions and the following disclaimer.
11 -# 2. Redistributions in binary form must reproduce the above copyright
12 -# notice, this list of conditions and the following disclaimer in
13 -# the documentation and/or other materials provided with the
14 -# distribution.
15 -# 3. Neither the name PX4 nor the names of its contributors may be
16 -# used to endorse or promote products derived from this software
17 -# without specific prior written permission.
18 -#
19 -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
20 -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
21 -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
22 -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
23 -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
24 -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
25 -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
26 -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
27 -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
28 -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
29 -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
30 -# POSSIBILITY OF SUCH DAMAGE.
31 -#
32 -############################################################################
33 -
34 -add_subdirectory(airframes)
35 -
36 -px4_add_romfs_files(
37 - px4-rc.params
38 - px4-rc.simulator
39 - px4-rc.mavlink
40 - rc.replay
41 - rcS
42 -)
1 -#!/bin/sh
2 -#
3 -# @name 3DR Iris Quadrotor SITL
4 -#
5 -# @type Quadrotor Wide
6 -#
7 -# @maintainer Julian Oes <julian@oes.ch>
8 -#
9 -
10 -. ${R}etc/init.d/rc.mc_defaults
11 -
12 -set MIXER quad_w
1 -#!/bin/sh
2 -#
3 -# @name 3DR Iris Quadrotor SITL
4 -#
5 -# @type Quadrotor Wide
6 -#
7 -# @maintainer Julian Oes <julian@oes.ch>
8 -#
9 -
10 -. ${R}etc/init.d/rc.mc_defaults
11 -. ${R}etc/init.d/rc.ctrlalloc
12 -
13 -param set-default MPC_USE_HTE 0
14 -
15 -param set-default VM_MASS 1.5
16 -param set-default VM_INERTIA_XX 0.03
17 -param set-default VM_INERTIA_YY 0.03
18 -param set-default VM_INERTIA_ZZ 0.05
19 -
20 -param set-default CA_AIRFRAME 0
21 -param set-default CA_METHOD 1
22 -param set-default CA_ACT0_MIN 0.0
23 -param set-default CA_ACT1_MIN 0.0
24 -param set-default CA_ACT2_MIN 0.0
25 -param set-default CA_ACT3_MIN 0.0
26 -param set-default CA_ACT0_MAX 1.0
27 -param set-default CA_ACT1_MAX 1.0
28 -param set-default CA_ACT2_MAX 1.0
29 -param set-default CA_ACT3_MAX 1.0
30 -
31 -param set-default CA_MC_R0_PX 0.1515
32 -param set-default CA_MC_R0_PY 0.245
33 -param set-default CA_MC_R0_CT 6.5
34 -param set-default CA_MC_R0_KM 0.05
35 -param set-default CA_MC_R1_PX -0.1515
36 -param set-default CA_MC_R1_PY -0.1875
37 -param set-default CA_MC_R1_CT 6.5
38 -param set-default CA_MC_R1_KM 0.05
39 -param set-default CA_MC_R2_PX 0.1515
40 -param set-default CA_MC_R2_PY -0.245
41 -param set-default CA_MC_R2_CT 6.5
42 -param set-default CA_MC_R2_KM -0.05
43 -param set-default CA_MC_R3_PX -0.1515
44 -param set-default CA_MC_R3_PY 0.1875
45 -param set-default CA_MC_R3_CT 6.5
46 -param set-default CA_MC_R3_KM -0.05
47 -
48 -set MIXER direct
1 -#!/bin/sh
2 -#
3 -# @name 3DR Iris Quadrotor SITL (foggy_lidar)
4 -#
5 -# @type Quadrotor Wide
6 -#
7 -
8 -. ${R}etc/init.d-posix/airframes/10016_iris
9 -
10 -param set-default EKF2_RNG_AID 1
11 -param set-default EKF2_RNG_A_HMAX 10
12 -
1 -#!/bin/sh
2 -#
3 -# @name IF750A SITL
4 -# InspiredFlight 750 Auterion edition. Gazebo Only.
5 -#
6 -# @type Quadrotor
7 -#
8 -
9 -. ${R}etc/init.d/rc.mc_defaults
10 -
11 -# EKF2: Multi GPS blending (as the model has 2 GPS's)
12 -param set-default SENS_GPS_MASK 7
13 -param set-default TRIG_INTERFACE 3
14 -param set-default TRIG_MODE 4
15 -param set-default MNT_MODE_IN 4
16 -param set-default MNT_MODE_OUT 2
17 -param set-default MNT_DO_STAB 2
18 -
19 -set MIXER quad_x
1 -#!/bin/sh
2 -#
3 -# @name PX4Vision SITL
4 -# Holybro px4vision. Gazebo Only.
5 -#
6 -# @type Quadrotor
7 -#
8 -
9 -. ${R}etc/init.d/airframes/4016_holybro_px4vision
10 -
11 -set MIXER quad_x
1 -#!/bin/sh
2 -#
3 -# @name 3DR Iris Quadrotor SITL (Optical Flow)
4 -#
5 -# @type Quadrotor Wide
6 -#
7 -
8 -. ${R}etc/init.d-posix/airframes/10016_iris
9 -
10 -# EKF2
11 -param set-default EKF2_AID_MASK 2
12 -param set-default EKF2_EVP_NOISE 0.05
13 -param set-default EKF2_EVA_NOISE 0.05
14 -
15 -# LPE: Flow-only mode
16 -param set-default LPE_FUSION 242
17 -param set-default LPE_FAKE_ORIGIN 1
18 -
19 -param set-default MPC_ALT_MODE 2
20 -
1 -
2 -# shellcheck disable=SC2154
3 -mavlink stream -r 50 -s DISTANCE_SENSOR -u $udp_gcs_port_local
1 -#!/bin/sh
2 -#
3 -# @name 3DR Iris Quadrotor SITL (irlock)
4 -#
5 -# @type Quadrotor Wide
6 -#
7 -
8 -. ${R}etc/init.d-posix/airframes/10016_iris
9 -
10 -# enable fusion of landing target velocity
11 -param set-default LTEST_MODE 1
12 -param set-default PLD_HACC_RAD 0.1
13 -
14 -# Start up Landing Target Estimator module
15 -landing_target_estimator start
1 -#!/bin/sh
2 -#
3 -# @name 3DR Iris Quadrotor SITL (rplidar)
4 -#
5 -# @type Quadrotor Wide
6 -#
7 -
8 -. ${R}etc/init.d-posix/airframes/10016_iris
9 -
10 -param set-default LPE_FUSION 242
11 -
1 -#!/bin/sh
2 -#
3 -# @name 3DR Iris Quadrotor SITL (Vision)
4 -#
5 -# @type Quadrotor Wide
6 -#
7 -
8 -. ${R}etc/init.d-posix/airframes/10016_iris
9 -
10 -# EKF2: Vision position and heading
11 -param set-default EKF2_AID_MASK 24
12 -param set-default EKF2_EV_DELAY 5
13 -
14 -# LPE: Vision + baro
15 -param set-default LPE_FUSION 132
16 -
17 -# AEQ: External heading set to use vision input
18 -param set-default ATT_EXT_HDG_M 1
19 -
1 -
2 -# shellcheck disable=SC2154
3 -mavlink stream -r 30 -s ODOMETRY -u $udp_gcs_port_local
1 -#!/bin/sh
2 -#
3 -# @name Solo
4 -#
5 -# @type Quadrotor
6 -#
7 -
8 -. ${R}etc/init.d/rc.mc_defaults
9 -
10 -param set-default MC_PITCHRATE_P 0.1
11 -param set-default MC_ROLLRATE_P 0.1
12 -
13 -set MIXER quad_x
1 -#!/bin/sh
2 -#
3 -# @name 3DR Iris Quadrotor SITL (Obstacle Avoidance)
4 -#
5 -# @type Quadrotor Wide
6 -#
7 -
8 -. ${R}etc/init.d-posix/airframes/10016_iris
9 -
10 -param set-default COM_OBS_AVOID 1
11 -param set-default MPC_XY_CRUISE 5.0
12 -
1 -# shellcheck disable=SC2154
2 -mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 -p # add mavlink stream for SDK
1 -#!/bin/sh
2 -#
3 -# @name 3DR Iris Quadrotor SITL (RTPS)
4 -#
5 -# @type Quadrotor Wide
6 -#
7 -
8 -. ${R}etc/init.d-posix/airframes/10016_iris
1 -#!/bin/sh
2 -# shellcheck disable=SC2154
3 -
4 -micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
1 -#!/bin/sh
2 -#
3 -# @name 3DR Iris Quadrotor SITL (Optical Flow)
4 -#
5 -# @type Quadrotor Wide
6 -#
7 -
8 -. ${R}etc/init.d-posix/airframes/10016_iris
9 -
10 -# EKF2
11 -param set-default EKF2_AID_MASK 2
12 -param set-default SENS_FLOW_ROT 0
13 -
14 -# LPE: Flow-only mode
15 -param set-default LPE_FUSION 242
16 -param set-default LPE_FAKE_ORIGIN 1
17 -
18 -param set-default MPC_ALT_MODE 2
1 -#!/bin/sh
2 -#
3 -# @name 3DR Iris Quadrotor SITL (Vision Velocity)
4 -#
5 -# @type Quadrotor Wide
6 -#
7 -
8 -. ${R}etc/init.d-posix/airframes/10016_iris
9 -
10 -# EKF2: Vision velocity and heading
11 -param set-default EKF2_AID_MASK 272
12 -param set-default EKF2_EV_DELAY 5
1 -#!/bin/sh
2 -#
3 -# @name 3DR Iris Quadrotor SITL (Dual GPS)
4 -#
5 -# @type Quadrotor Wide
6 -#
7 -
8 -. ${R}etc/init.d-posix/airframes/10016_iris
9 -
10 -# EKF2: Multi GPS blending
11 -param set-default SENS_GPS_MASK 7
1 -#!/bin/sh
2 -#
3 -# @name UUV
4 -#
5 -
6 -. ${R}etc/init.d/rc.uuv_defaults
7 -
8 -#Set data link loss failsafe mode (0: disabled)
9 -param set-default NAV_DLL_ACT 0
10 -
11 -# disable circuit breaker for airspeed sensor
12 -param set-default CBRK_AIRSPD_CHK 162128
13 -
14 -#param set CBRK_GPSFAIL 240024
15 -
16 -set MAV_TYPE 12
17 -param set MAV_TYPE ${MAV_TYPE}
18 -
19 -set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
20 -set MIXER custom
1 -#!/bin/sh
2 -#
3 -# @name Hippocampus UUV
4 -#
5 -
6 -. ${R}etc/init.d/rc.uuv_defaults
7 -
8 -#Set data link loss failsafe mode (0: disabled)
9 -param set-default NAV_DLL_ACT 0
10 -
11 -# disable circuit breaker for airspeed sensor
12 -param set-default CBRK_AIRSPD_CHK 162128
13 -
14 -#param set CBRK_GPSFAIL 240024
15 -
16 -set MAV_TYPE 12
17 -param set MAV_TYPE ${MAV_TYPE}
18 -
19 -set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
20 -set MIXER custom
1 -#!/bin/sh
2 -#
3 -# @name BlueROV2 Heavy Configuration
4 -#
5 -
6 -. ${R}etc/init.d/rc.uuv_defaults
7 -
8 -#Set data link loss failsafe mode (0: disabled)
9 -param set-default NAV_DLL_ACT 0
10 -
11 -# disable circuit breaker for airspeed sensor
12 -param set-default CBRK_AIRSPD_CHK 162128
13 -
14 -set PWM_OUT 12345678
15 -set MIXER_FILE etc/mixers-sitl/vectored6dof_sitl.main.mix
16 -set MIXER custom
1 -#!/bin/sh
2 -#
3 -# @name Plane SITL
4 -#
5 -
6 -. ${R}etc/init.d/rc.fw_defaults
7 -
8 -param set-default EKF2_ARSP_THR 8
9 -param set-default EKF2_FUSE_BETA 1
10 -param set-default EKF2_MAG_ACCLIM 0
11 -param set-default EKF2_MAG_YAWLIM 0
12 -
13 -param set-default FW_LND_AIRSPD_SC 1
14 -param set-default FW_LND_ANG 8
15 -param set-default FW_THR_LND_MAX 0
16 -
17 -param set-default FW_L1_PERIOD 12
18 -
19 -param set-default FW_MAN_P_MAX 30
20 -
21 -param set-default FW_PR_I 0.4
22 -param set-default FW_PR_P 0.9
23 -param set-default FW_PR_FF 0.2
24 -param set-default FW_PSP_OFF 2
25 -param set-default FW_P_LIM_MAX 32
26 -param set-default FW_P_LIM_MIN -15
27 -
28 -param set-default FW_RR_FF 0.1
29 -param set-default FW_RR_P 0.3
30 -
31 -param set-default FW_THR_MAX 0.6
32 -param set-default FW_THR_MIN 0.05
33 -param set-default FW_THR_CRUISE 0.25
34 -
35 -param set-default FW_T_ALT_TC 2
36 -param set-default FW_T_CLMB_MAX 8
37 -param set-default FW_T_HRATE_FF 0.5
38 -param set-default FW_T_SINK_MAX 2.7
39 -param set-default FW_T_SINK_MIN 2.2
40 -param set-default FW_T_TAS_TC 2
41 -
42 -param set-default FW_W_EN 1
43 -
44 -param set-default MIS_LTRMIN_ALT 30
45 -param set-default MIS_TAKEOFF_ALT 30
46 -
47 -param set-default NAV_ACC_RAD 15
48 -param set-default NAV_DLL_ACT 2
49 -param set-default NAV_LOITER_RAD 50
50 -
51 -param set-default RWTO_TKOFF 1
52 -
53 -set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
54 -set MIXER custom
1 -#!/bin/sh
2 -#
3 -# @name Plane SITL with camera
4 -#
5 -
6 -. ${R}etc/init.d-posix/airframes/1030_plane
7 -
8 -# Camera trigger interface is MAVLink
9 -param set-default TRIG_INTERFACE 3
10 -
11 -# Distance trigger mode enabled
12 -param set-default TRIG_MODE 4
1 -#!/bin/sh
2 -#
3 -# @name Plane SITL with catapult
4 -#
5 -
6 -. ${R}etc/init.d-posix/airframes/1030_plane
7 -
8 -param set-default RWTO_TKOFF 0
9 -
1 -#!/bin/sh
2 -#
3 -# @name Plane SITL with downward facing LIDAR.
4 -#
5 -
6 -. ${R}etc/init.d-posix/airframes/1030_plane
7 -
8 -param set-default FW_LND_USETER 1
9 -
1 -#!/bin/sh
2 -#
3 -# @name Plane SITL
4 -#
5 -
6 -. ${R}etc/init.d/rc.fw_defaults
7 -
8 -param set-default EKF2_ARSP_THR 8
9 -param set-default EKF2_FUSE_BETA 1
10 -
11 -param set-default FW_LND_AIRSPD_SC 1.1
12 -param set-default FW_LND_ANG 5
13 -param set-default FW_THR_LND_MAX 0
14 -param set-default FW_LND_HHDIST 30
15 -param set-default FW_LND_FL_PMIN 9.5
16 -param set-default FW_LND_FL_PMAX 20
17 -param set-default FW_LND_FLALT 5
18 -param set-default FW_LND_TLALT 15
19 -
20 -param set-default FW_L1_PERIOD 25
21 -
22 -param set-default FW_P_TC 0.4
23 -param set-default FW_PR_FF 0.40
24 -param set-default FW_PR_I 0.05
25 -param set-default FW_PR_P 0.05
26 -
27 -param set-default FW_R_TC 0.45
28 -param set-default FW_RR_FF 0.40
29 -param set-default FW_RR_I 0.132
30 -param set-default FW_RR_P 0.085
31 -
32 -param set-default FW_W_EN 1
33 -
34 -param set-default MIS_LTRMIN_ALT 30
35 -param set-default MIS_TAKEOFF_ALT 20
36 -param set-default MIS_DIST_1WP 2500
37 -param set-default MIS_DIST_WPS 10000
38 -
39 -param set-default NAV_ACC_RAD 15
40 -param set-default NAV_DLL_ACT 2
41 -param set-default NAV_LOITER_RAD 50
42 -
43 -param set-default RWTO_TKOFF 1
44 -
45 -# fix takeoff failure for JSBsim in autonomous mission mode.
