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[BACKPORT v1.13] Add PX4 vision v1.5 Airframe #20244
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130 changes: 130 additions & 0 deletions
130
ROMFS/px4fmu_common/init.d/airframes/4020_holybro_px4vision_v1_5
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#!/bin/sh | ||
# | ||
# @name PX4 Vision Dev Kit v1.5 | ||
# | ||
# @type Quadrotor x | ||
# @class Copter | ||
# | ||
# @board px4_fmu-v2 exclude | ||
# @board bitcraze_crazyflie exclude | ||
# | ||
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. ${R}etc/init.d/rc.mc_defaults | ||
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# Commander Parameters | ||
param set-default COM_OBS_AVOID 1 | ||
param set-default COM_DISARM_LAND 0.5 | ||
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# EKF2 parameters | ||
param set-default EKF2_AID_MASK 35 | ||
param set-default EKF2_IMU_POS_X 0.02 | ||
param set-default EKF2_GPS_POS_X 0.055 | ||
param set-default EKF2_GPS_POS_Z -0.15 | ||
param set-default EKF2_MIN_RNG 0.03 | ||
param set-default EKF2_OF_POS_X 0.055 | ||
param set-default EKF2_OF_POS_Y 0.02 | ||
param set-default EKF2_OF_POS_Z 0.065 | ||
param set-default EKF2_REQ_HDRIFT 0.3 | ||
param set-default EKF2_REQ_SACC 1 | ||
param set-default EKF2_REQ_VDRIFT 0.3 | ||
param set-default EKF2_RNG_A_HMAX 8 | ||
param set-default EKF2_RNG_A_VMAX 2 | ||
param set-default EKF2_RNG_POS_X 0.055 | ||
param set-default EKF2_RNG_POS_Y -0.01 | ||
param set-default EKF2_RNG_POS_Z 0.065 | ||
param set-default EKF2_PCOEF_XP -0.25 | ||
param set-default EKF2_PCOEF_YN -0.55 | ||
param set-default EKF2_PCOEF_YP -0.55 | ||
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# MAVLink parameters | ||
param set-default MAV_0_CONFIG 101 | ||
param set-default MAV_1_CONFIG 102 | ||
param set-default MAV_1_RATE 80000 | ||
param set-default MAV_1_MODE 9 | ||
param set-default SER_TEL1_BAUD 921600 | ||
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# Vehicle attitude PID tuning | ||
param set-default MC_ACRO_EXPO 0 | ||
param set-default MC_ACRO_EXPO_Y 0 | ||
param set-default MC_ACRO_P_MAX 200 | ||
param set-default MC_ACRO_R_MAX 200 | ||
param set-default MC_ACRO_SUPEXPO 0 | ||
param set-default MC_ACRO_SUPEXPOY 0 | ||
param set-default MC_ACRO_Y_MAX 150 | ||
param set-default MC_PITCHRATE_D 0.0015 | ||
param set-default MC_ROLLRATE_D 0.0015 | ||
param set-default MC_YAWRATE_P 0.3 | ||
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# Position Control Tuning | ||
param set-default CP_DIST 6 | ||
param set-default MPC_ACC_DOWN_MAX 5 | ||
param set-default MPC_ACC_HOR_MAX 10 | ||
param set-default MPC_ACC_UP_MAX 4 | ||
param set-default MPC_MANTHR_MIN 0 | ||
param set-default MPC_MAN_Y_MAX 120 | ||
param set-default MPC_TILTMAX_AIR 45 | ||
param set-default MPC_THR_HOVER 0.3 | ||
param set-default MPC_TKO_SPEED 1 | ||
param set-default MPC_VEL_MANUAL 5 | ||
param set-default MPC_XY_CRUISE 5 | ||
param set-default MPC_XY_VEL_MAX 5 | ||
param set-default MPC_XY_VEL_P_ACC 1.58 | ||
param set-default MPC_XY_TRAJ_P 0.3 | ||
param set-default MPC_Z_TRAJ_P 0.3 | ||
param set-default MPC_Z_VEL_P_ACC 5 | ||
param set-default MPC_Z_VEL_I_ACC 3 | ||
param set-default MPC_LAND_ALT1 3 | ||
param set-default MPC_LAND_ALT2 1 | ||
param set-default MPC_POS_MODE 3 | ||
param set-default CP_GO_NO_DATA 1 | ||
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# Navigator Parameters | ||
param set-default NAV_ACC_RAD 2 | ||
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# use oneshot motor output protocol | ||
param set-default PWM_MAIN_RATE 0 | ||
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# RTL Parameters | ||
param set-default RTL_DESCEND_ALT 5 | ||
param set-default RTL_RETURN_ALT 5 | ||
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# Logging Parameters | ||
param set-default SDLOG_PROFILE 131 | ||
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# Sensors Parameters | ||
param set-default SENS_CM8JL65_CFG 202 | ||
param set-default SENS_FLOW_MAXHGT 25 | ||
param set-default SENS_FLOW_MINHGT 0.5 | ||
param set-default IMU_GYRO_CUTOFF 100 | ||
param set-default SENS_TFLOW_CFG 103 | ||
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# Power Parameters | ||
param set-default BAT1_N_CELLS 4 | ||
param set-default BAT1_A_PER_V 36.364 | ||
param set-default BAT1_V_DIV 18.182 | ||
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# Circuit breakers | ||
param set-default CBRK_IO_SAFETY 22027 | ||
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param set-default THR_MDL_FAC 0.3 | ||
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param set-default CA_ROTOR_COUNT 4 | ||
param set-default CA_ROTOR0_PX 0.15 | ||
param set-default CA_ROTOR0_PY 0.15 | ||
param set-default CA_ROTOR0_KM 0.05 | ||
param set-default CA_ROTOR1_PX -0.15 | ||
param set-default CA_ROTOR1_PY -0.15 | ||
param set-default CA_ROTOR1_KM 0.05 | ||
param set-default CA_ROTOR2_PX 0.15 | ||
param set-default CA_ROTOR2_PY -0.15 | ||
param set-default CA_ROTOR2_KM -0.05 | ||
param set-default CA_ROTOR3_PX -0.15 | ||
param set-default CA_ROTOR3_PY 0.15 | ||
param set-default CA_ROTOR3_KM -0.05 | ||
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# Outputs | ||
param set-default PWM_AUX_FUNC1 101 | ||
param set-default PWM_AUX_FUNC2 102 | ||
param set-default PWM_AUX_FUNC3 103 | ||
param set-default PWM_AUX_FUNC4 104 | ||
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@dagar is this ok to save flash for the test platform for the v1.13 backport?
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Yes that's fine.