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feat: adding spacecraft build target
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ROMFS/px4fmu_common/init.d-posix/airframes/71000_gazebo-classic_2d_spacecraft
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,127 @@ | ||
| #!/bin/sh | ||
| # | ||
| # @name 3DoF Spacecraft Model | ||
| # | ||
| # @type 2D Freeflyer with 8 thrusters - Planar motion | ||
| # | ||
| # @maintainer Pedro Roque <[email protected]> | ||
| # | ||
|
|
||
| . ${R}etc/init.d/rc.sc_defaults | ||
|
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||
| param set-default CA_AIRFRAME 13 | ||
| param set-default MAV_TYPE 99 | ||
|
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||
| param set-default CA_THRUSTER_CNT 8 | ||
| param set-default CA_R_REV 255 | ||
|
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||
| # param set-default FW_ARSP_MODE 1 | ||
| param set-default UXRCE_DDS_CFG 1000 | ||
| param set-default MAV_2_CONFIG 1000 | ||
| param set-default MAV_2_REMOTE_PRT 14550 | ||
| param set-default MAV_2_UDP 14550 | ||
|
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||
| # Auto to be provided by Custom Airframe | ||
| param set-default CA_METHOD 0 | ||
|
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||
| # Set proper failsafes | ||
| param set-default COM_ACT_FAIL_ACT 0 | ||
| param set-default COM_LOW_BAT_ACT 0 | ||
| param set-default NAV_DLL_ACT 0 | ||
| param set-default GF_ACTION 1 | ||
| param set-default NAV_RCL_ACT 1 | ||
| param set-default COM_POSCTL_NAVL 2 | ||
|
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||
| # disable attitude failure detection | ||
| param set-default FD_FAIL_P 0 | ||
| param set-default FD_FAIL_R 0 | ||
|
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||
| param set-default CA_THRUSTER0_PX -0.12 | ||
| param set-default CA_THRUSTER0_PY -0.12 | ||
| param set-default CA_THRUSTER0_PZ 0.0 | ||
| param set-default CA_THRUSTER0_CT 1.4 | ||
| param set-default CA_THRUSTER0_AX 1.0 | ||
| param set-default CA_THRUSTER0_AY 0.0 | ||
| param set-default CA_THRUSTER0_AZ 0.0 | ||
|
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||
| param set-default CA_THRUSTER1_PX 0.12 | ||
| param set-default CA_THRUSTER1_PY -0.12 | ||
| param set-default CA_THRUSTER1_PZ 0.0 | ||
| param set-default CA_THRUSTER1_CT 1.4 | ||
| param set-default CA_THRUSTER1_AX -1.0 | ||
| param set-default CA_THRUSTER1_AY 0.0 | ||
| param set-default CA_THRUSTER1_AZ 0.0 | ||
|
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||
| param set-default CA_THRUSTER2_PX -0.12 | ||
| param set-default CA_THRUSTER2_PY 0.12 | ||
| param set-default CA_THRUSTER2_PZ 0.0 | ||
| param set-default CA_THRUSTER2_CT 1.4 | ||
| param set-default CA_THRUSTER2_AX 1.0 | ||
| param set-default CA_THRUSTER2_AY 0.0 | ||
| param set-default CA_THRUSTER2_AZ 0.0 | ||
|
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||
| param set-default CA_THRUSTER3_PX 0.12 | ||
| param set-default CA_THRUSTER3_PY 0.12 | ||
| param set-default CA_THRUSTER3_PZ 0.0 | ||
| param set-default CA_THRUSTER3_CT 1.4 | ||
| param set-default CA_THRUSTER3_AX -1.0 | ||
| param set-default CA_THRUSTER3_AY 0.0 | ||
| param set-default CA_THRUSTER3_AZ 0.0 | ||
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| param set-default CA_THRUSTER4_PX 0.12 | ||
| param set-default CA_THRUSTER4_PY -0.12 | ||
| param set-default CA_THRUSTER4_PZ 0.0 | ||
