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Commit 91dfc160 authored by alber's avatar alber
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Updated mixing and airframe files

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ROMFS/px4fmu_common/init.d/airframes/3004_flyingV
+ 76
− 10
View file @ 91dfc160
......@@ -31,12 +31,13 @@ then
# ----------------------------------------------------
# Default parameters for fixed wing UAVs.
# ----------------------------------------------------
param set COM_POS_FS_DELAY 5
param set COM_POS_FS_DELAY 5 # Time grom GPS loss until failsafe is enabled
param set COM_POS_FS_EPH 25
param set COM_POS_FS_EPV 50
param set COM_POS_FS_GAIN 0
param set COM_POS_FS_PROB 1
param set COM_VEL_FS_EVH 5
param set COM_POSCTL_NAVL 0 # RC control after failsafe (1 = no RC control)
# Kalman filter tuning gains
param set EKF2_ARSP_THR 8
......@@ -66,6 +67,79 @@ then
# FW takeoff acceleration can easily exceed ublox GPS 2G default.
param set GPS_UBX_DYNMODEL 8
# ----------------------------------------------------
# PWM SETTINGS
# ----------------------------------------------------
# Limits
#param set PWM_MAX 1800 # Default = 2000 us
#param set PWM_MIN 1200 # Default = 1000 us
#param set PWM_AUX_MAX 1800 # Default = 2000 us
#param set PWM_AUX_MIN 1200 # Default = 1000 us
# Individual limits
param set PWM_MAIN_MIN1 900 # Engine 1
param set PWM_MAIN_MIN2 900 # Engine 2
param set PWM_MAIN_MIN3 1270 # Elevator R
param set PWM_MAIN_MIN4 1350 # Mid R
param set PWM_MAIN_MIN5 1250 # Aileron R
param set PWM_MAIN_MIN6 1000 # Rudder R
param set PWM_AUX_MIN1 1000 # Brakes
param set PWM_AUX_MIN2 1000 # Retraction
param set PWM_AUX_MIN3 1000 # Trigger
param set PWM_AUX_MIN4 1000 # Steering servo
param set PWM_AUX_MIN5 1270 # Elevator L
param set PWM_AUX_MIN6 1350 # Mid L
param set PWM_AUX_MIN7 1250 # Aileron L
param set PWM_AUX_MIN8 1000 # Rudder L
param set PWM_MAIN_MAX1 2100 # Engine 1
param set PWM_MAIN_MAX2 2100 # Engine 2
param set PWM_MAIN_MAX3 1850 # Elevator R
param set PWM_MAIN_MAX4 1700 # Mid R
param set PWM_MAIN_MAX5 1750 # Aileron R
param set PWM_MAIN_MAX6 2000 # Rudder R
param set PWM_AUX_MAX1 2000 # Brakes
param set PWM_AUX_MAX2 2000 # Retraction
param set PWM_AUX_MAX3 2000 # Trigger
param set PWM_AUX_MAX4 2000 # Steering servo
param set PWM_AUX_MAX5 1850 # Elevator L
param set PWM_AUX_MAX6 1700 # Mid L
param set PWM_AUX_MAX7 1750 # Aileron L
param set PWM_AUX_MAX8 2000 # Rudder L
# Disarmed PWM outputs
param set PWM_DISARMED 1500
param set PWM_MAIN_DIS1 900 # Engine 1
param set PWM_MAIN_DIS2 900 # Engine 2
param set PWM_AUX_DISARMED 1500
# param set PWM_AUX_DIS1 900 # Brakes
# param set PWM_AUX_DIS2 2000 # Retraction (Gear down)
# param set PWM_AUX_DIS3 900 # Trigger
# Failsafe PWM outputs
param set PWM_MAIN_FAIL1 900 # ESC: off
param set PWM_MAIN_FAIL2 900 # ESC: off
param set PWM_MAIN_FAIL3 1500 # Servo: centered
param set PWM_MAIN_FAIL4 1500 # Servo: centered
param set PWM_MAIN_FAIL5 1500 # Servo: centered
param set PWM_MAIN_FAIL6 1500 # Servo: centered
param set PWM_AUX_FAIL1 900 # Brakes: no brakes
param set PWM_AUX_FAIL2 2000 # Retraction: gear down
param set PWM_AUX_FAIL3 900 # Trigger: off (gnd comms, tells us something happened)
param set PWM_AUX_FAIL4 1465 # Steering: centered
param set PWM_AUX_FAIL5 1500 # Servo: centered
param set PWM_AUX_FAIL6 1500 # Servo: centered
param set PWM_AUX_FAIL7 1500 # Servo: centered
param set PWM_AUX_FAIL8 1500 # Servo: centered
# PWM rate
#param set PWM_AUX_RATE 50 # CHECK! a guy says that 400 Hz is the standard bc 8x50 Hz = 400 --> control 8 ports in parallel at 50 Hz each ?
