update striver airframe

tiiuae · Jun 3, 2024 · b83ec3b · b83ec3b
1 parent 31b732b
commit b83ec3b
Showing 1 changed file with 26 additions and 43 deletions.
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
@@ -29,6 +29,12 @@ PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=strivermini}
 
 param set-default SIM_GZ_EN 1
+param set-default SIM_GZ_RUN_GZSIM 0
+
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 1
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 1
 
 # Control allocator parameters
 param set-default CA_AIRFRAME 2
@@ -58,54 +64,34 @@ 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
+param set-default SIM_GZ_EC_FUNC1 101
+param set-default SIM_GZ_EC_FUNC2 102
+param set-default SIM_GZ_EC_FUNC3 103
+param set-default SIM_GZ_EC_FUNC4 104
+param set-default SIM_GZ_EC_FUNC5 201
+param set-default SIM_GZ_EC_FUNC6 202
+param set-default SIM_GZ_EC_FUNC7 203
+param set-default SIM_GZ_EC_FUNC8 204
+param set-default SIM_GZ_EC_FUNC9 205
+param set-default SIM_GZ_EC_FUNC10 105
+
+param set-default SIM_GZ_SV_FUNC1 201
+param set-default SIM_GZ_SV_FUNC2 202
+param set-default SIM_GZ_SV_FUNC3 203
+param set-default SIM_GZ_SV_FUNC4 204
+param set-default SIM_GZ_SV_FUNC5 205
+param set-default SIM_GZ_SV_FUNC6 105
+
+param set-default COM_RC_IN_MODE 1
 
 # Airspeed parameters
+param set-default ASPD_PRIMARY 1
 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
 
@@ -141,6 +127,3 @@ 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