From 9364425a5e67118e737f2aa6e66852d5190e6a84 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sat, 17 Feb 2024 19:26:49 +1100 Subject: [PATCH 1/3] SITL: fixed SITL for tilted motors vector math was done in the wrong order --- libraries/SITL/SIM_Motor.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/libraries/SITL/SIM_Motor.cpp b/libraries/SITL/SIM_Motor.cpp index e145d0d8239f4..9c82d1ac0b72f 100644 --- a/libraries/SITL/SIM_Motor.cpp +++ b/libraries/SITL/SIM_Motor.cpp @@ -98,17 +98,17 @@ void Motor::calculate_forces(const struct sitl_input &input, } last_change_usec = now; - // calculate torque in newton-meters - torque = (position % thrust) + rotor_torque; - // possibly rotate the thrust vector and the rotor torque if (!is_zero(roll) || !is_zero(pitch)) { Matrix3f rotation; rotation.from_euler(radians(roll), radians(pitch), 0); thrust = rotation * thrust; - torque = rotation * torque; + rotor_torque = rotation * rotor_torque; } + // calculate total torque in newton-meters + torque = (position % thrust) + rotor_torque; + if (use_drag) { // calculate momentum drag per motor const float momentum_drag_factor = momentum_drag_coefficient * sqrtf(air_density * true_prop_area); From 630ef3585f994614b89e5645cfd8adb71774cc21 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sat, 17 Feb 2024 19:27:24 +1100 Subject: [PATCH 2/3] SITL: added 4 motor tilt vectored quadplane from 2 motors tilt for "quadplane-tilt". This is the most common tilt quadplane setup --- libraries/SITL/SIM_Frame.cpp | 11 ++++++++++- libraries/SITL/SIM_QuadPlane.cpp | 4 ++++ 2 files changed, 14 insertions(+), 1 deletion(-) diff --git a/libraries/SITL/SIM_Frame.cpp b/libraries/SITL/SIM_Frame.cpp index a9b4904042737..ef106020b99ea 100644 --- a/libraries/SITL/SIM_Frame.cpp +++ b/libraries/SITL/SIM_Frame.cpp @@ -89,6 +89,14 @@ static Motor tiltquad_h_vectored_motors[] = Motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2, -1, 0, 0, 7, 10, -90), }; +static Motor tiltquad[] = +{ + Motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1, -1, 0, 0, 7, 10, -90), + Motor(AP_MOTORS_MOT_2, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3), + Motor(AP_MOTORS_MOT_3, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4, -1, 0, 0, 8, 10, -90), + Motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2), +}; + static Motor hexa_motors[] = { Motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1), @@ -308,7 +316,8 @@ static Frame supported_frames[] = Frame("tilttrivec",3, tilttri_vectored_motors), Frame("tilttri", 3, tilttri_motors), Frame("y6", 