46 -#param set FW_THR_SLEW_MAX 0.3
47 -
48 -param set-default RWTO_MAX_PITCH 20
49 -param set-default RWTO_MAX_ROLL 10
50 -
51 -# fix takeoff failure for JSBsim in autonomous mission mode.
52 -#param set-default RWTO_MAX_THR 0.6
53 -
54 -param set-default RWTO_PSP 8
55 -param set-default RWTO_AIRSPD_SCL 1.8
56 -
57 -
58 -set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
59 -set MIXER custom
1 -#!/bin/sh
2 -#
3 -# @name Plane SITL
4 -#
5 -
6 -. ${R}etc/init.d/rc.fw_defaults
7 -
8 -param set-default EKF2_ARSP_THR 8
9 -param set-default EKF2_FUSE_BETA 1
10 -
11 -param set-default FW_LND_AIRSPD_SC 1.1
12 -param set-default FW_LND_ANG 5
13 -param set-default FW_THR_LND_MAX 0
14 -param set-default FW_LND_HHDIST 30
15 -param set-default FW_LND_FL_PMIN 9.5
16 -param set-default FW_LND_FL_PMAX 20
17 -param set-default FW_LND_FLALT 5
18 -param set-default FW_LND_TLALT 15
19 -
20 -param set-default FW_L1_PERIOD 25
21 -
22 -param set-default FW_P_TC 0.4
23 -param set-default FW_PR_FF 0.40
24 -param set-default FW_PR_I 0.05
25 -param set-default FW_PR_P 0.05
26 -
27 -param set-default FW_R_TC 0.45
28 -param set-default FW_RR_FF 0.40
29 -param set-default FW_RR_I 0.132
30 -param set-default FW_RR_P 0.085
31 -
32 -param set-default FW_W_EN 1
33 -
34 -param set-default MIS_LTRMIN_ALT 30
35 -param set-default MIS_TAKEOFF_ALT 20
36 -param set-default MIS_DIST_1WP 2500
37 -param set-default MIS_DIST_WPS 10000
38 -
39 -param set-default NAV_ACC_RAD 15
40 -param set-default NAV_DLL_ACT 2
41 -param set-default NAV_LOITER_RAD 50
42 -
43 -param set-default RWTO_TKOFF 1
44 -
45 -# fix takeoff failure for JSBsim in autonomous mission mode.
46 -#param set FW_THR_SLEW_MAX 0.3
47 -
48 -param set-default RWTO_MAX_PITCH 20
49 -param set-default RWTO_MAX_ROLL 10
50 -
51 -# fix takeoff failure for JSBsim in autonomous mission mode.
52 -#param set RWTO_MAX_THR 0.6
53 -
54 -param set-default RWTO_PSP 8
55 -param set-default RWTO_AIRSPD_SCL 1.8
56 -
57 -set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
58 -set MIXER custom
1 -#!/bin/sh
2 -#
3 -# @name Plane SITL
4 -#
5 -
6 -. ${R}etc/init.d/rc.fw_defaults
7 -
8 -param set-default EKF2_ARSP_THR 8
9 -param set-default EKF2_FUSE_BETA 1
10 -param set-default EKF2_MAG_ACCLIM 0
11 -param set-default EKF2_MAG_YAWLIM 0
12 -
13 -param set-default FW_LND_AIRSPD_SC 1
14 -param set-default FW_LND_ANG 8
15 -param set-default FW_THR_LND_MAX 0
16 -
17 -param set-default FW_L1_PERIOD 15
18 -
19 -param set-default FW_P_TC 0.5
20 -param set-default FW_PR_FF 0.40
21 -param set-default FW_PR_I 0.05
22 -param set-default FW_PR_P 0.05
23 -
24 -param set-default FW_R_TC 0.7
25 -param set-default FW_RR_FF 0.20
26 -param set-default FW_RR_I 0.02
27 -param set-default FW_RR_P 0.22
28 -
29 -param set-default FW_L1_PERIOD 12
30 -
31 -param set-default FW_W_EN 1
32 -
33 -param set-default MIS_LTRMIN_ALT 30
34 -param set-default MIS_TAKEOFF_ALT 30
35 -
36 -param set-default NAV_ACC_RAD 15
37 -param set-default NAV_DLL_ACT 2
38 -param set-default NAV_LOITER_RAD 50
39 -
40 -param set-default RWTO_TKOFF 1
41 -
42 -set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
43 -set MIXER custom
1 -#!/bin/sh
2 -#
3 -# @name Plane SITL
4 -#
5 -
6 -. ${R}etc/init.d/rc.fw_defaults
7 -
8 -param set-default EKF2_ARSP_THR 8
9 -param set-default EKF2_FUSE_BETA 1
10 -
11 -param set-default FW_LND_AIRSPD_SC 1.1
12 -param set-default FW_LND_ANG 5
13 -param set-default FW_THR_LND_MAX 0
14 -param set-default FW_LND_HHDIST 30
15 -param set-default FW_LND_FL_PMIN 9.5
16 -param set-default FW_LND_FL_PMAX 20
17 -param set-default FW_LND_FLALT 5
18 -param set-default FW_LND_TLALT 15
19 -
20 -param set-default FW_L1_PERIOD 25
21 -
22 -param set-default FW_P_TC 0.4
23 -param set-default FW_PR_FF 0.40
24 -param set-default FW_PR_I 0.05
25 -param set-default FW_PR_P 0.05
26 -
27 -param set-default FW_R_TC 0.45
28 -param set-default FW_RR_FF 0.40
29 -param set-default FW_RR_I 0.132
30 -param set-default FW_RR_P 0.085
31 -
32 -param set-default FW_W_EN 1
33 -
34 -param set-default MIS_LTRMIN_ALT 30
35 -param set-default MIS_TAKEOFF_ALT 20
36 -param set-default MIS_DIST_1WP 2500
37 -param set-default MIS_DIST_WPS 10000
38 -
39 -param set-default NAV_ACC_RAD 15
40 -param set-default NAV_DLL_ACT 2
41 -param set-default NAV_LOITER_RAD 50
42 -
43 -param set-default RWTO_TKOFF 1
44 -param set-default RWTO_MAX_PITCH 20
45 -param set-default RWTO_MAX_ROLL 10
46 -param set-default RWTO_PSP 8
47 -param set-default RWTO_AIRSPD_SCL 1.8
48 -
49 -set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
50 -set MIXER custom
1 -#!/bin/sh
2 -#
3 -# @name Standard VTOL
4 -#
5 -# @type Standard VTOL
6 -#
7 -
8 -. ${R}etc/init.d/rc.vtol_defaults
9 -
10 -param set-default FW_L1_PERIOD 12
11 -param set-default FW_MAN_P_MAX 30
12 -param set-default FW_PR_FF 0.2
13 -param set-default FW_PR_I 0.4
14 -param set-default FW_PR_P 0.9
15 -param set-default FW_PSP_OFF 2
16 -param set-default FW_P_LIM_MAX 32
17 -param set-default FW_P_LIM_MIN -15
18 -param set-default FW_RR_FF 0.1
19 -param set-default FW_RR_P 0.3
20 -param set-default FW_THR_CRUISE 0.25
21 -param set-default FW_THR_MAX 0.6
22 -param set-default FW_THR_MIN 0.05
23 -param set-default FW_T_ALT_TC 2
24 -param set-default FW_T_CLMB_MAX 8
25 -param set-default FW_T_HRATE_FF 0.5
26 -param set-default FW_T_SINK_MAX 2.7
27 -param set-default FW_T_SINK_MIN 2.2
28 -param set-default FW_T_TAS_TC 2
29 -
30 -param set-default MC_ROLLRATE_P 0.3
31 -param set-default MC_YAW_P 1.6
32 -
33 -param set-default MIS_TAKEOFF_ALT 10
34 -
35 -param set-default MPC_ACC_HOR_MAX 2
36 -param set-default MPC_XY_P 0.8
37 -param set-default MPC_XY_VEL_P_ACC 3
38 -param set-default MPC_XY_VEL_I_ACC 4
39 -param set-default MPC_XY_VEL_D_ACC 0.1
40 -
41 -param set-default NAV_ACC_RAD 5
42 -param set-default NAV_LOITER_RAD 80
43 -
44 -param set-default VT_FWD_THRUST_EN 4
45 -param set-default VT_F_TRANS_THR 0.75
46 -param set-default VT_MOT_ID 1234
47 -param set-default VT_FW_MOT_OFFID 1234
48 -param set-default VT_B_TRANS_DUR 8
49 -param set-default VT_TYPE 2
50 -
51 -set MAV_TYPE 22
52 -
53 -set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
54 -set MIXER custom
1 -#!/bin/sh
2 -#
3 -# @name Quadrotor + Tailsitter
4 -#
5 -# @type VTOL Quad Tailsitter
6 -#
7 -
8 -. ${R}etc/init.d/rc.vtol_defaults
9 -
10 -param set-default FW_L1_PERIOD 12
11 -param set-default FW_MAN_P_MAX 30
12 -param set-default FW_PR_I 0.2
13 -param set-default FW_PR_P 0.3
14 -param set-default FW_PSP_OFF 2
15 -param set-default FW_P_LIM_MAX 32
16 -param set-default FW_P_LIM_MIN -15
17 -param set-default FW_RR_P 0.3
18 -param set-default FW_THR_CRUISE 0.33
19 -param set-default FW_THR_MAX 0.6
20 -param set-default FW_THR_MIN 0.05
21 -param set-default FW_T_ALT_TC 2
22 -param set-default FW_T_CLMB_MAX 8
23 -param set-default FW_T_HRATE_FF 0.5
24 -param set-default FW_T_SINK_MAX 2.7
25 -param set-default FW_T_SINK_MIN 2.2
26 -param set-default FW_T_TAS_TC 2
27 -
28 -param set-default MC_ROLLRATE_P 0.3
29 -
30 -param set-default MPC_ACC_HOR_MAX 2
31 -param set-default MPC_XY_P 0.8
32 -param set-default MPC_XY_VEL_P_ACC 3
33 -param set-default MPC_XY_VEL_I_ACC 4
34 -param set-default MPC_XY_VEL_D_ACC 0.1
35 -
36 -param set-default NAV_ACC_RAD 5
37 -param set-default NAV_LOITER_RAD 80
38 -
39 -param set-default VT_F_TRANS_DUR 1.5
40 -param set-default VT_F_TRANS_THR 0.7
41 -param set-default VT_TYPE 0
42 -
43 -param set-default WV_EN 0
44 -
45 -set MAV_TYPE 20
46 -
47 -set MIXER_FILE etc/mixers-sitl/quad_x_vtol.main.mix
48 -set MIXER custom
1 -#!/bin/sh
2 -#
3 -# @name VTOL Tiltrotor
4 -#
5 -# @type VTOL Tiltrotor
6 -#
7 -
8 -. ${R}etc/init.d/rc.vtol_defaults
9 -
10 -param set-default FW_L1_PERIOD 12
11 -param set-default FW_MAN_P_MAX 30
12 -param set-default FW_PR_FF 0.2
13 -param set-default FW_PR_I 0.4
14 -param set-default FW_PR_P 0.9
15 -param set-default FW_PSP_OFF 2
16 -param set-default FW_P_LIM_MAX 32
17 -param set-default FW_P_LIM_MIN -15
18 -param set-default FW_RR_FF 0.1
19 -param set-default FW_RR_P 0.3
20 -param set-default FW_THR_CRUISE 0.38
21 -param set-default FW_THR_MAX 0.6
22 -param set-default FW_THR_MIN 0.05
23 -param set-default FW_T_ALT_TC 2
24 -param set-default FW_T_CLMB_MAX 8
25 -param set-default FW_T_HRATE_FF 0.5
26 -param set-default FW_T_SINK_MAX 2.7
27 -param set-default FW_T_SINK_MIN 2.2
28 -param set-default FW_T_TAS_TC 2
29 -
30 -param set-default MC_YAW_P 1.6
31 -
32 -param set-default MIS_TAKEOFF_ALT 10
33 -
34 -param set-default MPC_ACC_HOR_MAX 2
35 -param set-default MPC_XY_P 0.8
36 -param set-default MPC_XY_VEL_P_ACC 3
37 -param set-default MPC_XY_VEL_I_ACC 4
38 -param set-default MPC_XY_VEL_D_ACC 0.1
39 -
40 -param set-default NAV_ACC_RAD 5
41 -param set-default NAV_LOITER_RAD 80
42 -
43 -param set-default VT_B_TRANS_DUR 8
44 -param set-default VT_FWD_THRUST_EN 4
45 -param set-default VT_MOT_ID 1234
46 -param set-default VT_TILT_TRANS 0.6
47 -param set-default VT_TYPE 1
48 -
49 -set MAV_TYPE 21
50 -
51 -set MIXER_FILE etc/mixers-sitl/tiltrotor_sitl.main.mix
52 -set MIXER custom
1 -#!/bin/sh
2 -#
3 -# @name Standard VTOL
4 -#
5 -# @type Standard VTOL
6 -#
7 -
8 -. ${R}etc/init.d/rc.vtol_defaults
9 -
10 -param set-default FW_L1_PERIOD 12
11 -param set-default FW_MAN_P_MAX 30
12 -param set-default FW_PR_FF 0.2
13 -param set-default FW_PR_I 0.4
14 -param set-default FW_PR_P 0.9
15 -param set-default FW_PSP_OFF 2
16 -param set-default FW_P_LIM_MAX 32
17 -param set-default FW_P_LIM_MIN -15
18 -param set-default FW_RR_FF 0.1
19 -param set-default FW_RR_P 0.3
20 -param set-default FW_THR_CRUISE 0.25
21 -param set-default FW_THR_MAX 0.6
22 -param set-default FW_THR_MIN 0.05
23 -param set-default FW_T_ALT_TC 2
24 -param set-default FW_T_CLMB_MAX 8
25 -param set-default FW_T_HRATE_FF 0.5
26 -param set-default FW_T_SINK_MAX 2.7
27 -param set-default FW_T_SINK_MIN 2.2
28 -param set-default FW_T_TAS_TC 2
29 -
30 -param set-default MC_ROLLRATE_P 0.3
31 -param set-default MC_YAW_P 1.6
32 -
33 -param set-default MIS_TAKEOFF_ALT 10
34 -
35 -param set-default MPC_ACC_HOR_MAX 2
36 -param set-default MPC_XY_P 0.8
37 -param set-default MPC_XY_VEL_P_ACC 3
38 -param set-default MPC_XY_VEL_I_ACC 4
39 -param set-default MPC_XY_VEL_D_ACC 0.1
40 -
41 -param set-default NAV_ACC_RAD 5
42 -param set-default NAV_LOITER_RAD 80
43 -
44 -param set-default VT_FWD_THRUST_EN 4
45 -param set-default VT_F_TRANS_THR 0.75
46 -param set-default VT_MOT_ID 1234
47 -param set-default VT_FW_MOT_OFFID 1234
48 -param set-default VT_B_TRANS_DUR 8
49 -param set-default VT_TYPE 2
50 -
51 -param set-default RC_MAP_AUX1 8
52 -param set-default RC_MAP_AUX2 9
53 -param set-default RC_MAP_AUX3 10
54 -
55 -set MAV_TYPE 22
56 -
57 -set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
58 -set MIXER custom
1 -mixer append /dev/pwm_output0 etc/mixers-sitl/package_drop.aux.mix
1 -#!/bin/sh
2 -#
3 -# @name Rover
4 -#
5 -
6 -. ${R}etc/init.d/rc.rover_defaults
7 -
8 -param set-default GND_L1_DIST 5
9 -param set-default GND_L1_PERIOD 10
10 -param set-default GND_SP_CTRL_MODE 1
11 -param set-default GND_SPEED_D 0.001
12 -param set-default GND_SPEED_I 3
13 -param set-default GND_SPEED_IMAX 0.125
14 -param set-default GND_SPEED_P 0.25
15 -param set-default GND_SPEED_THR_SC 1
16 -param set-default GND_SPEED_TRIM 4
17 -param set-default GND_THR_CRUISE 0.3
18 -param set-default GND_THR_MAX 0.5
19 -param set-default GND_THR_MIN 0
20 -
21 -param set-default MIS_LTRMIN_ALT 0.01
22 -param set-default MIS_TAKEOFF_ALT 0.01
23 -param set-default NAV_ACC_RAD 0.5
24 -param set-default NAV_LOITER_RAD 2
25 -
26 -param set-default CBRK_AIRSPD_CHK 162128
27 -
28 -param set-default GND_MAX_ANG 0.6
29 -param set-default GND_WHEEL_BASE 2.0
30 -
31 -set MAV_TYPE 10
32 -
33 -set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix
1 -#!/bin/sh
2 -#
3 -# @name Aion Robotics R1 Rover
4 -# @type Rover
5 -# @class Rover
6 -
7 -. ${R}etc/init.d/rc.rover_defaults
8 -
9 -param set-default GND_L1_DIST 5
10 -param set-default GND_SP_CTRL_MODE 1
11 -param set-default GND_SPEED_D 3
12 -param set-default GND_SPEED_I 0.001
13 -param set-default GND_SPEED_IMAX 0.125
14 -param set-default GND_SPEED_P 0.25
15 -param set-default GND_SPEED_THR_SC 1
16 -param set-default GND_SPEED_TRIM 4
17 -param set-default GND_THR_CRUISE 0.3
18 -param set-default GND_THR_MAX 0.5
19 -param set-default GND_THR_MIN 0
20 -
21 -param set-default MIS_LTRMIN_ALT 0.01
22 -param set-default MIS_TAKEOFF_ALT 0.01
23 -param set-default NAV_ACC_RAD 0.5
24 -param set-default NAV_LOITER_RAD 2
25 -
26 -param set-default CBRK_AIRSPD_CHK 162128
27 -
28 -param set-default GND_MAX_ANG 0.6
29 -param set-default GND_WHEEL_BASE 2.0
30 -
31 -set MAV_TYPE 10
32 -
33 -set MIXER_FILE etc/mixers-sitl/rover_diff_sitl.main.mix
1 -#!/bin/sh
2 -#
3 -# @name ThunderFly TF-R1 UAV Rover
4 -# @type Rover
5 -# @class Rover
6 -#
7 -# @url https://github.com/ThunderFly-aerospace/TF-R1/
8 -# @maintainer ThunderFly s.r.o.
