From 65f8e74ca86c308511810a9bdb357a724d1b877f Mon Sep 17 00:00:00 2001 From: stibipet Date: Mon, 3 Jun 2024 14:42:26 +0200 Subject: [PATCH] gz strivermini initial commit --- .../airframes/4430_gz_ssrc_strivermini | 149 ++++++++++++++++++ packaging/entrypoint_sitl_gzsim.sh | 4 + 2 files changed, 153 insertions(+) create mode 100644 ROMFS/px4fmu_common/init.d-posix/airframes/4430_gz_ssrc_strivermini diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4430_gz_ssrc_strivermini b/ROMFS/px4fmu_common/init.d-posix/airframes/4430_gz_ssrc_strivermini new file mode 100644 index 000000000000..ec5de995aab2 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4430_gz_ssrc_strivermini @@ -0,0 +1,149 @@ +#!/bin/sh +# +# @name SSRC Striver Mini +# +# @type Standard VTOL +# @class VTOL +# +# @maintainer +# +# @output MAIN1 motor 1 +# @output MAIN2 motor 2 +# @output MAIN3 motor 3 +# @output MAIN4 motor 4 +# @output AUX1 Aileron 1 +# @output AUX2 Aileron 2 +# @output AUX3 Elevator 1 +# @output AUX4 Elevator 2 +# @output AUX5 Rudder +# @output AUX6 Throttle +# +# @board px4_fmu-v2 exclude +# @board bitcraze_crazyflie exclude +# @board holybro_kakutef7 exclude +# + +. ${R}etc/init.d/rc.vtol_defaults +PX4_SIMULATOR=${PX4_SIMULATOR:=gz} +PX4_GZ_WORLD=${PX4_GZ_WORLD:=default} +PX4_SIM_MODEL=${PX4_SIM_MODEL:=strivermini} + +param set-default SIM_GZ_EN 1 + +# Control allocator parameters +param set-default CA_AIRFRAME 2 +param set-default CA_ROTOR_COUNT 5 +param set-default CA_ROTOR0_PX 0.37 +param set-default CA_ROTOR0_PY 0.42 +param set-default CA_ROTOR1_PX -0.41 +param set-default CA_ROTOR1_PY -0.42 +param set-default CA_ROTOR2_PX 0.37 +param set-default CA_ROTOR2_PY -0.42 +param set-default CA_ROTOR2_KM -0.05 +param set-default CA_ROTOR3_PX -0.41 +param set-default CA_ROTOR3_PY 0.42 +param set-default CA_ROTOR3_KM -0.05 +param set-default CA_ROTOR4_AX 1.0 +param set-default CA_ROTOR4_AZ 0.0 +param set-default CA_SV_CS_COUNT 5 +param set-default CA_SV_CS0_TYPE 1 +param set-default CA_SV_CS0_TRQ_R -0.5 +param set-default CA_SV_CS1_TYPE 2 +param set-default CA_SV_CS1_TRQ_R -0.5 +param set-default CA_SV_CS2_TYPE 3 +param set-default CA_SV_CS2_TRQ_P 1.0 +param set-default CA_SV_CS3_TYPE 3 +param set-default CA_SV_CS3_TRQ_P -1.0 +param set-default CA_SV_CS4_TYPE 4 +param set-default CA_SV_CS4_TRQ_Y 1.0 + +# PWM functions +param set-default PWM_MAIN_FUNC1 101 +param set-default PWM_MAIN_FUNC2 102 +param set-default PWM_MAIN_FUNC3 103 +param set-default PWM_MAIN_FUNC4 104 +param set-default PWM_MAIN_FUNC5 201 +param set-default PWM_MAIN_FUNC6 202 +param set-default PWM_MAIN_FUNC7 203 +param set-default PWM_MAIN_FUNC8 204 +param set-default PWM_MAIN_FUNC9 205 +param set-default PWM_MAIN_FUNC10 105 +param set-default PWM_AUX_FUNC1 201 +param set-default PWM_AUX_FUNC2 202 +param set-default PWM_AUX_FUNC3 203 +param set-default PWM_AUX_FUNC4 204 +param set-default PWM_AUX_FUNC5 205 +param set-default PWM_AUX_FUNC6 105 + +# Start airspeed sensor driver +ms4525do start -X -f 500 + +# Airspeed parameters +param set-default ASPD_DO_CHECKS 15 +param set-default FW_AIRSPD_MAX 22.0 +param set-default FW_AIRSPD_MIN 15.0 +param set-default FW_AIRSPD_STALL 12.0 +param set-default FW_AIRSPD_TRIM 18.0 + +# Battery parameters +# Ref: t-drone 22000mah 6s Lion +param set-default BAT1_N_CELLS 6 +param set-default BAT1_V_CHARGED 4.1 +param set-default BAT1_V_EMPTY 3.2 +param set-default BAT1_V_DIV 18.1 +param set-default BAT1_SOURCE 0 +# Rough guess 50 mOhm +param set-default BAT1_R_INTERNAL 0.0050 +param set-default BAT1_CAPACITY 22000 + +# Ref: t-drone 22000mah 6s Lion +param set-default BAT2_N_CELLS 6 +param set-default BAT2_V_CHARGED 4.1 +param set-default BAT2_V_EMPTY 3.2 +param set-default BAT2_V_DIV 18.1 +param set-default BAT2_SOURCE 0 +# Rough guess 50 mOhm +param set-default BAT2_R_INTERNAL 0.0050 +param set-default BAT2_CAPACITY 22000 + +# Disable internal magnetometer +param set CAL_MAG0_PRIO 0 + +# Return mode return altitude +param set-default RTL_RETURN_ALT 30.0 + +# Fixed wing specific +param set-default FW_MAN_R_MAX 60.0 +param set-default FW_RR_IMAX 0.4000 +param set-default FW_YR_IMAX 0.4000 + +# VTOL specific +# VTOL type +param set-default VT_TYPE 2 + +# Airspeed at which we can start blending both fw and mc controls. +param set-default VT_ARSP_BLEND 10 + +# Airspeed at which we can switch to fw mode +param set-default VT_ARSP_TRANS 12 + +# Back-transition duration +param set-default VT_B_TRANS_DUR 4 +param set-default VT_B_TRANS_RAMP 3 + +# Transition duration +param set-default VT_F_TRANS_DUR 6 +param set-default VT_F_TRANS_THR 1 + +# VTOL takeoff +param set-default VTO_LOITER_ALT 20 + +# QuadChute altitude (transition to quad mode as a failsafe) +param set-default VT_FW_MIN_ALT 5 + +# QuadChute angle limits +param set-default VT_FW_QC_P 35 +param set-default VT_FW_QC_R 60 + +# Change current sense shunt resistor value +param set-default INA226_SHUNT 0.0005 diff --git a/packaging/entrypoint_sitl_gzsim.sh b/packaging/entrypoint_sitl_gzsim.sh index 5ddd91a623dc..2554a1d3956a 100755 --- a/packaging/entrypoint_sitl_gzsim.sh +++ b/packaging/entrypoint_sitl_gzsim.sh @@ -16,6 +16,10 @@ case $PX4_VEHICLE_TYPE in export PX4_SYS_AUTOSTART=4004 export PX4_GZ_MODEL=standard_vtol ;; + strivermini) + export PX4_SYS_AUTOSTART=4430 + export PX4_GZ_MODEL=strivermini + ;; fw) export PX4_SYS_AUTOSTART=4003 export PX4_GZ_MODEL=rc_cessna