6, y6_motors), - Frame("firefly", 6, firefly_motors) + Frame("firefly", 6, firefly_motors), + Frame("tilt", 4, tiltquad), }; // get air density in kg/m^3 diff --git a/libraries/SITL/SIM_QuadPlane.cpp b/libraries/SITL/SIM_QuadPlane.cpp index a58b673405cdf..2f633b84042e0 100644 --- a/libraries/SITL/SIM_QuadPlane.cpp +++ b/libraries/SITL/SIM_QuadPlane.cpp @@ -65,6 +65,10 @@ QuadPlane::QuadPlane(const char *frame_str) : thrust_scale = 0; // vtol motors start at 2 motor_offset = 2; + } else if (strstr(frame_str, "-tilt")) { + frame_type = "tilt"; + // fwd motor gives zero thrust + thrust_scale = 0; } else if (strstr(frame_str, "cl84")) { frame_type = "tilttri"; // fwd motor gives zero thrust From 915423fbaba7ca6e7b543ec82f53d5aec19e8325 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sat, 17 Feb 2024 19:28:05 +1100 Subject: [PATCH 3/3] autotest: fixed parameters for tilt quadplanes and enable autotest of the disabled tilt quadplane frames --- Tools/autotest/arduplane.py | 4 - Tools/autotest/default_params/firefly.parm | 97 ++------------ .../default_params/quadplane-cl84.parm | 76 ++--------- .../default_params/quadplane-tilt.parm | 18 +++ .../default_params/quadplane-tilttri.parm | 82 +----------- .../default_params/quadplane-tilttrivec.parm | 124 +++++++----------- .../default_params/quadplane-tri.parm | 72 ---------- Tools/autotest/pysim/vehicleinfo.py | 20 ++- 8 files changed, 109 insertions(+), 384 deletions(-) create mode 100644 Tools/autotest/default_params/quadplane-tilt.parm diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py index 636575f57cb31..531a63a24f9d4 100644 --- a/Tools/autotest/arduplane.py +++ b/Tools/autotest/arduplane.py @@ -3948,11 +3948,7 @@ def FlyEachFrame(self): vinfo = vehicleinfo.VehicleInfo() vinfo_options = vinfo.options[self.vehicleinfo_key()] known_broken_frames = { - "firefly": "falls out of sky after transition", "plane-tailsitter": "does not take off; immediately emits 'AP: Transition VTOL done' while on ground", - "quadplane-cl84": "falls out of sky instead of transitioning", - "quadplane-tilttri": "falls out of sky instead of transitioning", - "quadplane-tilttrivec": "loses attitude control and crashes", "plane-ice" : "needs ICE control channel for ignition", "quadplane-ice" : "needs ICE control channel for ignition", "quadplane-can" : "needs CAN periph", diff --git a/Tools/autotest/default_params/firefly.parm b/Tools/autotest/default_params/firefly.parm index 07c681d8b6de3..81e97d17d7dc4 100644 --- a/Tools/autotest/default_params/firefly.parm +++ b/Tools/autotest/default_params/firefly.parm @@ -1,97 +1,28 @@ -SERVO1_FUNCTION = 78 -SERVO2_FUNCTION = 77 -SERVO1_REVERSED = 1 -SERVO2_REVERSED = 1 -SERVO1_MAX = 2000 -SERVO1_MIN = 1000 -SERVO2_MAX = 2000 -SERVO2_MIN = 1000 -AHRS_EKF_TYPE 2 -ARMING_RUDDER 2 -AIRSPEED_MAX 35 -AIRSPEED_MIN 6 -ARSPD_USE 1 -AUTOTUNE_LEVEL 8 -COMPASS_OFS2_X -0.420265 -COMPASS_OFS2_Y -0.726942 -COMPASS_OFS2_Z 6.665476 -COMPASS_OFS3_X -0.420265 -COMPASS_OFS3_Y -0.726942 -COMPASS_OFS3_Z 6.665476 -COMPASS_OFS_X -0.453570 -COMPASS_OFS_Y -0.585846 -COMPASS_OFS_Z 6.815743 -EK2_ENABLE 1 -EK2_IMU_MASK 3 -FBWB_CLIMB_RATE 10 -FLTMODE1 10 -FLTMODE2 11 -FLTMODE3 12 -FLTMODE4 5 -FLTMODE5 19 -FLTMODE6 5 -FLTMODE_CH 5 -INS_ACC2OFFS_X 0.001000 -INS_ACC2OFFS_Y 0.001000 -INS_ACC2OFFS_Z 0.001000 -INS_ACC2SCAL_X 1.001000 -INS_ACC2SCAL_Y 1.001000 -INS_ACC2SCAL_Z 1.001000 -INS_ACCOFFS_X 0.001000 -INS_ACCOFFS_Y 0.001000 -INS_ACCOFFS_Z 0.001000 -INS_ACCSCAL_X 1.001000 -INS_ACCSCAL_Y 1.001000 -INS_ACCSCAL_Z 1.001000 -INS_GYR_CAL 0 -KFF_RDDRMIX 0.500000 -PTCH_LIM_MAX_DEG 30.00 -PTCH_LIM_MIN_DEG -30.00 -ROLL_LIMIT_DEG 65.00 -NAVL1_PERIOD 8 -PTCH_RATE_D 0.000000 -PTCH_RATE_I 0.212500 -PTCH_RATE_IMAX 0.888889 -PTCH_RATE_P 0.309954 -PTCH2SRV_RLL 1 -RALLY_INCL_HOME 0 -RALLY_LIMIT_KM 5 -RALLY_TOTAL 0 -RC1_DZ 30 -RC1_MAX 1886 -RC1_MIN 1087 -RC1_TRIM 1500 -RC3_MAX 2000 -RC3_MIN 1000 -SERVO3_MIN 1000 -SERVO3_MAX 2000 -RLL_RATE_D 0.000000 -RLL_RATE_I 0.212500 -RLL_RATE_IMAX 0.888889 -RLL_RATE_P 0.141009 -SCHED_LOOP_RATE 300 -THR_MAX 100 -AIRSPEED_CRUISE 25.00 -LOG_BITMASK 65534 -# map channel 13 out for tilt Q_ENABLE 1 Q_FRAME_CLASS 5 Q_FRAME_TYPE 11 -Q_ASSIST_SPEED 10 + +Q_TILT_ENABLE 1 Q_TILT_MASK 54 Q_TILT_MAX 60 Q_TILT_RATE_DN 15 -Q_RTL_MODE 1 + Q_VFWD_GAIN 0.1 Q_WVANE_GAIN 0.3 -SERVO9_FUNCTION 41 -SERVO9_MIN 1000 -SERVO9_MAX 2000 + + +SERVO1_FUNCTION = 78 +SERVO2_FUNCTION = 77 +SERVO1_REVERSED = 1 +SERVO2_REVERSED = 1 + SERVO3_FUNCTION 33 SERVO4_FUNCTION 34 SERVO5_FUNCTION 35 SERVO6_FUNCTION 36 SERVO7_FUNCTION 37 SERVO8_FUNCTION 38 -PTCH_RATE_FF 1.407055 -RLL_RATE_FF 0.752741 + +SERVO9_FUNCTION 41 +SERVO9_MIN 1000 +SERVO9_MAX 2000 diff --git a/Tools/autotest/default_params/quadplane-cl84.parm b/Tools/autotest/default_params/quadplane-cl84.parm index 493d305958173..fee738bef83be 100644 --- a/Tools/autotest/default_params/quadplane-cl84.parm +++ b/Tools/autotest/default_params/quadplane-cl84.parm @@ -1,70 +1,14 @@ -ARMING_RUDDER 2 -ARSPD_TYPE 0 -AIRSPEED_MAX 35 -AIRSPEED_MIN 6 -AUTOTUNE_LEVEL 8 -COMPASS_OFS2_X -0.420265 -COMPASS_OFS2_Y -0.726942 -COMPASS_OFS2_Z 6.665476 -COMPASS_OFS3_X -0.420265 -COMPASS_OFS3_Y -0.726942 -COMPASS_OFS3_Z 6.665476 -COMPASS_OFS_X -0.453570 -COMPASS_OFS_Y -0.585846 -COMPASS_OFS_Z 6.815743 -FBWB_CLIMB_RATE 10 -FLTMODE1 10 -FLTMODE2 11 -FLTMODE3 12 -FLTMODE4 5 -FLTMODE5 19 -FLTMODE6 5 -FLTMODE_CH 5 -INS_ACC2OFFS_X 0.001000 -INS_ACC2OFFS_Y 0.001000 -INS_ACC2OFFS_Z 0.001000 -INS_ACC2SCAL_X 1.001000 -INS_ACC2SCAL_Y 1.001000 -INS_ACC2SCAL_Z 1.001000 -INS_ACCOFFS_X 0.001000 -INS_ACCOFFS_Y 0.001000 -INS_ACCOFFS_Z 0.001000 -INS_ACCSCAL_X 1.001000 -INS_ACCSCAL_Y 1.001000 -INS_ACCSCAL_Z 1.001000 -INS_GYR_CAL 0 -KFF_RDDRMIX 0.500000 -PTCH_LIM_MAX_DEG 30.00 -PTCH_LIM_MIN_DEG -30.00 -ROLL_LIMIT_DEG 65.00 -NAVL1_PERIOD 14 -PTCH_RATE_D 0.000000 -PTCH_RATE_I 0.212500 -PTCH_RATE_IMAX 0.888889 -PTCH_RATE_P 0.309954 -PTCH2SRV_RLL 1 -RALLY_INCL_HOME 0 -RALLY_LIMIT_KM 5 -RALLY_TOTAL 0 -RLL_RATE_D 0.000000 -RLL_RATE_I 0.212500 -RLL_RATE_IMAX 0.888889 -RLL_RATE_P 0.141009 -THR_MAX 100 -AIRSPEED_CRUISE 25.00 -SERVO12_FUNCTION 41 -SERVO12_MIN 1000 -SERVO12_MAX 2000 -SERVO11_TRIM 1500 -RTL_RADIUS 80 -RTL_ALTITUDE 20.00 -Q_ENABLE 1 Q_FRAME_CLASS 7 -Q_ANGLE_MAX 4500 -Q_ASSIST_SPEED 6 +Q_TILT_ENABLE 1 Q_TILT_MASK 3 Q_TILT_RATE 13 Q_TILT_TYPE 1 -Q_RTL_MODE 1 -PTCH_RATE_FF 1.407055 -RLL_RATE_FF 0.552741 + +# 7 seconds to move servo +Q_TILT_RATE_DN 12.85 +Q_TILT_RATE_UP 12.85 + + +SERVO12_FUNCTION 41 +SERVO12_MIN 1000 +SERVO12_MAX 2000 diff --git a/Tools/autotest/default_params/quadplane-tilt.parm b/Tools/autotest/default_params/quadplane-tilt.parm new file mode 100644 index 0000000000000..2968dc8b4b1c2 --- /dev/null +++ b/Tools/autotest/default_params/quadplane-tilt.parm @@ -0,0 +1,18 @@ + +Q_ENABLE 1 +Q_FRAME_CLASS 1 +Q_FRAME_TYPE 1 + +Q_TILT_ENABLE 1 +Q_TILT_TYPE 2 +Q_TILT_YAW_ANGLE 10 +Q_TILT_MASK 5 + +SERVO3_FUNCTION 0 + +SERVO12_FUNCTION 76 +SERVO13_FUNCTION 75 +SERVO12_MIN 1000 +SERVO12_MAX 2000 +SERVO13_MIN 1000 +SERVO13_MAX 2000 diff --git a/Tools/autotest/default_params/quadplane-tilttri.parm b/Tools/autotest/default_params/quadplane-tilttri.parm index f4a499185163c..4980e36f5c2d0 100644 --- a/Tools/autotest/default_params/quadplane-tilttri.parm +++ b/Tools/autotest/default_params/quadplane-tilttri.parm @@ -1,81 +1,11 @@ -AHRS_EKF_TYPE 2 -ARMING_RUDDER 2 -AIRSPEED_MAX 35 -AIRSPEED_MIN 6 -ARSPD_USE 1 -AUTOTUNE_LEVEL 8 -COMPASS_OFS2_X -0.420265 -COMPASS_OFS2_Y -0.726942 -COMPASS_OFS2_Z 6.665476 -COMPASS_OFS3_X -0.420265 -COMPASS_OFS3_Y -0.726942 -COMPASS_OFS3_Z 6.665476 -COMPASS_OFS_X -0.453570 -COMPASS_OFS_Y -0.585846 -COMPASS_OFS_Z 6.815743 -EK2_ENABLE 1 -EK2_IMU_MASK 3 -FBWB_CLIMB_RATE 