9 -#
10 -
11 -. ${R}etc/init.d/rc.rover_defaults
12 -
13 -param set-default GND_L1_DIST 5
14 -param set-default GND_SP_CTRL_MODE 1
15 -param set-default GND_SPEED_D 3
16 -param set-default GND_SPEED_I 0.001
17 -param set-default GND_SPEED_IMAX 0.125
18 -param set-default GND_SPEED_P 0.25
19 -param set-default GND_SPEED_THR_SC 1
20 -param set-default GND_SPEED_TRIM 15
21 -param set-default GND_SPEED_MAX 25
22 -param set-default GND_THR_CRUISE 0.3
23 -param set-default GND_THR_MAX 0.5
24 -param set-default GND_THR_MIN 0
25 -
26 -param set-default MIS_LTRMIN_ALT 0.01
27 -param set-default MIS_TAKEOFF_ALT 0.01
28 -param set-default NAV_ACC_RAD 0.5
29 -param set-default NAV_LOITER_RAD 2
30 -
31 -param set-default CBRK_AIRSPD_CHK 162128
32 -
33 -param set-default GND_MAX_ANG 0.6
34 -param set-default GND_WHEEL_BASE 3.0
35 -
36 -set MAV_TYPE 10
37 -
38 -set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix
1 -#!/bin/sh
2 -#
3 -# @name Boat
4 -#
5 -
6 -. ${R}etc/init.d/rc.boat_defaults
7 -
8 -param set-default GND_L1_DIST 5
9 -param set-default GND_L1_PERIOD 100
10 -param set-default GND_SP_CTRL_MODE 1
11 -param set-default GND_SPEED_D 0.001
12 -param set-default GND_SPEED_I 8
13 -param set-default GND_SPEED_IMAX 0.125
14 -param set-default GND_SPEED_P 2
15 -param set-default GND_SPEED_THR_SC 1
16 -param set-default GND_SPEED_TRIM 1
17 -param set-default GND_THR_CRUISE 0.85
18 -param set-default GND_THR_MAX 1
19 -param set-default GND_THR_MIN 0
20 -
21 -param set-default MIS_LTRMIN_ALT 0.01
22 -param set-default MIS_TAKEOFF_ALT 0.01
23 -param set-default NAV_ACC_RAD 0.5
24 -param set-default NAV_LOITER_RAD 2
25 -
26 -param set-default CBRK_AIRSPD_CHK 162128
27 -
28 -param set-default GND_MAX_ANG 0.6
29 -param set-default GND_WHEEL_BASE 2.0
30 -
31 -set MAV_TYPE 11
32 -
33 -set MIXER_FILE etc/mixers-sitl/boat_sitl.main.mix
1 -#!/bin/sh
2 -#
3 -# @name ThunderFly TF-G1
4 -# ThunderFly TF-G1 autogyro airframe. Only for FlightGear simulator
5 -#
6 -# @type Autogyro
7 -# @class Autogyro
8 -#
9 -# @url https://github.com/ThunderFly-aerospace/TF-G1/
10 -#
11 -#
12 -
13 -. ${R}etc/init.d/rc.fw_defaults
14 -
15 -param set-default EKF2_ARSP_THR 8
16 -param set-default EKF2_FUSE_BETA 1
17 -
18 -param set-default FW_AIRSPD_STALL 8
19 -
20 -param set-default FW_P_RMAX_NEG 20.0
21 -param set-default FW_P_RMAX_POS 60.0
22 -param set-default FW_W_RMAX 10
23 -param set-default FW_W_EN 1
24 -
25 -param set-default FW_PR_IMAX 0.4
26 -param set-default FW_R_TC 0.4
27 -param set-default FW_RR_FF 0.5
28 -param set-default FW_RR_I 0.1
29 -param set-default FW_RR_IMAX 0.2
30 -param set-default FW_RR_P 0.08
31 -
32 -param set-default MIS_LTRMIN_ALT 50
33 -param set-default MIS_TAKEOFF_ALT 3
34 -
35 -param set-default NAV_ACC_RAD 20
36 -param set-default NAV_DLL_ACT 2
37 -param set-default NAV_LOITER_RAD 100
38 -
39 -param set-default RWTO_TKOFF 1
40 -
41 -param set-default FW_ARSP_SCALE_EN 0
42 -
43 -param set-default FW_AIRSPD_MAX 35
44 -param set-default FW_AIRSPD_MIN 7
45 -param set-default FW_AIRSPD_TRIM 15
46 -
47 -param set-default FW_P_LIM_MAX 25
48 -param set-default FW_P_LIM_MIN -5
49 -param set-default FW_R_LIM 30
50 -
51 -param set-default FW_MAN_P_MAX 30.0
52 -param set-default FW_MAN_R_MAX 30.0
53 -
54 -param set-default FW_THR_CRUISE 0.8
55 -param set-default FW_THR_IDLE 0
56 -param set-default COM_DISARM_PRFLT 0
57 -
58 -set MIXER_FILE etc/mixers-sitl/autogyro_sitl.main.mix
59 -set MIXER custom
1 -#!/bin/sh
2 -#
3 -# @name Cloudship
4 -# @type Airship
5 -# @class Airship
6 -#
7 -# @output MAIN1 thrust tilt
8 -# @output MAIN2 starboard thruster
9 -# @output MAIN3 port thruster
10 -# @output MAIN4 tail thruster
11 -
12 -. ${R}etc/init.d/rc.airship_defaults
13 -
14 -set MIXER cloudship
15 -set PWM_OUT 1234
1 -#!/bin/sh
2 -#
3 -# @name Quadrotor SITL model for JSBSim
4 -#
5 -# @type Quadrotor Wide
6 -#
7 -# @maintainer Jaeyoung Lim <jaeyoung@auterion.com>
8 -#
9 -
10 -. ${R}etc/init.d/rc.mc_defaults
11 -
12 -set MIXER quad_w
1 -#!/bin/sh
2 -#
3 -# @name Hexacopter SITL model for JSBSim
4 -#
5 -# @type Hexarotor x
6 -#
7 -# @maintainer Jaeyoung Lim <jaeyoung@auterion.com>
8 -#
9 -
10 -. ${R}etc/init.d/rc.mc_defaults
11 -
12 -param set-default MC_PITCHRATE_P 0.1
13 -param set-default MC_PITCHRATE_I 0.05
14 -param set-default MC_PITCH_P 6.0
15 -param set-default MC_ROLLRATE_P 0.15
16 -param set-default MC_ROLLRATE_I 0.1
17 -param set-default MC_ROLL_P 6.0
18 -param set-default MPC_XY_VEL_I_ACC 4
19 -param set-default MPC_XY_VEL_P_ACC 3
20 -
21 -param set-default RTL_DESCEND_ALT 10
22 -
23 -param set-default TRIG_INTERFACE 3
24 -param set-default TRIG_MODE 4
25 -param set-default MNT_MODE_IN 4
26 -param set-default MNT_DO_STAB 2
27 -
28 -set MAV_TYPE 13
29 -
30 -set MIXER hexa_x
1 -#!/bin/sh
2 -#
3 -# @name Typhoon H480 SITL
4 -#
5 -# @type Hexarotor x
6 -#
7 -
8 -. ${R}etc/init.d/rc.mc_defaults
9 -
10 -param set-default MC_PITCHRATE_P 0.0800
11 -param set-default MC_PITCHRATE_I 0.0400
12 -param set-default MC_PITCHRATE_D 0.0010
13 -param set-default MC_PITCH_P 9.0
14 -param set-default MC_ROLLRATE_P 0.0800
15 -param set-default MC_ROLLRATE_I 0.0400
16 -param set-default MC_ROLLRATE_D 0.0010
17 -param set-default MC_ROLL_P 9.0
18 -param set-default MPC_XY_VEL_I_ACC 4
19 -param set-default MPC_XY_VEL_P_ACC 3
20 -
21 -param set-default RTL_DESCEND_ALT 10
22 -
23 -param set-default TRIG_INTERFACE 3
24 -param set-default TRIG_MODE 4
25 -param set-default MNT_MODE_IN 4
26 -param set-default MNT_MODE_OUT 2
27 -param set-default MAV_PROTO_VER 2
28 -
29 -set MAV_TYPE 13
30 -
31 -set MIXER hexa_x
1 -
2 -mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
3 -
4 -mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p
5 -
6 -# shellcheck disable=SC2154
7 -mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
8 -# shellcheck disable=SC2154
9 -mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_offboard_port_local
10 -mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_offboard_port_local
1 -#!/bin/sh
2 -#
3 -# @name Typhoon H480 SITL
4 -#
5 -# @type Hexarotor x
6 -#
7 -
8 -. ${R}etc/init.d/rc.mc_defaults
9 -. ${R}etc/init.d/rc.ctrlalloc
10 -
11 -param set-default MPC_XY_VEL_I_ACC 4
12 -param set-default MPC_XY_VEL_P_ACC 3
13 -
14 -param set-default RTL_DESCEND_ALT 10
15 -param set-default RTL_LAND_DELAY 0
16 -
17 -param set-default TRIG_INTERFACE 3
18 -param set-default TRIG_MODE 4
19 -param set-default MNT_MODE_IN 0
20 -param set-default MAV_PROTO_VER 2
21 -
22 -param set-default MPC_USE_HTE 0
23 -
24 -param set-default VM_MASS 2.66
25 -param set-default VM_INERTIA_XX 0.06
26 -param set-default VM_INERTIA_YY 0.06
27 -param set-default VM_INERTIA_ZZ 0.10
28 -
29 -param set-default CA_AIRFRAME 0
30 -param set-default CA_METHOD 1
31 -param set-default CA_ACT0_MIN 0.0
32 -param set-default CA_ACT1_MIN 0.0
33 -param set-default CA_ACT2_MIN 0.0
34 -param set-default CA_ACT3_MIN 0.0
35 -param set-default CA_ACT4_MIN 0.0
36 -param set-default CA_ACT5_MIN 0.0
37 -param set-default CA_ACT0_MAX 1.0
38 -param set-default CA_ACT1_MAX 1.0
39 -param set-default CA_ACT2_MAX 1.0
40 -param set-default CA_ACT3_MAX 1.0
41 -param set-default CA_ACT4_MAX 1.0
42 -param set-default CA_ACT5_MAX 1.0
43 -
44 -param set-default CA_MC_R0_PX 0.0
45 -param set-default CA_MC_R0_PY 1.0
46 -param set-default CA_MC_R0_CT 9.5
47 -param set-default CA_MC_R0_KM -0.05
48 -param set-default CA_MC_R1_PX 0.0
49 -param set-default CA_MC_R1_PY -1.0
50 -param set-default CA_MC_R1_CT 9.5
51 -param set-default CA_MC_R1_KM 0.05
52 -param set-default CA_MC_R2_PX 0.866025
53 -param set-default CA_MC_R2_PY -0.5
54 -param set-default CA_MC_R2_CT 9.5
55 -param set-default CA_MC_R2_KM -0.05
56 -param set-default CA_MC_R3_PX -0.866025
57 -param set-default CA_MC_R3_PY 0.5
58 -param set-default CA_MC_R3_CT 9.5
59 -param set-default CA_MC_R3_KM 0.05
60 -param set-default CA_MC_R4_PX 0.866025
61 -param set-default CA_MC_R4_PY 0.5
62 -param set-default CA_MC_R4_CT 9.5
63 -param set-default CA_MC_R4_KM 0.05
64 -param set-default CA_MC_R5_PX -0.866025
65 -param set-default CA_MC_R5_PY -0.5
66 -param set-default CA_MC_R5_CT 9.5
67 -param set-default CA_MC_R5_KM -0.05
68 -
69 -set MAV_TYPE 13
70 -
71 -# set MIXER hexa_x
72 -set MIXER direct
1 -
2 -mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
3 -
4 -mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p
5 -
6 -# shellcheck disable=SC2154
7 -mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
8 -# shellcheck disable=SC2154
9 -mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_offboard_port_local
10 -mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_offboard_port_local
1 -############################################################################
2 -#
3 -# Copyright (c) 2020 PX4 Development Team. All rights reserved.
4 -#
5 -# Redistribution and use in source and binary forms, with or without
6 -# modification, are permitted provided that the following conditions
7 -# are met:
8 -#
9 -# 1. Redistributions of source code must retain the above copyright
10 -# notice, this list of conditions and the following disclaimer.
11 -# 2. Redistributions in binary form must reproduce the above copyright
12 -# notice, this list of conditions and the following disclaimer in
13 -# the documentation and/or other materials provided with the
14 -# distribution.
15 -# 3. Neither the name PX4 nor the names of its contributors may be
16 -# used to endorse or promote products derived from this software
17 -# without specific prior written permission.
