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Commit e9774e9

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matneu03matneu03
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Added KX4 mixers and geometries, updated sitlgz version, updated cmakelists to incl. kx4
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13 files changed

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‎ROMFS/px4fmu_common/init.d-posix/1120_kx4_vtol‎

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#!/bin/sh
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#
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# @name kiteX
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#
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# @type MODIFIED VTOL
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#
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sh /etc/init.d/rc.vtol_defaults
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if [ $AUTOCNF = yes ]
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then
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# battery configuration 3 cells
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param set BAT_N_CELLS 3
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# sensor calibration data
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param set CAL_ACC0_ID 1376264
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param set CAL_ACC0_XOFF 0.01
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param set CAL_ACC0_XSCALE 1.01
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param set CAL_ACC0_YOFF -0.01
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param set CAL_ACC0_YSCALE 1.01
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param set CAL_ACC0_ZOFF 0.01
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param set CAL_ACC0_ZSCALE 1.01
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param set CAL_ACC1_ID 1310728
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param set CAL_ACC1_XOFF 0.01
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param set CAL_GYRO0_ID 2293768
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param set CAL_GYRO0_XOFF 0.01
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param set CAL_MAG0_ID 196616
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param set CAL_MAG0_XOFF 0.01
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# timeout for disarm after landing
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param set COM_DISARM_LAND 5
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# RC control input
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# ----------------------------
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#0: RC Transmitter
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#1: Joystick/No RC Checks
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#2: Virtual RC by Joystick
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# ----------------------------
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param set COM_RC_IN_MODE 1
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# some EKF configurations
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param set EKF2_ANGERR_INIT 0.01
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param set EKF2_GBIAS_INIT 0.01
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param set EKF2_MAG_TYPE 1
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# select the main source of the height estimation
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# ----------------------------
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#0: Barometric pressure
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#1: GPS
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#2: Range sensor
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#3: Vision
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# ----------------------------
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param set EKF2_HGT_MODE 0
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param set FW_AIRSPD_MAX 25
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param set FW_AIRSPD_MIN 14
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param set FW_AIRSPD_TRIM 16
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param set MC_PITCH_P 6
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param set MC_PITCHRATE_P 0.2
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param set MC_ROLL_P 6
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param set MC_ROLLRATE_P 0.3
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param set MIS_LTRMIN_ALT 10
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param set MIS_TAKEOFF_ALT 10
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param set MIS_YAW_TMT 10
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param set MPC_ACC_HOR_MAX 2
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param set MPC_ACC_HOR_MAX 2
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param set MPC_THR_MIN 0.1
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param set MPC_TKO_SPEED 1
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param set MPC_XY_P 0.8
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param set MPC_XY_VEL_D 0.005
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param set MPC_XY_VEL_I 0.2
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param set MPC_XY_VEL_P 0.15
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param set MPC_Z_VEL_MAX_DN 1.5
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param set MPC_Z_VEL_P 0.6
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param set NAV_ACC_RAD 5
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param set NAV_LOITER_RAD 80
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param set NAV_DLL_ACT 2
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param set VT_F_TRANS_DUR 5
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param set VT_F_TRANS_THR 0.75
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# number of the motors of the VTOL
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param set VT_MOT_COUNT 8 # This is where we set the motor count
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param set VT_IDLE_PWM_MC 1080
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# type of the vtol
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# 3 is KITE
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param set VT_TYPE 3
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param set RTL_DESCEND_ALT 10.0
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param set RTL_LAND_DELAY 0
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param set RTL_RETURN_ALT 30.0
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param set SENS_BOARD_ROT 0
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param set SENS_BOARD_X_OFF 0.000001
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param set SENS_DPRES_OFF 0.001
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param set SYS_AUTOSTART 13013
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param set SYS_MC_EST_GROUP 2
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param set SYS_RESTART_TYPE 2
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param set WEST_EN 1
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param set V19_VT_ROLLDIR 0
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fi
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# This is special kitex VTOL ( from now it has to be always 22)
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set MAV_TYPE 22
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# kitex special H configuration for the mixer
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set MIXER_FILE etc/mixers-sitl/kx4_vtol.main.mix
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set MIXER custom

‎ROMFS/px4fmu_common/init.d-posix/1120_kx4_vtol.post‎

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mixer append /dev/pwm_output0 etc/mixers/KX4.aux.mix