10 -FLTMODE1 10 -FLTMODE2 11 -FLTMODE3 12 -FLTMODE4 5 -FLTMODE5 19 -FLTMODE6 5 -FLTMODE_CH 5 -INS_ACC2OFFS_X 0.001000 -INS_ACC2OFFS_Y 0.001000 -INS_ACC2OFFS_Z 0.001000 -INS_ACC2SCAL_X 1.001000 -INS_ACC2SCAL_Y 1.001000 -INS_ACC2SCAL_Z 1.001000 -INS_ACCOFFS_X 0.001000 -INS_ACCOFFS_Y 0.001000 -INS_ACCOFFS_Z 0.001000 -INS_ACCSCAL_X 1.001000 -INS_ACCSCAL_Y 1.001000 -INS_ACCSCAL_Z 1.001000 -INS_GYR_CAL 0 -KFF_RDDRMIX 0.500000 -PTCH_LIM_MAX_DEG 30.00 -PTCH_LIM_MIN_DEG -30.00 -ROLL_LIMIT_DEG 65.00 -NAVL1_PERIOD 14 -PTCH_RATE_D 0.000000 -PTCH_RATE_I 0.212500 -PTCH_RATE_IMAX 0.888889 -PTCH_RATE_P 0.309954 -PTCH2SRV_RLL 1 -Q_ANGLE_MAX 4500 -Q_ASSIST_SPEED 6 -Q_ENABLE 1 Q_FRAME_CLASS 7 -RALLY_INCL_HOME 0 -RALLY_LIMIT_KM 5 -RALLY_TOTAL 0 -RC1_DZ 30 -RC1_MAX 1886 -RC1_MIN 1087 -RC1_TRIM 1500 -RC3_MAX 2000 -RC3_MIN 1000 -SERVO3_MIN 1000 -SERVO3_MAX 2000 -RLL_RATE_D 0.000000 -RLL_RATE_I 0.212500 -RLL_RATE_IMAX 0.888889 -RLL_RATE_P 0.141009 -SCHED_LOOP_RATE 300 -THR_MAX 100 -AIRSPEED_CRUISE 25.00 -LOG_BITMASK 65534 + +SERVO3_FUNCTION 0 + +Q_TILT_ENABLE 1 Q_TILT_MASK 3 -Q_VFWD_GAIN 0.1 +Q_TILT_TYPE 0 + SERVO12_FUNCTION 41 SERVO12_MIN 1000 SERVO12_MAX 2000 -RTL_RADIUS 80 -Q_RTL_MODE 1 -RTL_ALTITUDE 20.00 -PTCH_RATE_FF 1.407055 -RLL_RATE_FF 0.552741 diff --git a/Tools/autotest/default_params/quadplane-tilttrivec.parm b/Tools/autotest/default_params/quadplane-tilttrivec.parm index 1efb903f2ca0b..62b88288b05cb 100644 --- a/Tools/autotest/default_params/quadplane-tilttrivec.parm +++ b/Tools/autotest/default_params/quadplane-tilttrivec.parm @@ -1,86 +1,54 @@ -AHRS_EKF_TYPE 2 -ARMING_RUDDER 2 -AIRSPEED_MAX 35 -AIRSPEED_MIN 6 -ARSPD_USE 1 -AUTOTUNE_LEVEL 8 -COMPASS_OFS2_X -0.420265 -COMPASS_OFS2_Y -0.726942 -COMPASS_OFS2_Z 6.665476 -COMPASS_OFS3_X -0.420265 -COMPASS_OFS3_Y -0.726942 -COMPASS_OFS3_Z 6.665476 -COMPASS_OFS_X -0.453570 -COMPASS_OFS_Y -0.585846 -COMPASS_OFS_Z 6.815743 -EK2_ENABLE 1 -EK2_IMU_MASK 3 -FBWB_CLIMB_RATE 10 -FLTMODE1 10 -FLTMODE2 11 -FLTMODE3 12 -FLTMODE4 5 -FLTMODE5 19 -FLTMODE6 5 -FLTMODE_CH 5 -INS_ACC2OFFS_X 0.001000 -INS_ACC2OFFS_Y 0.001000 -INS_ACC2OFFS_Z 0.001000 -INS_ACC2SCAL_X 1.001000 -INS_ACC2SCAL_Y 1.001000 -INS_ACC2SCAL_Z 1.001000 -INS_ACCOFFS_X 0.001000 -INS_ACCOFFS_Y 0.001000 -INS_ACCOFFS_Z 0.001000 -INS_ACCSCAL_X 1.001000 -INS_ACCSCAL_Y 1.001000 -INS_ACCSCAL_Z 1.001000 -INS_GYR_CAL 0 -KFF_RDDRMIX 0.500000 -PTCH_LIM_MAX_DEG 30.00 -PTCH_LIM_MIN_DEG -30.00 -ROLL_LIMIT_DEG 65.00 -NAVL1_PERIOD 14 -PTCH_RATE_D 0.000000 -PTCH_RATE_I 0.212500 -PTCH_RATE_IMAX 0.888889 -PTCH_RATE_P 0.309954 -PTCH2SRV_RLL 1 -Q_ANGLE_MAX 4500 Q_ASSIST_SPEED 6 Q_ENABLE 1 Q_FRAME_CLASS 7 -RALLY_INCL_HOME 0 -RALLY_LIMIT_KM 5 -RALLY_TOTAL 0 -RC1_DZ 30 -RC1_MAX 1886 -RC1_MIN 1087 -RC1_TRIM 1500 -RC3_MAX 2000 -RC3_MIN 1000 -SERVO3_MIN 1000 -SERVO3_MAX 2000 -RLL_RATE_D 0.000000 -RLL_RATE_I 0.212500 -RLL_RATE_IMAX 0.888889 -RLL_RATE_P 0.141009 -SCHED_LOOP_RATE 300 -THR_MAX 100 -AIRSPEED_CRUISE 25.00 -LOG_BITMASK 65534 + +Q_TILT_ENABLE 1 Q_TILT_MASK 3 -Q_VFWD_GAIN 0.1 +Q_TILT_TYPE 2 +Q_TILT_YAW_ANGLE 10 + +SERVO3_FUNCTION 0 SERVO12_FUNCTION 76 SERVO12_MIN 1000 SERVO12_MAX 2000 SERVO13_FUNCTION 75 -SERVO12_MIN 1000 -SERVO12_MAX 2000 -RTL_RADIUS 80 -Q_RTL_MODE 1 -RTL_ALTITUDE 20.00 -Q_TILT_TYPE 2 -Q_TILT_YAW_ANGLE 10 -PTCH_RATE_FF 1.407055 -RLL_RATE_FF 0.552741 +SERVO13_MIN 1000 +SERVO13_MAX 2000 + +Q_A_RAT_RLL_P 0.126 +Q_A_RAT_RLL_I 0.126 +Q_A_RAT_RLL_D 0.003 +Q_A_RAT_RLL_FLTT 10 +Q_A_RAT_PIT_P 0.12 +Q_A_RAT_PIT_I 0.12 +Q_A_RAT_PIT_D 0.0025 +Q_A_RAT_PIT_FLTT 10 +Q_A_RAT_YAW_P 0.5 +Q_A_RAT_YAW_I 0.05 +Q_A_RAT_YAW_D 0.01 +Q_A_RAT_YAW_FLTT 10 +Q_A_RAT_YAW_FLTE 0 +Q_A_RAT_YAW_FLTD 10 + +RLL2SRV_TCONST 0.2 +RLL2SRV_RMAX 120 +RLL_RATE_P 0.74 +RLL_RATE_I 0.218 +RLL_RATE_D 0.012 +RLL_RATE_FF 0.218 +RLL_RATE_FLTT 7.957 +RLL_RATE_FLTD 10 + +PTCH2SRV_TCONST 0.3 +PTCH2SRV_RMAX_UP 120 +PTCH2SRV_RMAX_DN 120 +PTCH_RATE_P 0.574 +PTCH_RATE_I 0.933 +PTCH_RATE_D 0.016 +PTCH_RATE_FF 0.933 +PTCH_RATE_FLTT 5.305 +PTCH_RATE_FLTD 10 + + + + diff --git a/Tools/autotest/default_params/quadplane-tri.parm b/Tools/autotest/default_params/quadplane-tri.parm index c567bf4dba5d0..593eb381e962c 100644 --- a/Tools/autotest/default_params/quadplane-tri.parm +++ b/Tools/autotest/default_params/quadplane-tri.parm @@ -1,73 +1 @@ -AHRS_EKF_TYPE 2 -ARMING_RUDDER 2 -AIRSPEED_MAX 35 -AIRSPEED_MIN 13 -ARSPD_USE 1 -AUTOTUNE_LEVEL 8 -COMPASS_OFS2_X -0.420265 -COMPASS_OFS2_Y -0.726942 -COMPASS_OFS2_Z 6.665476 -COMPASS_OFS3_X -0.420265 -COMPASS_OFS3_Y -0.726942 -COMPASS_OFS3_Z 6.665476 -COMPASS_OFS_X -0.453570 -COMPASS_OFS_Y -0.585846 -COMPASS_OFS_Z 6.815743 -EK2_ENABLE 1 -EK2_IMU_MASK 3 -FBWB_CLIMB_RATE 10 -FLTMODE1 10 -FLTMODE2 11 -FLTMODE3 12 -FLTMODE4 5 -FLTMODE5 19 -FLTMODE6 5 -FLTMODE_CH 5 -INS_ACC2OFFS_X 0.001000 -INS_ACC2OFFS_Y 0.001000 -INS_ACC2OFFS_Z 0.001000 -INS_ACC2SCAL_X 1.001000 -INS_ACC2SCAL_Y 1.001000 -INS_ACC2SCAL_Z 1.001000 -INS_ACCOFFS_X 0.001000 -INS_ACCOFFS_Y 0.001000 -INS_ACCOFFS_Z 0.001000 -INS_ACCSCAL_X 1.001000 -INS_ACCSCAL_Y 1.001000 -INS_ACCSCAL_Z 1.001000 -INS_GYR_CAL 0 -KFF_RDDRMIX 0.500000 -PTCH_LIM_MAX_DEG 30.00 -PTCH_LIM_MIN_DEG -30.00 -ROLL_LIMIT_DEG 65.00 -NAVL1_PERIOD 14 -PTCH_RATE_D 0.000000 -PTCH_RATE_I 0.212500 -PTCH_RATE_IMAX 0.888889 -PTCH_RATE_P 0.309954 -PTCH2SRV_RLL 1 -Q_ANGLE_MAX 4500 -Q_ASSIST_SPEED 18 -Q_ENABLE 1 Q_FRAME_CLASS 7 -RALLY_INCL_HOME 0 -RALLY_LIMIT_KM 5 -RALLY_TOTAL 0 -RC1_DZ 30 -RC1_MAX 1886 -RC1_MIN 1087 -RC1_TRIM 1500 -RC3_MAX 2000 -RC3_MIN 1000 -SERVO3_MIN 1000 -SERVO3_MAX 2000 -RLL_RATE_D 0.000000 -RLL_RATE_I 0.212500 -RLL_RATE_IMAX 0.888889 -RLL_RATE_P 0.141009 -SCHED_LOOP_RATE 300 -THR_MAX 100 -AIRSPEED_CRUISE 25.00 -LOG_BITMASK 65534 -PTCH_RATE_FF 1.407055 -RLL_RATE_FF 0.552741 diff --git a/Tools/autotest/pysim/vehicleinfo.py b/Tools/autotest/pysim/vehicleinfo.py index 0bba80193313e..5972e835c4f88 100644 --- a/Tools/autotest/pysim/vehicleinfo.py +++ b/Tools/autotest/pysim/vehicleinfo.py @@ -239,11 +239,13 @@ def __init__(self): # PLANE "quadplane-tilttri": { "waf_target": "bin/arduplane", - "default_params_filename": "default_params/quadplane-tilttri.parm", + "default_params_filename": ["default_params/quadplane.parm", + "default_params/quadplane-tilttri.parm"], }, "quadplane-tilttrivec": { "waf_target": "bin/arduplane", - "default_params_filename": "default_params/quadplane-tilttrivec.parm", + "default_params_filename": ["default_params/quadplane.parm", + "default_params/quadplane-tilttrivec.parm"], }, "quadplane-tilthvec": { "waf_target": "bin/arduplane", @@ -251,11 +253,13 @@ def __init__(self): }, "quadplane-tri": { "waf_target": "bin/arduplane", - "default_params_filename": "default_params/quadplane-tri.parm", + "default_params_filename": ["default_params/quadplane.parm", + "default_params/quadplane-tri.parm"], }, "quadplane-cl84" : { "waf_target" : "bin/arduplane", - "default_params_filename": "default_params/quadplane-cl84.parm", + "default_params_filename": ["default_params/quadplane.parm", + "default_params/quadplane-cl84.parm"], }, "quadplane": { "waf_target": "bin/arduplane", @@ -270,9 +274,15 @@ def __init__(self): "default_params_filename": ["default_params/quadplane.parm", "default_params/quadplane-can.parm"], "periph_params_filename": ["default_params/periph.parm", "default_params/quadplane-periph.parm"], }, + "quadplane-tilt": { + "waf_target": "bin/arduplane", + "default_params_filename": ["default_params/quadplane.parm", + "default_params/quadplane-tilt.parm"], + }, "firefly": { "waf_target": "bin/arduplane", - "default_params_filename": "default_params/firefly.parm", + "default_params_filename": ["default_params/quadplane.parm", + "default_params/firefly.parm"] }, "plane-elevon": { "waf_target": "bin/arduplane",