18 -#
19 -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
20 -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
21 -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
22 -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
23 -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
24 -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
25 -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
26 -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
27 -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
28 -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
29 -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
30 -# POSSIBILITY OF SUCH DAMAGE.
31 -#
32 -############################################################################
33 -
34 -px4_add_romfs_files(
35 - 10016_iris
36 - 10017_iris_ctrlalloc
37 - 10018_iris_foggy_lidar
38 - 10020_if750a
39 - 10030_px4vision
40 - 1010_iris_opt_flow
41 - 1010_iris_opt_flow.post
42 - 1011_iris_irlock
43 - 1012_iris_rplidar
44 - 1013_iris_vision
45 - 1013_iris_vision.post
46 - 1014_solo
47 - 1015_iris_obs_avoid
48 - 1015_iris_obs_avoid.post
49 - 1016_iris_rtps
50 - 1016_iris_rtps.post
51 - 1017_iris_opt_flow_mockup
52 - 1018_iris_vision_velocity
53 - 1019_iris_dual_gps
54 - 1020_uuv_generic
55 - 1021_uuv_hippocampus
56 - 1022_uuv_bluerov2_heavy
57 - 1030_plane
58 - 1031_plane_cam
59 - 1032_plane_catapult
60 - 1033_plane_lidar
61 - 1033_rascal
62 - 1034_rascal-electric
63 - 1035_techpod
64 - 1036_malolo
65 - 1040_standard_vtol
66 - 1041_tailsitter
67 - 1042_tiltrotor
68 - 1043_standard_vtol_drop
69 - 1043_standard_vtol_drop.post
70 - 1060_rover
71 - 1061_r1_rover
72 - 1062_tf-r1
73 - 1070_boat
74 - 3010_quadrotor_x
75 - 3011_hexarotor_x
76 - 17001_tf-g1
77 - 2507_cloudship
78 - 6011_typhoon_h480
79 - 6011_typhoon_h480.post
80 - 6012_typhoon_ctrlalloc
81 - 6012_typhoon_ctrlalloc.post
82 -)
1 -#!/bin/sh
2 -# shellcheck disable=SC2154
3 -
4 -udp_offboard_port_local=$((14580+px4_instance))
5 -udp_offboard_port_remote=$((14540+px4_instance))
6 -[ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
7 -udp_onboard_payload_port_local=$((14280+px4_instance))
8 -udp_onboard_payload_port_remote=$((14030+px4_instance))
9 -udp_onboard_gimbal_port_local=$((13030+px4_instance))
10 -udp_onboard_gimbal_port_remote=$((13280+px4_instance))
11 -udp_gcs_port_local=$((18570+px4_instance))
12 -
13 -# GCS link
14 -mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
15 -mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
16 -mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
17 -mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
18 -mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
19 -mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
20 -mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
21 -mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
22 -mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
23 -mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
24 -
25 -# API/Offboard link
26 -mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote
27 -
28 -# Onboard link to camera
29 -mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
30 -
31 -# Onboard link to gimbal
32 -mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
1 -#!/bin/sh
2 -# shellcheck disable=SC2154
3 -
4 -#param set MAV_SYS_ID $((px4_instance+1))
5 -#param set IMU_INTEG_RATE 250
1 -#!/bin/sh
2 -# shellcheck disable=SC2154
3 -
4 -simulator_tcp_port=$((4560+px4_instance))
5 -
6 -# Check if PX4_SIM_HOSTNAME environment variable is empty
7 -# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
8 -# If both are empty use localhost for simulator
9 -if [ -z "${PX4_SIM_HOSTNAME}" ]; then
10 - if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
11 - echo "PX4 SIM HOST: localhost"
12 - simulator start -c $simulator_tcp_port
13 - else
14 - echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
15 - simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
16 - fi
17 -else
18 - echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
19 - simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
20 -fi
1 -#!/bin/sh
2 -
3 -# EKF2 replay script
4 -
5 -# shellcheck disable=SC2154
6 -if [ ! -f ${replay} ]; then
7 - echo "Invalid replay log file ${replay}"
8 - exit 1
9 -fi
10 -
11 -if [ ! -f replay_params.txt ]; then
12 - echo "Creating $(pwd)/replay_params.txt"
13 - ulog_params -i "${replay}" -d ' ' | grep -e '^EKF2' > replay_params.txt
14 -fi
15 -
16 -publisher_rules_file="orb_publisher.rules"
17 -cat <<EOF > "$publisher_rules_file"
18 -restrict_topics: sensor_combined, vehicle_gps_position, vehicle_land_detected
19 -module: replay
20 -ignore_others: false
21 -EOF
22 -
23 -param set SDLOG_DIRS_MAX 7
24 -
25 -# apply all params before ekf starts, as some params cannot be changed after startup
26 -replay tryapplyparams
27 -ekf2 start -r
28 -logger start -f -t -b 1000 -p vehicle_attitude
29 -replay start
1 -#!/bin/sh
2 -
3 -# PX4 commands need the 'px4-' prefix in bash.
4 -# (px4-alias.sh is expected to be in the PATH)
5 -# shellcheck disable=SC1091
6 -. px4-alias.sh
7 -
8 -#search path for sourcing px4-rc.*
9 -PATH="$PATH:${R}etc/init.d-posix"
10 -
11 -#
12 -# Main SITL startup script
13 -#
14 -
15 -# check for ekf2 replay
16 -# shellcheck disable=SC2154
17 -if [ "$replay_mode" = "ekf2" ]
18 -then
19 - . ${R}etc/init.d-posix/rc.replay
20 - exit 0
21 -fi
22 -
23 -# initialize script variables
24 -set AUX_MODE none
25 -set AUX_BANK2 none
26 -set IO_PRESENT no
27 -set MAV_TYPE none
28 -set MIXER none
29 -set MIXER_AUX none
30 -set MIXER_FILE none
31 -set OUTPUT_MODE sim
32 -set EXTRA_MIXER_MODE none
33 -set PWM_OUT none
34 -set SDCARD_MIXERS_PATH etc/mixers
35 -set USE_IO no
36 -set VEHICLE_TYPE none
37 -set LOGGER_ARGS ""
38 -set LOGGER_BUF 1000
39 -
40 -set RUN_MINIMAL_SHELL no
41 -
42 -# Use the variable set by sitl_run.sh to choose the model settings.
43 -if [ "$PX4_SIM_MODEL" = "shell" ]; then
44 - set RUN_MINIMAL_SHELL yes
45 -else
46 - # Find the matching Autostart ID (file name has the form: [0-9]+_${PX4_SIM_MODEL})
47 - # TODO: unify with rc.autostart generation
48 - # shellcheck disable=SC2012
49 - REQUESTED_AUTOSTART=$(ls "${R}etc/init.d-posix/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
50 - if [ -z "$REQUESTED_AUTOSTART" ]; then
51 - echo "Error: Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
52 - exit 1
53 - else
54 - echo "Info: found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
55 - fi
56 -fi
57 -
58 -# Load parameters
59 -set PARAM_FILE eeprom/parameters_"$REQUESTED_AUTOSTART"
60 -param select $PARAM_FILE
61 -
62 -if [ -f $PARAM_FILE ]
63 -then
64 - if param load
65 - then
66 - echo "[param] Loaded: $PARAM_FILE"
67 - else
68 - echo "[param] FAILED loading $PARAM_FILE"
69 - fi
70 -else
71 - echo "[param] parameter file not found, creating $PARAM_FILE"
72 -fi
73 -
74 -# exit early when the minimal shell is requested
75 -[ $RUN_MINIMAL_SHELL = yes ] && exit 0
76 -
77 -
78 -# Use environment variable PX4_ESTIMATOR to choose estimator.
79 -if [ "$PX4_ESTIMATOR" = "q" ]; then
80 - param set SYS_MC_EST_GROUP 3
81 -elif [ "$PX4_ESTIMATOR" = "ekf2" ]; then
82 - param set SYS_MC_EST_GROUP 2
83 -elif [ "$PX4_ESTIMATOR" = "lpe" ]; then
84 - param set SYS_MC_EST_GROUP 1
85 -elif [ "$PX4_ESTIMATOR" = "inav" ]; then
86 - param set SYS_MC_EST_GROUP 0
87 -fi
88 -
89 -if param compare SYS_AUTOSTART $REQUESTED_AUTOSTART
90 -then
91 - set AUTOCNF no
92 -else
93 - set AUTOCNF yes
94 - param set SYS_AUTOCONFIG 1
95 -fi
96 -
97 -if param compare SYS_AUTOCONFIG 1
98 -then
99 - set AUTOCNF yes
100 -
101 - # Wipe out params except RC*, flight modes, total flight time, accel cal, gyro cal, next flight UUID
102 - param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT*
103 -fi
104 -
105 -# multi-instance setup
106 -# shellcheck disable=SC2154
107 -param set MAV_SYS_ID $((px4_instance+1))
108 -
109 -if [ $AUTOCNF = yes ]
110 -then
111 - param set SYS_AUTOSTART $REQUESTED_AUTOSTART
112 -
113 - param set CAL_ACC0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
114 - param set CAL_GYRO0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
115 - param set CAL_ACC1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
116 - param set CAL_GYRO1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
117 - param set CAL_ACC2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
118 - param set CAL_GYRO2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
119 -
120 - param set CAL_MAG0_ID 197388
121 - param set CAL_MAG1_ID 197644
122 -
123 - param set SENS_BOARD_X_OFF 0.000001
124 - param set SENS_DPRES_OFF 0.001
125 -
126 - param set SYS_RESTART_TYPE 2
127 -fi
128 -
129 -param set-default BAT_N_CELLS 4
130 -
131 -param set-default CBRK_AIRSPD_CHK 0
132 -param set-default CBRK_SUPPLY_CHK 894281
133 -
134 -# disable check, no CPU load reported on posix yet
135 -param set-default COM_CPU_MAX -1
136 -
137 -# Don't require RC calibration and configuration
138 -param set-default COM_RC_IN_MODE 1
139 -
140 -# Speedup SITL startup
141 -param set-default EKF2_REQ_GPS_H 0.5
142 -
143 -# Multi-EKF
144 -param set-default EKF2_MULTI_IMU 3
145 -param set-default SENS_IMU_MODE 0
146 -param set-default EKF2_MULTI_MAG 2
147 -param set-default SENS_MAG_MODE 0
148 -
149 -param set-default IMU_GYRO_FFT_EN 1
150 -
151 -# By default log from boot until first disarm.
152 -param set-default SDLOG_MODE 1
153 -# enable default, estimator replay and vision/avoidance logging profiles
154 -param set-default SDLOG_PROFILE 131
155 -param set-default SDLOG_DIRS_MAX 7
156 -
157 -param set-default TRIG_INTERFACE 3
158 -
159 -# Adapt timeout parameters if simulation runs faster or slower than realtime.
160 -if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
161 - COM_DL_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 10" | bc)
162 - echo "COM_DL_LOSS_T set to $COM_DL_LOSS_T_LONGER"
163 - param set COM_DL_LOSS_T $COM_DL_LOSS_T_LONGER
164 -
165 - COM_RC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 0.5" | bc)
166 - echo "COM_RC_LOSS_T set to $COM_RC_LOSS_T_LONGER"
167 - param set COM_RC_LOSS_T $COM_RC_LOSS_T_LONGER
168 -
169 - COM_OF_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 0.5" | bc)
170 - echo "COM_OF_LOSS_T set to $COM_OF_LOSS_T_LONGER"
171 - param set COM_OF_LOSS_T $COM_OF_LOSS_T_LONGER
172 -
173 - COM_OBC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 5.0" | bc)
174 - echo "COM_OBC_LOSS_T set to $COM_OBC_LOSS_T_LONGER"
175 - param set COM_OBC_LOSS_T $COM_OBC_LOSS_T_LONGER
176 -fi
177 -
178 -# Autostart ID
179 -autostart_file=''
180 -# shellcheck disable=SC2231
181 -for f in ${R}etc/init.d-posix/airframes/"$(param show -q SYS_AUTOSTART)"_*
182 -do
183 - filename=$(basename "$f")
184 - case "$filename" in
185 - *\.*)
186 - # ignore files that contain a dot (e.g. <vehicle>.post)
187 - ;;
188 - *)
189 - autostart_file="$f"
190 - ;;
191 - esac
192 -done
193 -if [ ! -e "$autostart_file" ]; then
194 - echo "Error: no autostart file found ($autostart_file)"
195 - exit 1
196 -fi
197 -
198 -. "$autostart_file"
199 -
200 -#
201 -# If autoconfig parameter was set, reset it and save parameters.
202 -#
203 -if [ $AUTOCNF = yes ]
204 -then
205 - param set SYS_AUTOCONFIG 0
206 -fi
207 -
208 -# Simulator IMU data provided at 250 Hz
209 -param set IMU_INTEG_RATE 250
210 -
211 -#user defined params for instances can be in PATH
212 -. px4-rc.params
213 -
214 -dataman start
215 -# only start the simulator if not in replay mode, as both control the lockstep time
216 -if ! replay tryapplyparams
217 -then
218 - . px4-rc.simulator
219 -fi
220 -load_mon start
221 -battery_simulator start
222 -tone_alarm start
223 -rc_update start
224 -sensors start
225 -commander start
226 -navigator start
227 -
228 -
229 -if param greater -s MNT_MODE_IN -1
230 -then
231 - vmount start
232 -fi
233 -
234 -if param greater -s TRIG_MODE 0
235 -then
236 - camera_trigger start
237 - camera_feedback start
238 -fi
239 -
240 -if param compare -s IMU_GYRO_FFT_EN 1
241 -then
242 - gyro_fft start
243 -fi
244 -
245 -if param compare -s IMU_GYRO_CAL_EN 1
246 -then
247 - gyro_calibration start
248 -fi
249 -
250 -# Configure vehicle type specific parameters.
251 -# Note: rc.vehicle_setup is the entry point for rc.interface,
252 -# rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
253 -#
254 -. ${R}etc/init.d/rc.vehicle_setup
255 -
256 -#user defined mavlink streams for instances can be in PATH
257 -. px4-rc.mavlink
258 -
259 -# execute autostart post script if any
260 -[ -e "$autostart_file".post ] && . "$autostart_file".post
261 -
262 -# Run script to start logging
263 -if param compare SYS_MC_EST_GROUP 2
264 -then
265 - set LOGGER_ARGS "-p ekf2_timestamps"
266 -else
267 - set LOGGER_ARGS "-p vehicle_attitude"
268 -fi
269 -. ${R}etc/init.d/rc.logging
270 -
271 -mavlink boot_complete
272 -replay trystart
1 -############################################################################
2 -#
3 -# Copyright (c) 2018 PX4 Development Team. All rights reserved.
4 -#
5 -# Redistribution and use in source and binary forms, with or without
6 -# modification, are permitted provided that the following conditions
7 -# are met:
8 -#
9 -# 1. Redistributions of source code must retain the above copyright
10 -# notice, this list of conditions and the following disclaimer.
11 -# 2. Redistributions in binary form must reproduce the above copyright
12 -# notice, this list of conditions and the following disclaimer in
13 -# the documentation and/or other materials provided with the
14 -# distribution.
15 -# 3. Neither the name PX4 nor the names of its contributors may be
16 -# used to endorse or promote products derived from this software
17 -# without specific prior written permission.
18 -#
19 -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
20 -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
21 -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
22 -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
23 -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
24 -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
25 -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
26 -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
27 -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
28 -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
29 -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
30 -# POSSIBILITY OF SUCH DAMAGE.