‎ROMFS/px4fmu_common/init.d-posix/1121_kx4_with_tether‎

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#!/bin/sh
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#
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# @name kiteX
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#
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# @type MODIFIED VTOL
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#
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sh /etc/init.d/rc.vtol_defaults
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if [ $AUTOCNF = yes ]
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then
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# battery configuration 3 cells
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param set BAT_N_CELLS 3
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# sensor calibration data
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param set CAL_ACC0_ID 1376264
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param set CAL_ACC0_XOFF 0.01
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param set CAL_ACC0_XSCALE 1.01
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param set CAL_ACC0_YOFF -0.01
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param set CAL_ACC0_YSCALE 1.01
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param set CAL_ACC0_ZOFF 0.01
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param set CAL_ACC0_ZSCALE 1.01
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param set CAL_ACC1_ID 1310728
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param set CAL_ACC1_XOFF 0.01
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param set CAL_GYRO0_ID 2293768
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param set CAL_GYRO0_XOFF 0.01
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param set CAL_MAG0_ID 196616
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param set CAL_MAG0_XOFF 0.01
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# timeout for disarm after landing
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param set COM_DISARM_LAND 5
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# RC control input
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# ----------------------------
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#0: RC Transmitter
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#1: Joystick/No RC Checks
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#2: Virtual RC by Joystick
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# ----------------------------
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param set COM_RC_IN_MODE 1
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# some EKF configurations
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param set EKF2_ANGERR_INIT 0.01
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param set EKF2_GBIAS_INIT 0.01
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param set EKF2_MAG_TYPE 1
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# select the main source of the height estimation
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# ----------------------------
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#0: Barometric pressure
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#1: GPS
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#2: Range sensor
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#3: Vision
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# ----------------------------
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param set EKF2_HGT_MODE 0
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param set FW_AIRSPD_MAX 25
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param set FW_AIRSPD_MIN 14
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param set FW_AIRSPD_TRIM 16
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param set MC_PITCH_P 6
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param set MC_PITCHRATE_P 0.2
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param set MC_ROLL_P 6
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param set MC_ROLLRATE_P 0.3
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param set MIS_LTRMIN_ALT 10
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param set MIS_TAKEOFF_ALT 10
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param set MIS_YAW_TMT 10
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param set MPC_ACC_HOR_MAX 2
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param set MPC_ACC_HOR_MAX 2
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param set MPC_THR_MIN 0.1
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param set MPC_TKO_SPEED 1
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param set MPC_XY_P 0.8
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param set MPC_XY_VEL_D 0.005
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param set MPC_XY_VEL_I 0.2
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param set MPC_XY_VEL_P 0.15
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param set MPC_Z_VEL_MAX_DN 1.5
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param set MPC_Z_VEL_P 0.6
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param set NAV_ACC_RAD 5
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param set NAV_LOITER_RAD 80
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param set NAV_DLL_ACT 2
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param set VT_F_TRANS_DUR 5
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param set VT_F_TRANS_THR 0.75
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# number of the motors of the VTOL
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param set VT_MOT_COUNT 8
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param set VT_IDLE_PWM_MC 1080
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# type of the vtol
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# 3 is KITE
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param set VT_TYPE 3
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param set RTL_DESCEND_ALT 10.0
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param set RTL_LAND_DELAY 0
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param set RTL_RETURN_ALT 30.0
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param set SENS_BOARD_ROT 0
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param set SENS_BOARD_X_OFF 0.000001
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param set SENS_DPRES_OFF 0.001
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param set SYS_AUTOSTART 13013
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param set SYS_MC_EST_GROUP 2
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param set SYS_RESTART_TYPE 2
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param set WEST_EN 1
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param set V19_VT_ROLLDIR 0
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fi
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# This is special kitex VTOL ( from now it has to be always 22)
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set MAV_TYPE 22
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# kitex special H configuration for the mixer
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set MIXER_FILE etc/mixers-sitl/kx4_with_tether.main.mix
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set MIXER custom

‎ROMFS/px4fmu_common/init.d-posix/1121_kx4_with_tether.post‎

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mixer append /dev/pwm_output0 etc/mixers/KX4_with_tether.aux.mix

‎ROMFS/px4fmu_common/mixers-sitl/CMakeLists.txt‎

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over_sitl.main.mix
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standard_vtol_sitl.main.mix
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tiltrotor_sitl.main.mix
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kx4_vtol.main.mix # Kitex
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kx4_vtol_with_tether.main.mix # Kitex
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)

‎ROMFS/px4fmu_common/mixers-sitl/kx4_vtol.main.mix‎

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Mixer for standard vtol plane (SITL) with motor x configuration
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=========================================================
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This file defines a single mixer for a standard vtol plane (SITL gazebo) with motors in H configuration. The plane has two ailerons and one elevator.
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#
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# @type Kitex special Octo-copter
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# @class VTOL
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#
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# @output MAIN1 motor 1
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# @output MAIN2 motor 2
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# @output MAIN3 motor 3
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# @output MAIN4 motor 4
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# @output MAIN5 motor 5
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# @output MAIN6 motor 6
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# @output MAIN7 motor 7
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R: 8kitex 10000 10000 10000 0

‎ROMFS/px4fmu_common/mixers/KX4.aux.mix‎

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Mixer for the KX4 8 rotor VTOL
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=======================
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# mixer for the rudder ( for kite the yaw is roll after transition)
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 1 0 10000 10000 0 -10000 10000
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# mixer for the elevator ( remain stil pitch angle )
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 1 1 10000 10000 0 -10000 10000

‎ROMFS/px4fmu_common/mixers/KX4_with_tether.aux.mix‎

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Mixer for the KX4 8 rotor VTOL
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=======================
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# mixer for the rudder ( for kite the yaw is roll after transition)
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 1 0 10000 10000 0 -10000 10000
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# mixer for the elevator ( remain stil pitch angle )
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 1 1 10000 10000 0 -10000 10000

‎Tools/sitl_gazebo‎

‎platforms/posix/cmake/sitl_target.cmake‎

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if750a iris iris_opt_flow iris_vision iris_rplidar iris_irlock iris_obs_avoid solo typhoon_h480
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plane
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standard_vtol tailsitter tiltrotor
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hippocampus rover)
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hippocampus rover
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kx4_vtol kx4_with_tether) # Kitex
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set(all_posix_vmd_make_targets)
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foreach(viewer ${viewers})
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foreach(debugger ${debuggers})

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