#param set PWM_RATE 50 # CHECK! a guy says that 400 Hz is the standard bc 8x50 Hz = 400 --> control 8 ports in parallel at 50 Hz each ?
# ----------------------------------------------------
# USER PARAMETERS
# ----------------------------------------------------
......@@ -94,15 +168,6 @@ then
param set COM_FLTMODE4 8 # Stabilized
param set COM_FLTMODE6 5 # Return
# PWM OUTPUTS
param set PWM_AUX_RATE 50 # CHECK! a guy says that 400 Hz is the standard bc 8x50 Hz = 400 --> control 8 ports in parallel at 50 Hz each ¿?
param set PWM_RATE 50 # CHECK! a guy says that 400 Hz is the standard bc 8x50 Hz = 400 --> control 8 ports in parallel at 50 Hz each ¿?
# param set PWM_MAX 2100 # Default = 2000 us
# param set PWM_MIN 900 # Default = 1000 us
# param set PWM_AUX_MAX 2100 # Default = 2000 us
# param set PWM_AUX_MIN 900 # Default = 1000 us
# BATTERY ESTIMATOR
param set BAT_N_CELLS 3 # 3S (11.1 V)
param set BAT_A_PER_V 65.02386 # Amps-per-volt (Mauch sensor)
......@@ -110,6 +175,7 @@ then
param set BAT_V_CHARGED 4.2 # Full voltage per cell
param set BAT_V_EMPTY 3.2 # Empty voltage per cell (conservative, 3.0 V real value)
# CALIBRATION PARAMETERS (TO BE REMOVED/CHANGED)
# param set SYS_HAS_MAG 0
# param set CAL_MAG0_EN 0
......
ROMFS/px4fmu_common/mixers/flyingV.aux.mix
+ 9
− 7
View file @ 91dfc160
......@@ -21,19 +21,21 @@ Left Wing
--------------
#aux5: Elevator (L) 1L
M: 1
S: 0 1 -10000 -10000 0 -10000 10000
M: 2
S: 0 1 -8000 -8000 -1000 -10000 10000
S: 0 0 5000 5000 -1000 -10000 10000
#aux6: Mid CS (L)
M: 2
S: 0 1 -10000 -10000 0 -10000 10000
S: 0 0 -8000 -8000 0 -10000 10000
S: 0 1 -8000 -8000 -1000 -10000 10000
S: 0 0 5000 5000 -1000 -10000 10000
#aux7: Aileron (L) 3L
M: 1
S: 0 0 -10000 -10000 0 -10000 10000
M: 2
S: 0 1 -8000 -8000 0 -10000 10000
S: 0 0 5000 5000 0 -10000 10000
#aux8: Rud (L) (yaw + airbrakes)
#aux8: Rud (L) (yaw + airbrakes) (add airbrakes with a flaps mixer)
M: 1
S: 0 2 5000 5000 0 -10000 10000
ROMFS/px4fmu_common/mixers/flyingV.main.mix
+ 10
− 8
View file @ 91dfc160
......@@ -15,22 +15,24 @@ S: 0 3 0 20000 -10000 -10000 10000
Right Wing
--------------
--------------
#main3: Elevator (R) 1R
M: 1
S: 0 1 -10000 -10000 0 -10000 10000
M: 2
S: 0 1 8000 8000 -1000 -10000 10000
S: 0 0 5000 5000 -1000 -10000 10000
#main4: Mid CS (R)
M: 2
S: 0 1 -10000 -10000 0 -10000 10000
S: 0 0 8000 8000 0 -10000 10000
S: 0 1 8000 8000 -1000 -10000 10000
S: 0 0 5000 5000 -1000 -10000 10000
#main5: Aileron (R)
M: 1
S: 0 0 10000 10000 0 -10000 10000
M: 2
S: 0 1 8000 8000 0 -10000 10000
S: 0 0 5000 5000 0 -10000 10000
#main6: Rud (R) (yaw + airbrakes)
#main6: Rud (R) (yaw + airbrakes) (add airbrakes with a flaps mixer)
M: 1
S: 0 2 5000 5000 0 -10000 10000
......
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