31 -#
32 -############################################################################
33 -
34 -add_subdirectory(airframes)
35 -
36 -px4_add_romfs_files(
37 - rc.airship_apps
38 - rc.airship_defaults
39 - rc.balloon_apps
40 - rc.balloon_defaults
41 - rc.boat_defaults
42 - rc.fw_apps
43 - rc.fw_defaults
44 - rc.interface
45 - rc.io
46 - rc.logging
47 - rc.mc_apps
48 - rc.mc_defaults
49 - rcS
50 - rc.sensors
51 - rc.thermal_cal
52 - rc.rover_apps
53 - rc.rover_defaults
54 - rc.uuv_apps
55 - rc.uuv_defaults
56 - rc.vehicle_setup
57 - rc.vtol_apps
58 - rc.vtol_defaults
59 - rc.ctrlalloc
60 -)
1 -#!/bin/sh
2 -#
3 -# @name HILStar (XPlane)
4 -#
5 -# @type Simulation
6 -# @class Plane
7 -#
8 -# @output MAIN1 aileron
9 -# @output MAIN2 elevator
10 -# @output MAIN3 rudder
11 -# @output MAIN4 throttle
12 -# @output MAIN5 flaps
13 -# @output MAIN6 gear
14 -#
15 -# @maintainer Lorenz Meier <lorenz@px4.io>
16 -#
17 -
18 -. ${R}etc/init.d/rc.fw_defaults
19 -
20 -
21 -param set-default BAT_N_CELLS 3
22 -
23 -param set-default FW_AIRSPD_MAX 20
24 -param set-default FW_AIRSPD_MIN 12
25 -param set-default FW_AIRSPD_TRIM 14
26 -param set-default FW_R_TC 0.3
27 -param set-default FW_P_TC 0.3
28 -param set-default FW_L1_DAMPING 0.74
29 -param set-default FW_L1_PERIOD 16
30 -param set-default FW_LND_ANG 15
31 -param set-default FW_LND_FLALT 5
32 -param set-default FW_LND_HHDIST 15
33 -param set-default FW_LND_HVIRT 13
34 -param set-default FW_LND_TLALT 5
35 -param set-default FW_THR_LND_MAX 0
36 -param set-default FW_PR_FF 0.35
37 -param set-default FW_PR_I 0.1
38 -param set-default FW_PR_IMAX 0.4
39 -param set-default FW_PR_P 0.2
40 -param set-default FW_RR_FF 0.6
41 -param set-default FW_RR_I 0.1
42 -param set-default FW_RR_IMAX 0.2
43 -param set-default FW_RR_P 0.3
44 -
45 -param set-default RWTO_TKOFF 1
46 -
47 -
48 -param set SYS_HITL 1
49 -
50 -# disable some checks to allow to fly
51 -# - with usb
52 -param set-default CBRK_USB_CHK 197848
53 -# - without real battery
54 -param set-default CBRK_SUPPLY_CHK 894281
55 -# - without safety switch
56 -param set-default COM_PREARM_MODE 0
57 -param set-default CBRK_IO_SAFETY 22027
58 -
59 -set MIXER AERT
1 -#!/bin/sh
2 -#
3 -# @name Team Blacksheep Discovery
4 -#
5 -# @type Quadrotor Wide
6 -# @class Copter
7 -#
8 -# @output MAIN1 motor 1
9 -# @output MAIN2 motor 2
10 -# @output MAIN3 motor 3
11 -# @output MAIN4 motor 4
12 -# @output MAIN5 feed-through of RC AUX1 channel
13 -# @output MAIN6 feed-through of RC AUX2 channel
14 -#
15 -# @output AUX1 feed-through of RC AUX1 channel
16 -# @output AUX2 feed-through of RC AUX2 channel
17 -# @output AUX3 feed-through of RC AUX3 channel
18 -# @output AUX4 feed-through of RC FLAPS channel
19 -#
20 -# @maintainer Lorenz Meier <lorenz@px4.io>
21 -#
22 -# @board px4_fmu-v2 exclude
23 -# @board bitcraze_crazyflie exclude
24 -#
25 -
26 -. ${R}etc/init.d/rc.mc_defaults
27 -
28 -
29 -param set-default MC_ROLL_P 6.5
30 -param set-default MC_ROLLRATE_P 0.1
31 -param set-default MC_ROLLRATE_I 0.05
32 -param set-default MC_ROLLRATE_D 0.0017
33 -param set-default MC_PITCH_P 6.5
34 -param set-default MC_PITCHRATE_P 0.14
35 -param set-default MC_PITCHRATE_I 0.1
36 -param set-default MC_PITCHRATE_D 0.0025
37 -param set-default MC_YAW_P 2.8
38 -param set-default MC_YAWRATE_P 0.28
39 -param set-default MC_YAWRATE_I 0.1
40 -param set-default MC_YAWRATE_D 0
41 -set MIXER quad_w
42 -
43 -set PWM_OUT 1234
1 -#!/bin/sh
2 -#
3 -# @name 3DR Iris Quadrotor
4 -#
5 -# @type Quadrotor Wide
6 -# @class Copter
7 -#
8 -# @output MAIN1 motor 1
9 -# @output MAIN2 motor 2
10 -# @output MAIN3 motor 3
11 -# @output MAIN4 motor 4
12 -#
13 -# @output AUX1 feed-through of RC AUX1 channel
14 -# @output AUX2 feed-through of RC AUX2 channel
15 -# @output AUX3 feed-through of RC AUX3 channel
16 -# @output AUX4 feed-through of RC FLAPS channel
17 -#
18 -# @maintainer Lorenz Meier <lorenz@px4.io>
19 -#
20 -# @board px4_fmu-v2 exclude
21 -# @board bitcraze_crazyflie exclude
22 -#
23 -
24 -. ${R}etc/init.d/rc.mc_defaults
25 -
26 -
27 -# TODO tune roll/pitch separately
28 -param set-default MC_ROLL_P 7
29 -param set-default MC_ROLLRATE_P 0.15
30 -param set-default MC_ROLLRATE_I 0.05
31 -param set-default MC_ROLLRATE_D 0.004
32 -param set-default MC_PITCH_P 7
33 -param set-default MC_PITCHRATE_P 0.15
34 -param set-default MC_PITCHRATE_I 0.05
35 -param set-default MC_PITCHRATE_D 0.004
36 -param set-default MC_YAW_P 2.5
37 -param set-default MC_YAWRATE_P 0.25
38 -param set-default MC_YAWRATE_I 0.25
39 -param set-default MC_YAWRATE_D 0
40 -
41 -param set-default BAT_V_DIV 12.27559
42 -param set-default BAT_A_PER_V 15.39103
43 -set MIXER quad_w
44 -
45 -set PWM_OUT 1234
1 -#!/bin/sh
2 -#
3 -# @name Steadidrone QU4D
4 -#
5 -# @type Quadrotor Wide
6 -# @class Copter
7 -#
8 -# @output MAIN1 motor 1
9 -# @output MAIN2 motor 2
10 -# @output MAIN3 motor 3
11 -# @output MAIN4 motor 4
12 -# @output MAIN5 feed-through of RC AUX1 channel
13 -# @output MAIN6 feed-through of RC AUX2 channel
14 -#
15 -# @output AUX1 feed-through of RC AUX1 channel
16 -# @output AUX2 feed-through of RC AUX2 channel
17 -# @output AUX3 feed-through of RC AUX3 channel
18 -# @output AUX4 feed-through of RC FLAPS channel
19 -#
20 -# @maintainer Lorenz Meier <lorenz@px4.io>
21 -#
22 -# @board px4_fmu-v2 exclude
23 -# @board bitcraze_crazyflie exclude
24 -#
25 -
26 -. ${R}etc/init.d/rc.mc_defaults
27 -
28 -
29 -param set-default BAT_N_CELLS 4
30 -
31 -param set-default MC_ROLL_P 7
32 -param set-default MC_ROLLRATE_P 0.13
33 -param set-default MC_ROLLRATE_I 0.05
34 -param set-default MC_ROLLRATE_D 0.004
35 -param set-default MC_PITCH_P 7
36 -param set-default MC_PITCHRATE_P 0.19
37 -param set-default MC_PITCHRATE_I 0.05
38 -param set-default MC_PITCHRATE_D 0.004
39 -param set-default MC_YAW_P 4
40 -param set-default MC_YAWRATE_P 0.2
41 -param set-default MC_YAWRATE_I 0.1
42 -param set-default MC_YAWRATE_D 0
43 -set MIXER quad_w
44 -
45 -set PWM_OUT 1234
1 -#!/bin/sh
2 -#
3 -# @name Team Blacksheep Discovery Endurance
4 -#
5 -# @type Quadrotor Wide
6 -# @class Copter
7 -#
8 -# @output MAIN1 motor 1
9 -# @output MAIN2 motor 2
10 -# @output MAIN3 motor 3
11 -# @output MAIN4 motor 4
12 -# @output MAIN5 feed-through of RC AUX1 channel
13 -# @output MAIN6 feed-through of RC AUX2 channel
14 -#
15 -# @output AUX1 feed-through of RC AUX1 channel
16 -# @output AUX2 feed-through of RC AUX2 channel
17 -# @output AUX3 feed-through of RC AUX3 channel
18 -# @output AUX4 feed-through of RC FLAPS channel
19 -#
20 -# @maintainer Simon Wilks <simon@uaventure.com>
21 -#
22 -# @board px4_fmu-v2 exclude
23 -# @board bitcraze_crazyflie exclude
24 -#
25 -
26 -. ${R}etc/init.d/rc.mc_defaults
27 -
28 -
29 -param set-default BAT_N_CELLS 6
30 -param set-default BAT_V_EMPTY 3.5
31 -
32 -param set-default MC_ROLL_P 7
33 -param set-default MC_ROLLRATE_P 0.08
34 -param set-default MC_ROLLRATE_I 0.02
35 -param set-default MC_ROLLRATE_D 0.003
36 -param set-default MC_PITCH_P 7
37 -param set-default MC_PITCHRATE_P 0.13
38 -param set-default MC_PITCHRATE_I 0.02
39 -param set-default MC_PITCHRATE_D 0.005
40 -param set-default MC_YAW_P 2.8
41 -param set-default MC_YAWRATE_P 0.2
42 -param set-default MC_YAWRATE_I 0.1
43 -param set-default MC_YAWRATE_D 0
44 -
45 -param set-default MPC_XY_VEL_MAX 2
46 -
47 -param set-default PWM_MAIN_MIN 1080
48 -set MIXER quad_w
49 -
50 -set PWM_OUT 1234
1 -#!/bin/sh
2 -#
3 -# @name HIL Quadcopter X
4 -#
5 -# @type Simulation
6 -# @class Copter
7 -#
8 -# @maintainer Lorenz Meier <lorenz@px4.io>
9 -#
10 -
11 -. ${R}etc/init.d/rc.mc_defaults
12 -
13 -set MIXER quad_x
14 -set PWM_OUT 1234
15 -
16 -param set SYS_HITL 1
17 -
18 -# disable some checks to allow to fly
19 -# - with usb
20 -param set-default CBRK_USB_CHK 197848
21 -# - without real battery
22 -param set-default CBRK_SUPPLY_CHK 894281
23 -# - without safety switch
24 -param set-default COM_PREARM_MODE 0
25 -param set-default CBRK_IO_SAFETY 22027
1 -#!/bin/sh
2 -#
3 -# @name HIL Standard VTOL QuadPlane
4 -#
5 -# @type Standard VTOL
6 -# @class VTOL
7 -#
8 -# @maintainer Roman Bapst <roman@auterion.com>
9 -#
10 -# @board px4_fmu-v2 exclude
11 -# @board bitcraze_crazyflie exclude
12 -#
13 -
14 -. ${R}etc/init.d/rc.vtol_defaults
15 -
16 -
17 -param set-default BAT_N_CELLS 3
18 -
19 -param set-default COM_RC_IN_MODE 1
20 -
21 -param set-default EKF2_AID_MASK 1
22 -param set-default EKF2_ANGERR_INIT 0.01
23 -param set-default EKF2_GBIAS_INIT 0.01
24 -param set-default EKF2_HGT_MODE 0
25 -param set-default EKF2_MAG_TYPE 1
26 -
27 -param set-default FW_AIRSPD_MAX 25
28 -param set-default FW_AIRSPD_MIN 14
29 -param set-default FW_AIRSPD_TRIM 16
30 -
31 -param set-default MC_PITCH_P 6
32 -param set-default MC_PITCHRATE_P 0.2
33 -param set-default MC_ROLL_P 6
34 -param set-default MC_ROLLRATE_P 0.3
35 -param set-default MIS_LTRMIN_ALT 10
36 -param set-default MIS_TAKEOFF_ALT 10
37 -param set-default MIS_YAW_TMT 10
38 -
39 -param set-default MPC_ACC_HOR_MAX 2
40 -param set-default MPC_ACC_HOR_MAX 2
41 -param set-default MPC_THR_MIN 0.1
42 -param set-default MPC_TKO_SPEED 1
43 -param set-default MPC_XY_P 0.8
44 -param set-default MPC_XY_VEL_D_ACC 0.1
45 -param set-default MPC_XY_VEL_I_ACC 4
46 -param set-default MPC_XY_VEL_P_ACC 3
47 -param set-default MPC_Z_VEL_P_ACC 12
48 -param set-default MPC_Z_VEL_I_ACC 3
49 -param set-default MPC_Z_VEL_MAX_DN 1.5
50 -
51 -param set-default NAV_ACC_RAD 5
52 -param set-default NAV_DLL_ACT 2
53 -param set-default NAV_LOITER_RAD 80
54 -
55 -param set-default RTL_DESCEND_ALT 10
56 -param set-default RTL_RETURN_ALT 30
57 -
58 -param set-default SDLOG_DIRS_MAX 7
59 -param set-default SYS_RESTART_TYPE 2
60 -
61 -param set-default VT_F_TRANS_THR 0.75
62 -param set-default VT_MOT_ID 1234
63 -param set-default VT_FW_MOT_OFFID 1234
64 -param set-default VT_TYPE 2
65 -
66 -
67 -param set SYS_HITL 1
68 -
69 -# disable some checks to allow to fly
70 -# - with usb
71 -param set-default CBRK_USB_CHK 197848
72 -# - without real battery
73 -param set-default CBRK_SUPPLY_CHK 894281
74 -# - without safety switch
75 -param set-default COM_PREARM_MODE 0
76 -param set-default CBRK_IO_SAFETY 22027
77 -
78 -set MAV_TYPE 22
79 -
80 -set MIXER standard_vtol_hitl
81 -
82 -set PWM_OUT 1234
1 -#!/bin/sh
2 -#
3 -# @name Generic Hexarotor coaxial geometry
4 -#
5 -# @type Hexarotor Coaxial
6 -# @class Copter
7 -#
8 -# @output MAIN1 front right top, CW; angle:60; direction:CW
9 -# @output MAIN2 front right bottom, CCW; angle:60; direction:CCW
10 -# @output MAIN3 back top, CW; angle:180; direction:CW
11 -# @output MAIN4 back bottom, CCW; angle:180; direction:CCW
12 -# @output MAIN5 front left top, CW; angle:-60; direction:CW
13 -# @output MAIN6 front left bottom, CCW;angle:-60; direction:CCW
14 -#
15 -# @output AUX1 feed-through of RC AUX1 channel
16 -# @output AUX2 feed-through of RC AUX2 channel
17 -# @output AUX3 feed-through of RC AUX3 channel
18 -#
19 -# @maintainer Lorenz Meier <lorenz@px4.io>
20 -#
21 -# @board bitcraze_crazyflie exclude
22 -#
23 -
24 -. ${R}etc/init.d/rc.mc_defaults
25 -
26 -set MIXER hexa_cox
27 -
28 -# Need to set all 8 channels
29 -set PWM_OUT 12345678
1 -#!/bin/sh
2 -#
3 -# @name SIH Quadcopter X
4 -#
5 -# @type Simulation
6 -# @class Copter
7 -#
8 -# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
9 -#
10 -# @board px4_fmu-v2 exclude
11 -#
12 -
13 -. ${R}etc/init.d/rc.mc_defaults
14 -
