From 340cb05f7062927fe48d2275ce95ef48581601b0 Mon Sep 17 00:00:00 2001 From: John Hsu <hsu@osrfoundation.org> Date: Mon, 29 Aug 2016 13:31:07 -0700 Subject: [PATCH] Add configurations for Zephyr SITL. Add init script for Zephyr SITL. Update hexa_x.main.mix with leg control. --- ROMFS/px4fmu_common/mixers/hexa_x.main.mix | 11 ++++ ROMFS/sitl/mixers/delta_wing_sitl.main.mix | 38 ++++++++++++ posix-configs/SITL/init/rcS_gazebo_delta_wing | 62 +++++++++++++++++++ 3 files changed, 111 insertions(+) create mode 100644 ROMFS/sitl/mixers/delta_wing_sitl.main.mix create mode 100644 posix-configs/SITL/init/rcS_gazebo_delta_wing diff --git a/ROMFS/px4fmu_common/mixers/hexa_x.main.mix b/ROMFS/px4fmu_common/mixers/hexa_x.main.mix index 16e6e22f90..708d2d6c25 100644 --- a/ROMFS/px4fmu_common/mixers/hexa_x.main.mix +++ b/ROMFS/px4fmu_common/mixers/hexa_x.main.mix @@ -1,3 +1,14 @@ # Hexa X R: 6x 10000 10000 10000 0 + +# mixer for left leg +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 7 0 20000 -10000 -10000 10000 + +# mixer for right leg +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 8 0 20000 -10000 -10000 10000 + diff --git a/ROMFS/sitl/mixers/delta_wing_sitl.main.mix b/ROMFS/sitl/mixers/delta_wing_sitl.main.mix new file mode 100644 index 0000000000..994dacca56 --- /dev/null +++ b/ROMFS/sitl/mixers/delta_wing_sitl.main.mix @@ -0,0 +1,38 @@ +Mixer for SITL plane +========================================================= + +Z: + +Z: + +# mixer for the rudder +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 2 10000 10000 0 -10000 10000 + +# mixer for the flaps +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 4 10000 10000 0 -10000 10000 + +# mixer for the pusher/puller throttle +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 + +# mixer for the left aileron +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 -4000 -4000 0 -10000 10000 +S: 0 1 10000 10000 0 -10000 10000 + +# mixer for the right aileron +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 4000 4000 0 -10000 10000 +S: 0 1 10000 10000 0 -10000 10000 + +# mixer for the elevator +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 1 -10000 -10000 0 -10000 10000 diff --git a/posix-configs/SITL/init/rcS_gazebo_delta_wing b/posix-configs/SITL/init/rcS_gazebo_delta_wing new file mode 100644 index 0000000000..994fbf5c8e --- /dev/null +++ b/posix-configs/SITL/init/rcS_gazebo_delta_wing @@ -0,0 +1,62 @@ +uorb start +param load +param set MAV_TYPE 1 +param set SYS_AUTOSTART 3033 +param set SYS_RESTART_TYPE 2 +dataman start +param set BAT_N_CELLS 3 +param set CAL_GYRO0_ID 2293768 +param set CAL_ACC0_ID 1376264 +param set CAL_ACC1_ID 1310728 +param set CAL_MAG0_ID 196616 +param set CAL_GYRO0_XOFF 0.01 +param set CAL_ACC0_XOFF 0.01 +param set CAL_ACC0_YOFF -0.01 +param set CAL_ACC0_ZOFF 0.01 +param set CAL_ACC0_XSCALE 1.01 +param set CAL_ACC0_YSCALE 1.01 +param set CAL_ACC0_ZSCALE 1.01 +param set CAL_ACC1_XOFF 0.01 +param set CAL_MAG0_XOFF 0.01 +param set SENS_BOARD_ROT 8 +param set SENS_DPRES_OFF 0.001 +param set SENS_BOARD_X_OFF 0.000001 +param set COM_RC_IN_MODE 1 +param set NAV_DLL_ACT 2 +param set NAV_ACC_RAD 15.0 +param set FW_THR_IDLE 0.6 +param set FS_GCS_ENABLE 2 +replay tryapplyparams +simulator start -s +rgbledsim start +tone_alarm start +gyrosim start +accelsim start +barosim start +adcsim start +gpssim start +measairspeedsim start +pwm_out_sim mode_pwm +sleep 1 +sensors start +commander start +navigator start +ekf2 start +fw_pos_control_l1 start +fw_att_control start +land_detector start fixedwing +mixer load /dev/pwm_output0 ../../../../ROMFS/sitl/mixers/delta_wing_sitl.main.mix +mavlink start -u 14556 -r 2000000 +mavlink start -u 14557 -r 2000000 -m onboard -o 14540 +mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556 +mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556 +mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556 +mavlink stream -r 80 -s ATTITUDE -u 14556 +mavlink stream -r 80 -s ATTITUDE_QUATERNION -u 14556 +mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556 +mavlink stream -r 20 -s RC_CHANNELS -u 14556 +mavlink stream -r 250 -s HIGHRES_IMU -u 14556 +mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556 +sdlog2 start -r 200 -e -t -a +mavlink boot_complete +replay trystart -- GitLab