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LS2N-drones
PX4-Autopilot
Commits
1fad029c
Commit
1fad029c
authored
May 05, 2021
by
Damien SIX
Browse files
Motors direct control
parent
75677044
Changes
9
Hide whitespace changes
Inline
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ROMFS/px4fmu_common/init.d-posix/CMakeLists.txt
View file @
1fad029c
...
...
@@ -36,4 +36,5 @@ add_subdirectory(airframes)
px4_add_romfs_files
(
rc.replay
rcS
rc.mc_simulation_ls2n
)
ROMFS/px4fmu_common/init.d-posix/airframes/5011_crazy2fly
View file @
1fad029c
...
...
@@ -8,10 +8,8 @@
#
.
${
R
}
etc/init.d/rc.mc_defaults
.
${
R
}
etc/init.d-posix/rc.mc_simulation_ls2n
param
set
PWM_MAIN_MAX 1000
param
set
PWM_MAIN_MIN 0
param
set
THR_MDL_FAC 1.0
param
set
MC_ROLLRATE_K 1.8
param
set
MC_ROLLRATE_D 0.002
...
...
@@ -28,13 +26,6 @@ param set MC_YAWRATE_D 0.002
param
set
MC_YAWRATE_I 0.1
param
set
MC_YAWRATE_P 0.2
param
set
MC_YAW_P 5.0
param
set
EKF2_AID_MASK 24
param
set
EKF2_EVV_NOISE 0.01
param
set
EKF2_EV_DELAY 10.0
param
set
EKF2_EV_NOISE_MD 1
param
set
EKF2_GPS_CHECK 0
param
set
EKF2_HGT_MODE 3
param
set
EKF2_REQ_GPS_H 10.0
param
set
MC_PITCHRATE_MAX 1800.0
param
set
MC_ROLLRATE_MAX 1800.0
param
set
MC_YAWRATE_MAX 1800.0
...
...
ROMFS/px4fmu_common/init.d-posix/airframes/8011_crazyflie2
View file @
1fad029c
...
...
@@ -8,10 +8,8 @@
#
.
${
R
}
etc/init.d/rc.mc_defaults
.
${
R
}
etc/init.d-posix/rc.mc_simulation_ls2n
param
set
PWM_MAIN_MAX 1000
param
set
PWM_MAIN_MIN 0
param
set
THR_MDL_FAC 1.0
param
set
MC_ROLLRATE_K 1.0
param
set
MC_ROLLRATE_D 0.00
param
set
MC_ROLLRATE_I 0.1
...
...
@@ -27,14 +25,5 @@ param set MC_YAWRATE_D 0.000
param
set
MC_YAWRATE_I 0.2
param
set
MC_YAWRATE_P 0.2
param
set
MC_YAW_P 0.5
param
set
EKF2_AID_MASK 24
param
set
EKF2_EVV_NOISE 0.01
param
set
EKF2_EV_DELAY 10.0
param
set
EKF2_EV_NOISE_MD 1
param
set
EKF2_GPS_CHECK 0
param
set
EKF2_HGT_MODE 3
param
set
EKF2_REQ_GPS_H 10.0
param
set
MC_PITCHRATE_MAX 1800.0
param
set
MC_ROLLRATE_MAX 1800.0
param
set
MC_YAWRATE_MAX 1800.0
set
MIXER quad_+
ROMFS/px4fmu_common/init.d-posix/rc.mc_simulation_ls2n
0 → 100644
View file @
1fad029c
#!/bin/sh
#
# LS2N simulation parameters
#
# shellcheck disable=SC2154
param
set
PWM_MAIN_MAX 1000
param
set
PWM_MAIN_MIN 0
param
set
THR_MDL_FAC 1.0
param
set
EKF2_AID_MASK 24
param
set
EKF2_EVV_NOISE 0.01
param
set
EKF2_EV_DELAY 10.0
param
set
EKF2_EV_NOISE_MD 1
param
set
EKF2_GPS_CHECK 0
param
set
EKF2_HGT_MODE 3
param
set
EKF2_REQ_GPS_H 10.0
param
set
COM_OBL_ACT 4
param
set
COM_OBL_RC_ACT 4
param
set
COM_RC_IN_MODE 1
param
set
NAV_RCL_ACT 4
param
set
COM_RC_OVERRIDE 0
sitl_gazebo
@
7a1ab7d3
Compare
935da5e8
...
7a1ab7d3
Subproject commit
935da5e806569807553ed7d32ae61ac19d4fb409
Subproject commit
7a1ab7d3c76194a1e31c98e9607047c8d3611e4b
boards/px4/sitl/rtps.cmake
View file @
1fad029c
...
...
@@ -115,5 +115,5 @@ if(REPLAY_FILE)
message
(
STATUS
"Building without lockstep for replay"
)
set
(
ENABLE_LOCKSTEP_SCHEDULER no
)
else
()
set
(
ENABLE_LOCKSTEP_SCHEDULER
yes
)
set
(
ENABLE_LOCKSTEP_SCHEDULER
no
)
endif
()
msg/offboard_control_mode.msg
View file @
1fad029c
...
...
@@ -7,3 +7,4 @@ bool velocity
bool acceleration
bool attitude
bool body_rate
bool motors
msg/tools/uorb_rtps_message_ids.yaml
View file @
1fad029c
...
...
@@ -3,6 +3,7 @@ rtps:
id
:
0
-
msg
:
actuator_controls
id
:
1
send
:
true
-
msg
:
actuator_outputs
id
:
3
-
msg
:
adc_report
...
...
@@ -330,6 +331,8 @@ rtps:
-
msg
:
actuator_controls_0
id
:
170
alias
:
actuator_controls
send
:
true
receive
:
true
-
msg
:
actuator_controls_1
id
:
171
alias
:
actuator_controls
...
...
src/modules/commander/Commander.cpp
View file @
1fad029c
...
...
@@ -3903,12 +3903,13 @@ Commander::offboard_control_update()
old
.
velocity
!=
ocm
.
velocity
||
old
.
acceleration
!=
ocm
.
acceleration
||
old
.
attitude
!=
ocm
.
attitude
||
old
.
body_rate
!=
ocm
.
body_rate
)
{
old
.
body_rate
!=
ocm
.
body_rate
||
old
.
motors
!=
ocm
.
motors
)
{
_status_changed
=
true
;
}
if
(
ocm
.
position
||
ocm
.
velocity
||
ocm
.
acceleration
||
ocm
.
attitude
||
ocm
.
body_rate
)
{
if
(
ocm
.
position
||
ocm
.
velocity
||
ocm
.
acceleration
||
ocm
.
attitude
||
ocm
.
body_rate
||
ocm
.
motors
)
{
offboard_available
=
true
;
}
}
...
...
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