15 -set MIXER quad_x
16 -set PWM_OUT 1234
17 -
18 -# set SYS_HITL to 2 to start the SIH and avoid sensors startup
19 -param set SYS_HITL 2
20 -
21 -# disable some checks to allow to fly:
22 -# - with usb
23 -param set-default CBRK_USB_CHK 197848
24 -# - without real battery
25 -param set-default CBRK_SUPPLY_CHK 894281
26 -# - without safety switch
27 -param set-default COM_PREARM_MODE 0
28 -param set-default CBRK_IO_SAFETY 22027
1 -#!/bin/sh
2 -#
3 -# @name Generic 10" Octo coaxial geometry
4 -#
5 -# @type Octorotor Coaxial
6 -# @class Copter
7 -#
8 -# @output MAIN1 motor 1
9 -# @output MAIN2 motor 2
10 -# @output MAIN3 motor 3
11 -# @output MAIN4 motor 4
12 -# @output MAIN5 motor 5
13 -# @output MAIN6 motor 6
14 -# @output MAIN7 motor 7
15 -# @output MAIN8 motor 8
16 -#
17 -# @maintainer Lorenz Meier <lorenz@px4.io>
18 -#
19 -# @board bitcraze_crazyflie exclude
20 -#
21 -
22 -. ${R}etc/init.d/rc.mc_defaults
23 -
24 -set MIXER octo_cox
25 -
26 -set PWM_OUT 12345678
1 -#!/bin/sh
2 -#
3 -# @name Steadidrone MAVRIK
4 -#
5 -# @type Octo Coax Wide
6 -# @class Copter
7 -#
8 -# @output MAIN1 motor 1
9 -# @output MAIN2 motor 2
10 -# @output MAIN3 motor 3
11 -# @output MAIN4 motor 4
12 -# @output MAIN5 motor 5
13 -# @output MAIN6 motor 6
14 -# @output MAIN7 motor 7
15 -# @output MAIN8 motor 8
16 -#
17 -# @maintainer Simon Wilks <simon@uaventure.com>
18 -#
19 -# @board px4_fmu-v2 exclude
20 -# @board bitcraze_crazyflie exclude
21 -#
22 -
23 -. ${R}etc/init.d/rc.mc_defaults
24 -
25 -
26 -param set-default MC_PITCH_P 4
27 -param set-default MC_PITCHRATE_P 0.24
28 -param set-default MC_PITCHRATE_I 0.09
29 -param set-default MC_PITCHRATE_D 0.013
30 -param set-default MC_PITCHRATE_MAX 180
31 -
32 -param set-default MC_ROLL_P 4
33 -param set-default MC_ROLLRATE_P 0.16
34 -param set-default MC_ROLLRATE_I 0.07
35 -param set-default MC_ROLLRATE_D 0.009
36 -param set-default MC_ROLLRATE_MAX 180
37 -
38 -param set-default MC_YAW_P 3
39 -param set-default MC_YAWRATE_P 0.2
40 -param set-default MC_YAWRATE_I 0.1
41 -param set-default MC_YAWRATE_D 0
42 -
43 -param set-default MPC_HOLD_MAX_XY 0.25
44 -param set-default MPC_THR_MIN 0.15
45 -param set-default MPC_Z_VEL_MAX_DN 2
46 -
47 -param set-default BAT_N_CELLS 4
48 -set MIXER octo_cox_w
49 -
50 -set PWM_OUT 12345678
1 -#!/bin/sh
2 -#
3 -# @name Generic Quadplane VTOL
4 -#
5 -# @type Standard VTOL
6 -# @class VTOL
7 -#
8 -# @maintainer
9 -#
10 -# @output MAIN1 motor 1
11 -# @output MAIN2 motor 2
12 -# @output MAIN3 motor 3
13 -# @output MAIN4 motor 4
14 -# @output AUX1 Aileron 1
15 -# @output AUX2 Aileron 2
16 -# @output AUX3 Elevator
17 -# @output AUX4 Rudder
18 -# @output AUX5 Throttle
19 -#
20 -# @board px4_fmu-v2 exclude
21 -# @board bitcraze_crazyflie exclude
22 -#
23 -
24 -. ${R}etc/init.d/rc.vtol_defaults
25 -
26 -
27 -param set-default PWM_AUX_DIS5 950
28 -param set-default PWM_MAIN_RATE 400
29 -
30 -param set-default VT_TYPE 2
31 -param set-default VT_MOT_ID 1234
32 -param set-default VT_FW_MOT_OFFID 1234
33 -set MAV_TYPE 22
34 -
35 -set MIXER quad_x
36 -set MIXER_AUX vtol_AAERT
37 -
38 -set PWM_OUT 1234
1 -#!/bin/sh
2 -#
3 -# @name Caipiroshka Duo Tailsitter
4 -#
5 -# @type VTOL Duo Tailsitter
6 -# @class VTOL
7 -#
8 -# @output MAIN1 motor right
9 -# @output MAIN2 motor left
10 -# @output MAIN5 elevon right
11 -# @output MAIN6 elevon left
12 -#
13 -# @maintainer Roman Bapst <roman@px4.io>
14 -#
15 -# @board px4_fmu-v2 exclude
16 -# @board bitcraze_crazyflie exclude
17 -#
18 -
19 -. ${R}etc/init.d/rc.vtol_defaults
20 -
21 -
22 -param set-default MAV_TYPE 19
23 -
24 -param set-default MC_ROLL_P 6
25 -param set-default MC_ROLLRATE_P 0.12
26 -param set-default MC_ROLLRATE_I 0.002
27 -param set-default MC_ROLLRATE_D 0.003
28 -param set-default MC_ROLLRATE_FF 0
29 -
30 -param set-default MC_PITCH_P 4.5
31 -param set-default MC_PITCHRATE_P 0.3
32 -param set-default MC_PITCHRATE_I 0.002
33 -param set-default MC_PITCHRATE_D 0.003
34 -param set-default MC_PITCHRATE_FF 0
35 -
36 -param set-default MC_YAW_P 3.8
37 -param set-default MC_YAWRATE_P 0.22
38 -param set-default MC_YAWRATE_I 0.02
39 -param set-default MC_YAWRATE_D 0
40 -param set-default MC_YAWRATE_FF 0
41 -
42 -param set-default VT_IDLE_PWM_MC 1080
43 -param set-default VT_ELEV_MC_LOCK 0
44 -param set-default VT_MOT_ID 12
45 -param set-default VT_TYPE 0
46 -set MAV_TYPE 19
47 -
48 -set MIXER vtol_tailsitter_duo
49 -
50 -set PWM_OUT 123456
1 -#!/bin/sh
2 -#
3 -# @name BirdsEyeView Aerobotics FireFly6
4 -# @type VTOL Tiltrotor
5 -# @class VTOL
6 -#
7 -# @maintainer Roman Bapst <roman@uaventure.com>
8 -#
9 -# @output MAIN1 Front right motor bottom
10 -# @output MAIN2 Front right motor top
11 -# @output MAIN3 Back motor bottom
12 -# @output MAIN4 Back motor top
13 -# @output MAIN5 Front left motor bottom
14 -# @output MAIN6 Front left motor top
15 -# @output AUX1 Tilt servo
16 -# @output AUX2 Elevon 1
17 -# @output AUX3 Elevon 2
18 -# @output AUX4 Gear
19 -#
20 -# @board px4_fmu-v2 exclude
21 -# @board bitcraze_crazyflie exclude
22 -#
23 -
24 -. ${R}etc/init.d/rc.vtol_defaults
25 -
26 -
27 -param set-default MC_ROLL_P 7
28 -param set-default MC_ROLLRATE_P 0.19
29 -param set-default MC_ROLLRATE_I 0.002
30 -param set-default MC_ROLLRATE_D 0.005
31 -param set-default MC_ROLLRATE_FF 0
32 -param set-default MC_PITCH_P 7
33 -param set-default MC_PITCHRATE_P 0.14
34 -param set-default MC_PITCHRATE_I 0.002
35 -param set-default MC_PITCHRATE_D 0.004
36 -param set-default MC_PITCHRATE_FF 0
37 -param set-default MC_YAW_P 4
38 -param set-default MC_YAWRATE_P 0.22
39 -param set-default MC_YAWRATE_I 0.02
40 -param set-default MC_YAWRATE_D 0
41 -param set-default MC_YAWRATE_FF 0
42 -
43 -param set-default PWM_MAIN_RATE 400
44 -
45 -param set-default VT_FW_MOT_OFFID 34
46 -param set-default VT_IDLE_PWM_MC 1080
47 -param set-default VT_MOT_ID 123456
48 -param set-default VT_FW_MOT_OFFID 56
49 -param set-default VT_TILT_MC 0.08
50 -param set-default VT_TILT_TRANS 0.5
51 -param set-default VT_TILT_FW 0.9
52 -param set-default VT_ELEV_MC_LOCK 0
53 -param set-default VT_TYPE 1
54 -set MAV_TYPE 21
55 -
56 -set MIXER firefly6
57 -set MIXER_AUX firefly6
58 -
59 -set PWM_OUT 12345678
1 -#!/bin/sh
2 -#
3 -# @name Quadrotor X Tailsitter
4 -#
5 -# @type VTOL Quad Tailsitter
6 -# @class VTOL
7 -#
8 -# @maintainer Roman Bapst <roman@px4.io>
9 -#
10 -# @board px4_fmu-v2 exclude
11 -# @board bitcraze_crazyflie exclude
12 -#
13 -
14 -. ${R}etc/init.d/rc.vtol_defaults
15 -
16 -
17 -param set-default PWM_MAIN_MAX 2000
18 -param set-default PWM_MAIN_RATE 400
19 -
20 -param set-default VT_MOT_ID 1234
21 -param set-default VT_IDLE_PWM_MC 1080
22 -param set-default VT_TYPE 0
23 -param set-default VT_ELEV_MC_LOCK 1
24 -set MAV_TYPE 20
25 -
26 -set MIXER quad_x_vtol
27 -
28 -set PWM_OUT 1234
1 -#!/bin/sh
2 -#
3 -# @name Quadrotor + Tailsitter
4 -#
5 -# @type VTOL Quad Tailsitter
6 -# @class VTOL
7 -#
8 -# @output MAIN1 motor 1
9 -# @output MAIN2 motor 2
10 -# @output MAIN3 motor 4
11 -# @output MAIN4 motor 5
12 -# @output MAIN5 elevon left
13 -# @output MAIN6 elevon right
14 -# @output MAIN7 canard surface
15 -# @output MAIN8 rudder
16 -#
17 -# @maintainer Roman Bapst <roman@px4.io>
18 -#
19 -# @board px4_fmu-v2 exclude
20 -# @board bitcraze_crazyflie exclude
21 -#
22 -
23 -. ${R}etc/init.d/rc.vtol_defaults
24 -
25 -
26 -param set-default PWM_MAIN_MAX 2000
27 -param set-default PWM_MAIN_RATE 400
28 -
29 -param set-default VT_IDLE_PWM_MC 1080
30 -param set-default VT_TYPE 0
31 -param set-default VT_ELEV_MC_LOCK 1
32 -set MAV_TYPE 20
33 -
34 -set MIXER quad_+_vtol
35 -
36 -set PWM_OUT 1234
1 -#!/bin/sh
2 -#
3 -# @name Fun Cub Quad VTOL
4 -#
5 -# @type Standard VTOL
6 -# @class VTOL
7 -#
8 -# @maintainer Simon Wilks <simon@uaventure.com>
9 -#
10 -# @output MAIN1 motor 1
11 -# @output MAIN2 motor 2
12 -# @output MAIN3 motor 3
13 -# @output MAIN4 motor 4
14 -# @output AUX1 Aileron 1
15 -# @output AUX2 Aileron 2
16 -# @output AUX3 Elevator
17 -# @output AUX4 Rudder
18 -# @output AUX5 Throttle
19 -#
20 -# @board px4_fmu-v2 exclude
21 -# @board bitcraze_crazyflie exclude
22 -#
23 -
24 -. ${R}etc/init.d/rc.vtol_defaults
25 -
26 -
27 -param set-default PWM_AUX_DIS5 950
28 -
29 -param set-default PWM_MAIN_RATE 400
30 -
31 -param set-default MC_ROLL_P 6
32 -param set-default MC_ROLLRATE_P 0.17
33 -param set-default MC_ROLLRATE_I 0.002
34 -param set-default MC_ROLLRATE_D 0.004
35 -param set-default MC_ROLLRATE_FF 0
36 -param set-default MC_PITCH_P 6
37 -param set-default MC_PITCHRATE_P 0.19
38 -param set-default MC_PITCHRATE_I 0.002
39 -param set-default MC_PITCHRATE_D 0.004
40 -param set-default MC_PITCHRATE_FF 0
41 -param set-default MC_YAW_P 2.8
42 -param set-default MC_YAWRATE_P 0.22
43 -param set-default MC_YAWRATE_I 0.02
44 -param set-default MC_YAWRATE_D 0
45 -param set-default MC_YAWRATE_FF 0
46 -param set-default MC_YAWRATE_MAX 40
47 -
48 -param set-default MPC_YAWRAUTO_MAX 40
49 -
50 -param set-default FW_PR_FF 0.5
51 -param set-default FW_PR_I 0.02
52 -param set-default FW_PR_IMAX 0.4
53 -param set-default FW_PR_P 0.08
54 -param set-default FW_RR_FF 0.6
55 -param set-default FW_RR_I 0.01
56 -param set-default FW_RR_IMAX 0.2
57 -param set-default FW_RR_P 0.05
58 -param set-default FW_THR_CRUISE 0.75
59 -
60 -param set-default VT_ARSP_BLEND 6
61 -param set-default VT_ARSP_TRANS 12
62 -param set-default VT_F_TRANS_THR 0.75
63 -param set-default VT_MOT_ID 1234
64 -param set-default VT_FW_MOT_OFFID 1234
65 -param set-default VT_IDLE_PWM_MC 1080
66 -param set-default VT_TYPE 2
67 -set MAV_TYPE 22
68 -
69 -set MIXER quad_x
70 -set MIXER_AUX vtol_AAERT
71 -
72 -set PWM_OUT 1234
1 -#!/bin/sh
2 -#
3 -# @name Generic quad delta VTOL
4 -#
5 -# @type Standard VTOL
6 -# @class VTOL
7 -#
8 -# @maintainer Simon Wilks <simon@uaventure.com>
9 -#
10 -# @output MAIN1 motor 1
11 -# @output MAIN2 motor 2
12 -# @output MAIN3 motor 3
13 -# @output MAIN4 motor 4
14 -# @output AUX1 Right elevon
15 -# @output AUX2 Left elevon
16 -# @output AUX3 Motor
17 -#
18 -# @board px4_fmu-v2 exclude
19 -# @board bitcraze_crazyflie exclude
20 -#
21 -
22 -. ${R}etc/init.d/rc.vtol_defaults
23 -
24 -
25 -param set-default MC_ROLL_P 6.5
26 -param set-default MC_ROLLRATE_P 0.15
27 -param set-default MC_ROLLRATE_I 0.01
28 -param set-default MC_ROLLRATE_D 0.003
29 -param set-default MC_ROLLRATE_FF 0
30 -param set-default MC_PITCH_P 6.5
31 -param set-default MC_PITCHRATE_P 0.15
32 -param set-default MC_PITCHRATE_I 0.01
33 -param set-default MC_PITCHRATE_D 0.003
34 -param set-default MC_PITCHRATE_FF 0
35 -param set-default MC_YAW_P 3.5
36 -param set-default MC_YAWRATE_P 0.2
37 -param set-default MC_YAWRATE_I 0.1
38 -param set-default MC_YAWRATE_D 0
39 -param set-default MC_YAWRATE_FF 0
40 -param set-default MC_YAWRATE_MAX 50
41 -
42 -param set-default MPC_XY_P 0.8
43 -param set-default MPC_XY_VEL_P_ACC 2
44 -param set-default MPC_ACC_HOR_MAX 2
45 -param set-default MPC_YAWRAUTO_MAX 20
46 -
47 -param set-default PWM_AUX_DIS3 950
48 -param set-default PWM_MAIN_RATE 400
49 -
50 -param set-default VT_MOT_ID 1234
51 -param set-default VT_FW_MOT_OFFID 1234
52 -param set-default VT_F_TRANS_THR 0.75
53 -param set-default VT_IDLE_PWM_MC 1080
54 -param set-default VT_TYPE 2
55 -set MAV_TYPE 22
56 -
57 -set MIXER quad_x
58 -set MIXER_AUX vtol_delta
59 -
60 -set PWM_OUT 1234
1 -#!/bin/sh
2 -#
3 -# @name Generic AAVVT v-tail plane airframe with Quad VTOL.
