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Drone: reorganize Firmware folder to FCU (flight controller unit) folder with firmware and parameters for Clever4 drone

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This commit is contained in:
Arthur Golubtsov
2019-10-07 16:45:12 +03:00
parent ff09da512d
commit 4d3283d3ad
7 changed files with 75 additions and 53 deletions
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6
Drone/FCU/clever_lpe_flow.params Normal file
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@@ -0,0 +1,6 @@
1 1 LPE_FLW_OFF_Z 0.000000000000000000 9
1 1 LPE_FLW_QMIN 60 6
1 1 LPE_FLW_R 0.200000002980232239 9
1 1 LPE_FLW_RR 0.000000000000000000 9
1 1 LPE_FLW_SCALE 1.000000000000000000 9
1 1 LPE_FUSION 86 6

4
Drone/FCU/clever_lpe_gps.params Normal file
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@@ -0,0 +1,4 @@
1 1 ATT_EXT_HDG_M 0 6
1 1 ATT_W_EXT_HDG 0.000000000000000000 9
1 1 ATT_W_MAG 0.100000001490116119 9
1 1 LPE_FUSION 145 6

3
Drone/FCU/clever_lpe_no_ext_hdg.params Normal file
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@@ -0,0 +1,3 @@
1 1 ATT_EXT_HDG_M 0 6
1 1 ATT_W_EXT_HDG 0.000000000000000000 9
1 1 ATT_W_MAG 0.000000000000000000 9

4
Drone/FCU/clever_lpe_viz.params Normal file
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@@ -0,0 +1,4 @@
1 1 ATT_EXT_HDG_M 1 6
1 1 ATT_W_EXT_HDG 0.500000000000000000 9
1 1 ATT_W_MAG 0.000000000000000000 9
1 1 LPE_FUSION 84 6

58
Drone/FCU/clever_mc_mpc.params Normal file
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@@ -0,0 +1,58 @@
1 1 MC_PITCHRATE_D 0.003000000026077032 9
1 1 MC_PITCHRATE_FF 0.000000000000000000 9
1 1 MC_PITCHRATE_I 0.019999999552965164 9
1 1 MC_PITCHRATE_MAX 220.000000000000000000 9
1 1 MC_PITCHRATE_P 0.100000001490116119 9
1 1 MC_PITCH_P 6.500000000000000000 9
1 1 MC_PR_INT_LIM 0.300000011920928955 9
1 1 MC_RATT_TH 0.800000011920928955 9
1 1 MC_ROLLRATE_D 0.003000000026077032 9
1 1 MC_ROLLRATE_FF 0.000000000000000000 9
1 1 MC_ROLLRATE_I 0.019999999552965164 9
1 1 MC_ROLLRATE_MAX 220.000000000000000000 9
1 1 MC_ROLLRATE_P 0.100000001490116119 9
1 1 MC_ROLL_P 6.500000000000000000 9
1 1 MPC_ACC_DOWN_MAX 10.000000000000000000 9
1 1 MPC_ACC_HOR 5.000000000000000000 9
1 1 MPC_ACC_HOR_ESTM 0.500000000000000000 9
1 1 MPC_ACC_HOR_MAX 10.000000000000000000 9
1 1 MPC_ACC_UP_MAX 10.000000000000000000 9
1 1 MPC_ALT_MODE 0 6
1 1 MPC_CRUISE_90 3.000000000000000000 9
1 1 MPC_DEC_HOR_SLOW 5.000000000000000000 9
1 1 MPC_FLT_TSK 0 6
1 1 MPC_HOLD_DZ 0.100000001490116119 9
1 1 MPC_HOLD_MAX_XY 0.800000011920928955 9
1 1 MPC_HOLD_MAX_Z 0.600000023841857910 9
1 1 MPC_JERK_MAX 0.000000000000000000 9
1 1 MPC_JERK_MIN 1.000000000000000000 9
1 1 MPC_LAND_ALT1 10.000000000000000000 9
1 1 MPC_LAND_ALT2 5.000000000000000000 9
1 1 MPC_LAND_SPEED 0.699999988079071045 9
1 1 MPC_MANTHR_MAX 1.000000000000000000 9
1 1 MPC_MANTHR_MIN 0.079999998211860657 9
1 1 MPC_MAN_TILT_MAX 35.000000000000000000 9
1 1 MPC_MAN_Y_MAX 200.000000000000000000 9
1 1 MPC_THR_HOVER 0.550000011920928955 9
1 1 MPC_THR_MAX 1.000000000000000000 9
1 1 MPC_THR_MIN 0.119999997317790985 9
1 1 MPC_TILTMAX_AIR 45.000000000000000000 9
1 1 MPC_TILTMAX_LND 12.000000000000000000 9
1 1 MPC_TKO_RAMP_T 0.400000005960464478 9
1 1 MPC_TKO_SPEED 1.000000000000000000 9
1 1 MPC_VELD_LP 5.000000000000000000 9
1 1 MPC_VEL_MANUAL 10.000000000000000000 9
1 1 MPC_XY_CRUISE 5.000000000000000000 9
1 1 MPC_XY_MAN_EXPO 0.000000000000000000 9
1 1 MPC_XY_P 1.000000000000000000 9
1 1 MPC_XY_VEL_D 0.006000000052154064 9
1 1 MPC_XY_VEL_I 0.004999999888241291 9
1 1 MPC_XY_VEL_MAX 12.000000000000000000 9
1 1 MPC_XY_VEL_P 0.090000003576278687 9
1 1 MPC_Z_MAN_EXPO 0.000000000000000000 9
1 1 MPC_Z_P 0.949999988079071045 9
1 1 MPC_Z_VEL_D 0.000000000000000000 9
1 1 MPC_Z_VEL_I 0.014999999664723873 9
1 1 MPC_Z_VEL_MAX_DN 1.000000000000000000 9
1 1 MPC_Z_VEL_MAX_UP 3.000000000000000000 9
1 1 MPC_Z_VEL_P 0.250000000000000000 9