4 -#
5 -# @type Standard VTOL
6 -# @class VTOL
7 -#
8 -# @maintainer Sander Smeets <sander@droneslab.com>
9 -#
10 -# @board px4_fmu-v2 exclude
11 -# @board bitcraze_crazyflie exclude
12 -#
13 -
14 -. ${R}etc/init.d/rc.vtol_defaults
15 -
16 -
17 -param set-default MC_ROLL_P 7
18 -param set-default MC_ROLLRATE_P 0.15
19 -param set-default MC_ROLLRATE_I 0.002
20 -param set-default MC_ROLLRATE_D 0.003
21 -param set-default MC_ROLLRATE_FF 0
22 -param set-default MC_PITCH_P 7
23 -param set-default MC_PITCHRATE_P 0.12
24 -param set-default MC_PITCHRATE_I 0.002
25 -param set-default MC_PITCHRATE_D 0.003
26 -param set-default MC_PITCHRATE_FF 0
27 -param set-default MC_YAW_P 2.8
28 -param set-default MC_YAWRATE_P 0.22
29 -param set-default MC_YAWRATE_I 0.02
30 -param set-default MC_YAWRATE_D 0
31 -param set-default MC_YAWRATE_FF 0
32 -param set-default MC_YAWRATE_MAX 40
33 -
34 -param set-default MPC_YAWRAUTO_MAX 40
35 -
36 -param set-default PWM_AUX_DIS5 950
37 -param set-default PWM_MAIN_RATE 400
38 -
39 -param set-default VT_F_TRANS_THR 0.75
40 -param set-default VT_MOT_ID 1234
41 -param set-default VT_FW_MOT_OFFID 1234
42 -param set-default VT_IDLE_PWM_MC 1080
43 -param set-default VT_TYPE 2
44 -set MAV_TYPE 22
45 -
46 -set MIXER quad_x
47 -set MIXER_AUX vtol_AAVVT
48 -
49 -set PWM_OUT 1234
1 -#!/bin/sh
2 -#
3 -# @name QuadRanger
4 -#
5 -# @type Standard VTOL
6 -# @class VTOL
7 -#
8 -# @maintainer Sander Smeets <sander@droneslab.com>
9 -#
10 -# @board px4_fmu-v2 exclude
11 -# @board bitcraze_crazyflie exclude
12 -#
13 -
14 -. ${R}etc/init.d/rc.vtol_defaults
15 -
16 -
17 -param set-default FW_THR_CRUISE 65
18 -param set-default FW_PR_P 0.08
19 -param set-default FW_PR_FF 0.5
20 -param set-default FW_RR_P 0.05
21 -param set-default FW_RR_FF 0.6
22 -
23 -param set-default MIS_YAW_TMT 10
24 -
25 -param set-default MC_ROLL_P 7
26 -param set-default MC_ROLLRATE_P 0.15
27 -param set-default MC_ROLLRATE_I 0.1
28 -param set-default MC_ROLLRATE_D 0.004
29 -param set-default MC_ROLLRATE_FF 0
30 -param set-default MC_PITCH_P 7
31 -param set-default MC_PITCHRATE_P 0.15
32 -param set-default MC_PITCHRATE_I 0.1
33 -param set-default MC_PITCHRATE_D 0.004
34 -param set-default MC_PITCHRATE_FF 0
35 -param set-default MC_YAW_P 3.5
36 -param set-default MC_YAWRATE_P 0.6
37 -param set-default MC_YAWRATE_I 0.04
38 -param set-default MC_YAWRATE_D 0
39 -param set-default MC_YAWRATE_FF 0
40 -param set-default MC_YAWRATE_MAX 40
41 -
42 -param set-default MPC_ACC_HOR_MAX 2
43 -param set-default MPC_Z_VEL_MAX_DN 1.5
44 -param set-default MPC_TKO_SPEED 1.5
45 -param set-default MPC_LAND_SPEED 0.8
46 -param set-default MPC_YAWRAUTO_MAX 40
47 -
48 -param set-default PWM_AUX_DIS5 950
49 -param set-default PWM_AUX_REV1 1
50 -param set-default PWM_AUX_REV2 1
51 -param set-default PWM_MAIN_RATE 400
52 -
53 -param set-default VT_ARSP_TRANS 15
54 -param set-default VT_ARSP_BLEND 8
55 -param set-default VT_B_TRANS_DUR 4
56 -param set-default VT_F_TRANS_THR 0.75
57 -param set-default VT_IDLE_PWM_MC 1080
58 -param set-default VT_MOT_ID 1234
59 -param set-default VT_FW_MOT_OFFID 1234
60 -param set-default VT_TYPE 2
61 -set MAV_TYPE 22
62 -
63 -set MIXER quad_x
64 -set MIXER_AUX vtol_AAERT
65 -
66 -set PWM_OUT 1234
1 -#!/bin/sh
2 -#
3 -# @name Sparkle Tech Ranger VTOL
4 -#
5 -# @type Standard VTOL
6 -# @class VTOL
7 -#
8 -# @maintainer Andreas Antener <andreas@uaventure.com>
9 -#
10 -# @board px4_fmu-v2 exclude
11 -# @board bitcraze_crazyflie exclude
12 -#
13 -
14 -. ${R}etc/init.d/rc.vtol_defaults
15 -
16 -
17 -param set-default FW_AIRSPD_MAX 22
18 -param set-default FW_AIRSPD_MIN 14
19 -param set-default FW_AIRSPD_TRIM 16
20 -param set-default FW_L1_PERIOD 25
21 -param set-default FW_PR_P 0.060
22 -param set-default FW_P_RMAX_NEG 40
23 -param set-default FW_P_RMAX_POS 40
24 -param set-default FW_RR_FF 0.4
25 -param set-default FW_RR_P 0.04
26 -param set-default FW_R_RMAX 40
27 -
28 -param set-default MC_PITCHRATE_D 0.004
29 -param set-default MC_PITCHRATE_I 0
30 -param set-default MC_PITCHRATE_MAX 60
31 -param set-default MC_PITCHRATE_P 0.21
32 -param set-default MC_PITCH_P 4
33 -param set-default MC_ROLLRATE_D 0.004
34 -param set-default MC_ROLLRATE_I 0.002
35 -param set-default MC_ROLLRATE_MAX 60
36 -param set-default MC_ROLLRATE_P 0.24
37 -param set-default MC_ROLL_P 4
38 -param set-default MC_YAWRATE_I 0.02
39 -param set-default MC_YAWRATE_MAX 40
40 -param set-default MC_YAWRATE_P 0.18
41 -
42 -param set-default MIS_TAKEOFF_ALT 2.5
43 -param set-default MIS_YAW_TMT 20
44 -
45 -param set-default MPC_ACC_HOR_MAX 1
46 -param set-default MPC_HOLD_MAX_XY 0.5
47 -param set-default MPC_HOLD_MAX_Z 0.5
48 -param set-default MPC_LAND_SPEED 1
49 -param set-default MPC_MANTHR_MIN 0.05
50 -param set-default MPC_MAN_Y_MAX 120
51 -param set-default MPC_THR_MIN 0.07
52 -param set-default MPC_TILTMAX_AIR 35
53 -param set-default MPC_TILTMAX_LND 20
54 -param set-default MPC_TKO_SPEED 1
55 -param set-default MPC_XY_P 0.3
56 -param set-default MPC_XY_VEL_MAX 3
57 -param set-default MPC_XY_VEL_P_ACC 1
58 -param set-default MPC_Z_P 0.5
59 -param set-default MPC_Z_VEL_P_ACC 2
60 -param set-default MPC_YAWRAUTO_MAX 40
61 -
62 -param set-default NAV_ACC_RAD 3
63 -
64 -param set-default PWM_AUX_REV1 1
65 -param set-default PWM_AUX_REV2 1
66 -param set-default PWM_AUX_REV3 1
67 -param set-default PWM_AUX_REV4 1
68 -
69 -param set-default PWM_AUX_DIS5 950
70 -
71 -param set-default PWM_MAIN_RATE 400
72 -
73 -param set-default VT_ARSP_TRANS 15
74 -param set-default VT_B_TRANS_DUR 4
75 -param set-default VT_F_TRANS_THR 0.6
76 -param set-default VT_IDLE_PWM_MC 1180
77 -param set-default VT_MOT_ID 1234
78 -param set-default VT_FW_MOT_OFFID 1234
79 -param set-default VT_TRANS_MIN_TM 5
80 -param set-default VT_TRANS_TIMEOUT 30
81 -param set-default VT_TYPE 2
82 -
83 -set MAV_TYPE 22
84 -
85 -set MIXER quad_x
86 -set MIXER_AUX vtol_AAERT
87 -
88 -set PWM_OUT 1234
1 -#!/bin/sh
2 -#
3 -# @name CruiseAder Claire
4 -#
5 -# @type VTOL Tiltrotor
6 -# @class VTOL
7 -#
8 -# @maintainer Samay Siga <samay_s@icloud.com>
9 -#
10 -# @board px4_fmu-v2 exclude
11 -# @board bitcraze_crazyflie exclude
12 -#
13 -
14 -. ${R}etc/init.d/rc.vtol_defaults
15 -
16 -
17 -param set-default PWM_AUX_DISARM 1000
18 -param set-default PWM_AUX_MAX 2000
19 -param set-default PWM_AUX_MIN 1000
20 -param set-default PWM_AUX_RATE 50
21 -
22 -param set-default PWM_MAIN_MAX 2000
23 -param set-default PWM_MAIN_RATE 400
24 -
25 -param set-default VT_MOT_ID 1234
26 -param set-default VT_FW_MOT_OFFID 13
27 -param set-default VT_IDLE_PWM_MC 1080
28 -param set-default VT_TILT_FW 0.9
29 -param set-default VT_TILT_MC 0.08
30 -param set-default VT_TILT_TRANS 0.5
31 -param set-default VT_ELEV_MC_LOCK 0
32 -param set-default VT_TYPE 1
33 -set MAV_TYPE 21
34 -
35 -set MIXER claire
36 -set MIXER_AUX claire
37 -
38 -set PWM_OUT 1234
1 -#!/bin/sh
2 -#
3 -# @name E-flite Convergence
4 -#
5 -# @type VTOL Tiltrotor
6 -# @class VTOL
7 -#
8 -# @maintainer Andreas Antener <andreas@uaventure.com>
9 -#
10 -# @output MAIN1 Motor right
11 -# @output MAIN2 Motor left
12 -# @output MAIN3 Motor back
13 -# @output MAIN4 empty
14 -# @output MAIN5 Tilt servo right
15 -# @output MAIN6 Tilt servo left
16 -# @output MAIN7 Elevon right
17 -# @output MAIN8 Elevon left
18 -#
19 -# @board px4_fmu-v2 exclude
20 -# @board bitcraze_crazyflie exclude
21 -#
22 -
23 -. ${R}etc/init.d/rc.vtol_defaults
24 -
25 -
26 -param set-default CBRK_AIRSPD_CHK 162128
27 -
28 -param set-default FW_ARSP_MODE 1
29 -
30 -param set-default FW_L1_PERIOD 17
31 -param set-default FW_MAN_R_MAX 50
32 -param set-default FW_ACRO_X_MAX 270
33 -param set-default FW_ACRO_Y_MAX 270
34 -param set-default FW_ACRO_Z_MAX 180
35 -param set-default FW_PR_FF 0.5
36 -param set-default FW_PR_P 0.08
37 -param set-default FW_PSP_OFF 5
38 -param set-default FW_P_LIM_MAX 30
39 -param set-default FW_P_LIM_MIN -30
40 -param set-default FW_P_RMAX_NEG 60
41 -param set-default FW_P_RMAX_POS 60
42 -param set-default FW_RR_FF 0.33
43 -param set-default FW_RR_P 0.11
44 -param set-default FW_YR_FF 0.3
45 -param set-default FW_YR_P 0.05
46 -
47 -param set-default MC_PITCHRATE_D 0.003
48 -param set-default MC_PITCHRATE_P 0.15
49 -param set-default MC_PITCH_P 6
50 -param set-default MC_ROLLRATE_D 0.003
51 -param set-default MC_ROLLRATE_P 0.15
52 -param set-default MC_ROLL_P 6
53 -param set-default MC_YAWRATE_MAX 120
54 -param set-default MC_YAWRATE_P 0.27
55 -param set-default MC_YAW_P 2.5
56 -
57 -param set-default MC_YAWRATE_P 0.3
58 -param set-default MPC_LAND_SPEED 1.2
59 -param set-default MPC_TKO_SPEED 2.5
60 -param set-default MPC_Z_VEL_MAX_UP 3
61 -
62 -param set-default PWM_MAIN_RATE 400
63 -
64 -param set-default SENS_BOARD_ROT 8
65 -
66 -param set-default VT_B_TRANS_DUR 1
67 -param set-default VT_F_TRANS_DUR 1.2
68 -param set-default VT_F_TR_OL_TM 4
69 -param set-default VT_FW_DIFTHR_EN 1
70 -param set-default VT_FW_DIFTHR_SC 0.17
71 -param set-default VT_FW_MOT_OFFID 3
72 -param set-default VT_FW_PERM_STAB 0
73 -param set-default VT_IDLE_PWM_MC 1200
74 -param set-default VT_MOT_ID 123
75 -param set-default VT_TILT_FW 1
76 -param set-default VT_TILT_MC 0
77 -param set-default VT_TILT_TRANS 0.45
78 -param set-default VT_TRANS_MIN_TM 1.2
79 -param set-default VT_TRANS_P2_DUR 1.3
80 -param set-default VT_ELEV_MC_LOCK 0
81 -param set-default VT_TYPE 1
82 -set MAV_TYPE 21
83 -
84 -set MIXER vtol_convergence
85 -
86 -set PWM_OUT 1234
1 -#!/bin/sh
2 -#
3 -# @name Vertical Technologies DeltaQuad
4 -#
5 -# @type Standard VTOL
6 -# @class VTOL
7 -#
8 -# @maintainer Sander Smeets <sander@droneslab.com>
9 -#
10 -# @output MAIN1 motor 1
11 -# @output MAIN2 motor 2
12 -# @output MAIN3 motor 3
13 -# @output MAIN4 motor 4
14 -# @output MAIN5 Right elevon
15 -# @output MAIN6 Left elevon
16 -# @output MAIN7 Pusher motor
17 -# @output MAIN8 Pusher reverse channel
18 -#
19 -# @board px4_fmu-v2 exclude
20 -# @board bitcraze_crazyflie exclude
21 -#
22 -
23 -. ${R}etc/init.d/rc.vtol_defaults
24 -
25 -
26 -param set-default BAT_CAPACITY 23000
27 -param set-default BAT_N_CELLS 4
28 -param set-default BAT_R_INTERNAL 0.0025
29 -
30 -param set-default CBRK_AIRSPD_CHK 162128
31 -param set-default CBRK_IO_SAFETY 22027
32 -
33 -param set-default EKF2_GPS_POS_X -0.12
34 -param set-default EKF2_IMU_POS_X -0.12
35 -param set-default EKF2_TAU_VEL 0.5
36 -param set-default EKF2_GPS_P_GATE 10
37 -param set-default EKF2_GPS_V_GATE 10
38 -
39 -param set-default FW_ARSP_MODE 1
40 -param set-default FW_L1_PERIOD 25
41 -param set-default FW_PR_FF 0.7
42 -param set-default FW_PR_I 0.18
43 -param set-default FW_PR_P 0.15
44 -param set-default FW_P_TC 0.5
45 -param set-default FW_PSP_OFF 5
46 -param set-default FW_R_LIM 35
47 -param set-default FW_RR_FF 0.9
48 -param set-default FW_RR_I 0.08
49 -param set-default FW_RR_P 0.18
50 -param set-default FW_T_HRATE_FF 0.5
51 -param set-default FW_T_CLMB_MAX 3
52 -param set-default FW_T_SINK_MAX 3
53 -param set-default FW_T_SINK_MIN 1
54 -param set-default FW_T_VERT_ACC 6
55 -param set-default FW_THR_CRUISE 0.70
56 -param set-default FW_THR_SLEW_MAX 1
57 -param set-default FW_MAN_P_MAX 30
58 -param set-default FW_P_LIM_MAX 15
59 -param set-default FW_P_LIM_MIN -25
60 -param set-default FW_P_RMAX_NEG 45
61 -param set-default FW_P_RMAX_POS 45
62 -param set-default FW_R_RMAX 50
63 -param set-default FW_THR_MIN 0.55
64 -param set-default FW_BAT_SCALE_EN 1
65 -param set-default FW_THR_ALT_SCL 2.7
66 -param set-default FW_T_RLL2THR 20
67 -
68 -param set-default LNDMC_ALT_MAX 9999
69 -param set-default LNDMC_XY_VEL_MAX 1
70 -param set-default LNDMC_Z_VEL_MAX 0.7
71 -
72 -param set-default MC_ROLL_P 6.5
73 -param set-default MC_ROLLRATE_P 0.16
74 -param set-default MC_ROLLRATE_I 0.01
75 -param set-default MC_ROLLRATE_D 0.003
76 -param set-default MC_ROLLRATE_FF 0
77 -param set-default MC_ROLLRATE_MAX 80
78 -param set-default MC_PITCH_P 6.5
79 -param set-default MC_PITCHRATE_P 0.15
80 -param set-default MC_PITCHRATE_I 0.05
81 -param set-default MC_PITCHRATE_D 0.003
82 -param set-default MC_PITCHRATE_FF 0
83 -param set-default MC_PITCHRATE_MAX 80
84 -param set-default MC_YAW_P 3.5
85 -param set-default MC_YAWRATE_P 0.2
86 -param set-default MC_YAWRATE_I 0.1
87 -param set-default MC_YAWRATE_D 0
88 -param set-default MC_YAWRATE_FF 0
89 -param set-default MC_YAWRATE_MAX 20
90 -param set-default MC_AIRMODE 1
91 -
92 -param set-default MIS_DIST_1WP 100
93 -param set-default MIS_DIST_WPS 100000
94 -param set-default MIS_TAKEOFF_ALT 15
95 -
96 -param set-default MPC_XY_P 0.8
97 -param set-default MPC_XY_VEL_P_ACC 2
98 -param set-default MPC_XY_VEL_MAX 5
99 -param set-default MPC_ACC_HOR_MAX 2
100 -param set-default MPC_LAND_SPEED 1.2
101 -param set-default MPC_TILTMAX_LND 35
102 -param set-default MPC_Z_VEL_MAX_UP 1.5
103 -param set-default MPC_Z_VEL_MAX_DN 1.5
104 -param set-default MPC_HOLD_MAX_XY 0.5
105 -param set-default MPC_HOLD_MAX_Z 0.5
106 -param set-default MPC_TKO_RAMP_T 0.8
107 -param set-default MPC_XY_CRUISE 5
108 -param set-default MPC_TILTMAX_AIR 25
109 -param set-default MPC_TILTMAX_LND 25
110 -param set-default MPC_YAWRAUTO_MAX 20
111 -
112 -param set-default NAV_DLL_ACT 0
113 -param set-default NAV_LOITER_RAD 100
114 -
115 -param set-default PWM_AUX_DISARM 950
116 -
117 -param set-default PWM_MAIN_DIS5 1500
118 -param set-default PWM_MAIN_DIS6 1500
119 -param set-default PWM_MAIN_DIS7 900
120 -param set-default PWM_MAIN_DIS8 900
121 -
122 -param set-default PWM_MAIN_RATE 400
123 -
124 -param set-default SENS_BOARD_ROT 18
125 -
126 -# TELEM2 config
127 -param set-default MAV_1_CONFIG 102
128 -param set-default MAV_1_RATE 5000
129 -param set-default MAV_1_FORWARD 1
130 -param set-default SER_TEL2_BAUD 57600
131 -
132 -param set-default VT_TYPE 2
133 -param set-default VT_MOT_ID 1234
134 -param set-default VT_FW_MOT_OFFID 1234
135 -param set-default VT_F_TRANS_THR 1
136 -param set-default VT_DWN_PITCH_MAX 8
137 -param set-default VT_FW_QC_P 55
138 -param set-default VT_FW_QC_R 55
139 -param set-default VT_TRANS_MIN_TM 15
140 -param set-default VT_B_TRANS_DUR 8
141 -param set-default VT_WV_LND_EN 1
142 -param set-default VT_WV_LTR_EN 1
143 -param set-default VT_FWD_THRUST_SC 4
144 -param set-default VT_F_TRANS_DUR 1
145 -param set-default VT_IDLE_PWM_MC 1025
146 -param set-default VT_B_REV_OUT 0.5
147 -param set-default VT_B_TRANS_THR 0.7
148 -param set-default VT_FW_PERM_STAB 1
149 -param set-default VT_TRANS_TIMEOUT 22
150 -param set-default VT_F_TRANS_RAMP 4
151 -
152 -param set-default COM_RC_OVERRIDE 0
153 -set MAV_TYPE 22
154 -
155 -set MIXER deltaquad
156 -set MIXER_AUX pass
157 -
158 -set PWM_OUT 1234
159 -set PWM_AUX_OUT 12345
1 -#!/bin/sh
2 -#
3 -# @name BabyShark VTOL
4 -#
5 -# @type Standard VTOL
6 -# @class VTOL
7 -#
8 -# @maintainer Silvan Fuhrer <silvan@auterion.com>
9 -#
10 -# @output MAIN1 Ailerons
11 -# @output MAIN2 A-tail left
12 -# @output MAIN3 Pusher motor
13 -# @output MAIN4 A-tail right
14 -# @output MAIN5 motor 1
15 -# @output MAIN6 motor 2
16 -# @output MAIN7 motor 3
17 -# @output MAIN8 motor 4
18 -#
19 -# @board px4_fmu-v2 exclude
20 -# @board bitcraze_crazyflie exclude
21 -#
22 -
23 -. ${R}etc/init.d/rc.vtol_defaults
24 -
25 -
26 -
27 -param set-default BAT_N_CELLS 6
28 -
29 -param set-default FW_AIRSPD_MAX 30
30 -param set-default FW_AIRSPD_MIN 19
31 -param set-default FW_AIRSPD_TRIM 23
32 -param set-default FW_L1_R_SLEW_MAX 40
33 -param set-default FW_LND_EARLYCFG 1
34 -param set-default FW_MAN_P_MAX 30
35 -param set-default FW_PR_I 0.1
36 -param set-default FW_PSP_OFF 3
37 -param set-default FW_P_LIM_MAX 18
38 -param set-default FW_P_LIM_MIN -25
39 -param set-default FW_RLL_TO_YAW_FF 0.1
40 -param set-default FW_RR_I 0.1
41 -param set-default FW_RR_P 0.08
42 -param set-default FW_R_LIM 45
43 -param set-default FW_R_RMAX 50
44 -param set-default FW_THR_CRUISE 0.65
45 -param set-default FW_THR_MIN 0.3
46 -param set-default FW_THR_SLEW_MAX 0.6
47 -param set-default FW_T_HRATE_FF 0
48 -param set-default FW_T_SINK_MAX 15
49 -param set-default FW_T_SINK_MIN 3
50 -param set-default FW_YR_I 0.1
51 -param set-default FW_YR_P 0.15
52 -
53 -param set-default IMU_GYRO_CUTOFF 40
54 -
55 -param set-default IMU_DGYRO_CUTOFF 15
56 -param set-default MC_PITCHRATE_I 0.2
57 -param set-default MC_PITCHRATE_MAX 60
58 -param set-default MC_ROLLRATE_I 0.2
59 -param set-default MC_ROLLRATE_MAX 60
60 -param set-default MC_YAWRATE_I 0.15
61 -param set-default MC_YAWRATE_MAX 40
62 -param set-default MC_YAWRATE_P 0.3
63 -
64 -param set-default MIS_TAKEOFF_ALT 30
65 -
66 -param set-default MPC_ACC_DOWN_MAX 2
67 -param set-default MPC_ACC_HOR_MAX 2
68 -param set-default MPC_ACC_UP_MAX 3
69 -param set-default MC_AIRMODE 1
70 -param set-default MPC_JERK_AUTO 4
71 -param set-default MPC_LAND_SPEED 1
72 -param set-default MPC_MAN_TILT_MAX 25
73 -param set-default MPC_MAN_Y_MAX 40
74 -param set-default MPC_POS_MODE 3
75 -param set-default MPC_SPOOLUP_TIME 1.5
76 -param set-default MPC_THR_HOVER 0.45
77 -param set-default MPC_TILTMAX_AIR 25
78 -param set-default MPC_TKO_RAMP_T 1.8
79 -param set-default MPC_TKO_SPEED 1
80 -param set-default MPC_VEL_MANUAL 3
81 -param set-default MPC_XY_CRUISE 3
82 -param set-default MPC_XY_VEL_MAX 3.5
83 -param set-default MPC_YAWRAUTO_MAX 40
84 -param set-default MPC_Z_VEL_MAX_DN 1.5
85 -param set-default MPC_Z_VEL_MAX_UP 2
86 -
87 -param set-default NAV_ACC_RAD 3
88 -
89 -param set-default PWM_MAIN_DIS3 1000
90 -param set-default PWM_MAIN_MIN3 1120
91 -param set-default PWM_MAIN_MIN 950
92 -
93 -param set-default SENS_BOARD_ROT 4
94 -
95 -param set-default VT_ARSP_BLEND 10
96 -param set-default VT_ARSP_TRANS 21
97 -param set-default VT_B_DEC_MSS 1.5
98 -param set-default VT_B_TRANS_DUR 12
99 -param set-default VT_ELEV_MC_LOCK 0
100 -param set-default VT_FWD_THRUST_SC 1.2
101 -param set-default VT_FW_MOT_OFFID 5678
102 -param set-default VT_F_TR_OL_TM 8
103 -param set-default VT_IDLE_PWM_MC 1000
104 -param set-default VT_MOT_ID 5678
105 -param set-default VT_PSHER_RMP_DT 2
106 -param set-default VT_TRANS_MIN_TM 4
107 -param set-default VT_TYPE 2
108 -
109 -set MAV_TYPE 22
110 -
111 -set MIXER babyshark
112 -set MIXER_AUX pass
113 -
114 -# Mark outputs for the alternate rate
115 -# or D-Shot
116 -set PWM_OUT 5678
1 -#!/bin/sh
2 -#
3 -# @name Generic Quadplane VTOL Tiltrotor
4 -#
5 -# @type VTOL Tiltrotor
6 -# @class VTOL
7 -#
8 -# @maintainer
9 -#
10 -# @output MAIN1 motor 1
11 -# @output MAIN2 motor 2
12 -# @output MAIN3 motor 3
13 -# @output MAIN4 motor 4
14 -# @output AUX1 Motor tilt front left
15 -# @output AUX2 Motor tilt front right
16 -# @output AUX3 Motor tilt rear left
17 -# @output AUX4 Motor tilt rear right
18 -# @output AUX5 Aileron left
19 -# @output AUX6 Aileron right
20 -# @output AUX7 Elevator
21 -# @output AUX8 Rudder
22 -#
23 -# @board px4_fmu-v2 exclude
24 -# @board bitcraze_crazyflie exclude
25 -#
26 -
27 -. ${R}etc/init.d/rc.vtol_defaults
28 -
29 -
30 -param set-default PWM_MAIN_RATE 400
31 -
32 -param set-default VT_IDLE_PWM_MC 1100
33 -param set-default VT_TYPE 1
34 -param set-default VT_MOT_ID 1234
35 -param set-default VT_FW_MOT_OFFID 24
36 -set MAV_TYPE 21
37 -
38 -set MIXER quad_x
39 -set MIXER_AUX vtol_TTTTAAER
40 -
41 -set PWM_OUT 1234
1 -#!/bin/sh
2 -#
3 -# @name Generic Octoplane VTOL
4 -#
5 -# @type VTOL Octoplane
6 -# @class VTOL
7 -#
8 -# @output MAIN1 motor 1
9 -# @output MAIN2 motor 2
10 -# @output MAIN3 motor 3
11 -# @output MAIN4 motor 4
12 -# @output MAIN5 motor 5
13 -# @output MAIN6 motor 6
14 -# @output MAIN7 motor 7
15 -# @output MAIN8 motor 8
16 -# @output AUX1 Aileron 1
17 -# @output AUX2 Aileron 2
18 -# @output AUX3 Elevator
19 -# @output AUX4 Rudder
20 -# @output AUX5 Throttle
21 -#
22 -# @board px4_fmu-v2 exclude
23 -# @board bitcraze_crazyflie exclude
24 -#
25 -
26 -. ${R}etc/init.d/rc.vtol_defaults
27 -
28 -
29 -param set-default PWM_AUX_DIS5 950
30 -param set-default PWM_MAIN_RATE 400
31 -
32 -param set-default VT_TYPE 2
33 -param set-default VT_MOT_ID 12345678
34 -param set-default VT_FW_MOT_OFFID 12345678
35 -set MAV_TYPE 22
36 -
37 -set MIXER octo_cox
38 -set MIXER_AUX vtol_AAERT
39 -
40 -set PWM_OUT 12345678
1 -#!/bin/sh
2 -#
3 -# @name Generic Tailsitter
4 -#
5 -# @type VTOL Duo Tailsitter
6 -# @class VTOL
7 -#
8 -# @output MAIN1 motor right
9 -# @output MAIN2 motor left
10 -# @output MAIN5 elevon right
11 -# @output MAIN6 elevon left
12 -#
13 -# @maintainer Roman Bapst <roman@px4.io>
14 -#
15 -# @board px4_fmu-v2 exclude
16 -# @board bitcraze_crazyflie exclude
17 -#
18 -
19 -. ${R}etc/init.d/rc.vtol_defaults
20 -
21 -
22 -param set-default VT_ELEV_MC_LOCK 0
23 -param set-default VT_MOT_COUNT 2
24 -param set-default VT_TYPE 0
25 -
26 -param set-default MAV_TYPE 19
27 -set MAV_TYPE 19
28 -set MIXER vtol_tailsitter_duo
29 -
30 -set PWM_OUT 1234
1 -#!/bin/sh
2 -#
3 -# @name Generic Tricopter Y+ Geometry
4 -#
5 -# @type Tricopter Y+
6 -# @class Copter
7 -#
8 -# @output MAIN1 motor 1
9 -# @output MAIN2 motor 2
10 -# @output MAIN3 motor 3
11 -# @output MAIN4 yaw servo
12 -#
13 -# @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
14 -#
15 -# @board bitcraze_crazyflie exclude
16 -#
17 -
18 -. ${R}etc/init.d/rc.mc_defaults
19 -
20 -set MIXER tri_y_yaw+
21 -
22 -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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