0
Drone/Firmware/px4fmu-v4-1.8.2-clever.5.px4 → Drone/FCU/px4fmu-v4-1.8.2-clever.5.px4
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53
Drone/Firmware/clever-3-lpe-flow.params
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@@ -1,53 +0,0 @@
# Onboard parameters for LPE setup
#
# Stack: PX4 Pro
# Vehicle: Multi-Rotor
# Version: 1.8.2
#
# Vehicle-Id Component-Id Name Value Type
1 1 ATT_EXT_HDG_M 1 6
1 1 ATT_W_EXT_HDG 0.500000000000000000 9
1 1 ATT_W_MAG 0.000000000000000000 9
1 1 CBRK_IO_SAFETY 22027 6
1 1 CBRK_USB_CHK 197848 6
1 1 COM_ARM_MAG 1.000000000000000000 9
1 1 COM_DISARM_LAND 1 6
1 1 COM_FLTMODE1 8 6
1 1 COM_FLTMODE4 2 6
1 1 COM_FLTMODE6 2 6
1 1 COM_LOW_BAT_ACT 2 6
1 1 COM_RC_LOSS_T 2.000000000000000000 9
1 1 LNDMC_ROT_MAX 45.000000000000000000 9
1 1 LNDMC_THR_RANGE 0.800000000000000000 9
1 1 LNDMC_Z_VEL_MAX 1.000000000000000000 9
1 1 LPE_FLW_QMIN 10 6
1 1 LPE_FLW_R 0.200000001490116119 9
1 1 LPE_FLW_RR 0.000000000000000000 9
1 1 LPE_FLW_SCALE 1.000000000000000000 9
1 1 LPE_FUSION 86 6
1 1 LPE_VIS_DELAY 0.000000000000000000 9
1 1 LPE_VIS_Z 0.10000005960464478 9
1 1 MC_PITCHRATE_D 0.001200000056996942 9
1 1 MC_PITCHRATE_P 0.119999997317790985 9
1 1 MC_PITCH_P 4.500000000000000000 9
1 1 MC_ROLLRATE_D 0.001200000056996942 9
1 1 MC_ROLLRATE_P 0.119999997317790985 9
1 1 MC_ROLL_P 4.500000000000000000 9
1 1 MC_YAW_P 2.500000000000000000 9
1 1 MPC_ACC_DOWN_MAX 2.000000000000000000 9
1 1 MPC_ACC_UP_MAX 2.000000000000000000 9
1 1 MPC_MANTHR_MAX 0.899999976158142090 9
1 1 MPC_THR_HOVER 0.550011920928955 9
1 1 MPC_THR_MAX 0.899999976158142090 9
1 1 MPC_XY_P 1.400000023841857910 9
1 1 MPC_XY_VEL_P 0.100000003576278687 9
1 1 MPC_Z_VEL_MAX_UP 1.000000000000000000 9
1 1 MPC_Z_VEL_P 0.300000011920928955 9
1 1 RC_MAP_FLTMODE 5 6
1 1 SENS_FLOW_MAXHGT 4.000000000000000000 9
1 1 SENS_FLOW_MAXR 2.500000000000000000 9
1 1 SENS_FLOW_MINHGT 0.01 9
1 1 SENS_FLOW_ROT 0 6
1 1 SYS_HAS_BARO 0 6
1 1 SYS_MC_EST_GROUP 1 6