| param set-default CA_THRUSTER4_CT 1.4 | ||
| param set-default CA_THRUSTER4_AX 0.0 | ||
| param set-default CA_THRUSTER4_AY 1.0 | ||
| param set-default CA_THRUSTER4_AZ 0.0 | ||
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| param set-default CA_THRUSTER5_PX 0.12 | ||
| param set-default CA_THRUSTER5_PY 0.12 | ||
| param set-default CA_THRUSTER5_PZ 0.0 | ||
| param set-default CA_THRUSTER5_CT 1.4 | ||
| param set-default CA_THRUSTER5_AX 0.0 | ||
| param set-default CA_THRUSTER5_AY -1.0 | ||
| param set-default CA_THRUSTER5_AZ 0.0 | ||
|
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| param set-default CA_THRUSTER6_PX -0.12 | ||
| param set-default CA_THRUSTER6_PY -0.12 | ||
| param set-default CA_THRUSTER6_PZ 0.0 | ||
| param set-default CA_THRUSTER6_CT 1.4 | ||
| param set-default CA_THRUSTER6_AX 0.0 | ||
| param set-default CA_THRUSTER6_AY 1.0 | ||
| param set-default CA_THRUSTER6_AZ 0.0 | ||
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| param set-default CA_THRUSTER7_PX -0.12 | ||
| param set-default CA_THRUSTER7_PY 0.12 | ||
| param set-default CA_THRUSTER7_PZ 0.0 | ||
| param set-default CA_THRUSTER7_CT 1.4 | ||
| param set-default CA_THRUSTER7_AX 0.0 | ||
| param set-default CA_THRUSTER7_AY -1.0 | ||
| param set-default CA_THRUSTER7_AZ 0.0 | ||
|
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||
| param set-default PWM_MAIN_FUNC1 501 | ||
| param set-default PWM_MAIN_FUNC2 502 | ||
| param set-default PWM_MAIN_FUNC3 503 | ||
| param set-default PWM_MAIN_FUNC4 504 | ||
| param set-default PWM_MAIN_FUNC5 505 | ||
| param set-default PWM_MAIN_FUNC6 506 | ||
| param set-default PWM_MAIN_FUNC7 507 | ||
| param set-default PWM_MAIN_FUNC8 508 | ||
|
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||
| # PWM Simulation | ||
| param set PWM_SIM_PWM_MAX 10000 | ||
| param set PWM_SIM_PWM_MIN 0 | ||
|
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||
| # Controller Tunings | ||
| param set SC_YAWRATE_P 3.335 | ||
| param set SC_YAWRATE_I 0.87 | ||
| param set SC_YAWRATE_D 0.15 | ||
| param set SC_YR_INT_LIM 0.2 | ||
| param set SC_YAW_P 3.0 | ||
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| param set SPC_POS_P 0.20 | ||
| param set SPC_VEL_P 6.55 | ||
| param set SPC_VEL_I 0.0 | ||
| param set SPC_VEL_D 0.0 | ||
| param set SPC_VEL_MAX 12.0 |
155 changes: 155 additions & 0 deletions
155
ROMFS/px4fmu_common/init.d-posix/airframes/71001_gazebo-classic_spacecraft_dart
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,155 @@ | ||
| #!/bin/sh | ||
| # | ||
| # @name 6DoF Spacecraft Model | ||
| # | ||
| # @type Freeflyer with 8 thrusters | ||
| # | ||
| # @maintainer Pedro Roque <[email protected]> | ||
| # | ||
|
|
||
| . ${R}etc/init.d/rc.sc_defaults | ||
|
|
||
| param set-default CA_AIRFRAME 14 | ||
| param set-default MAV_TYPE 99 | ||
|
|
||
| param set-default CA_THRUSTER_CNT 12 | ||
| param set-default CA_R_REV 255 | ||
|
|
||
| # param set-default FW_ARSP_MODE 1 | ||
|
|
||
| # Auto to be provided by Custom Airframe | ||
| param set-default CA_METHOD 0 | ||
|
|
||
| # disable attitude failure detection | ||
| param set-default FD_FAIL_P 0 | ||
| param set-default FD_FAIL_R 0 | ||
|
|
||
| # Set proper failsafes | ||
| param set-default COM_ACT_FAIL_ACT 0 | ||
| param set-default COM_LOW_BAT_ACT 0 | ||
| param set-default NAV_DLL_ACT 0 | ||
| param set-default GF_ACTION 1 | ||
| param set-default NAV_RCL_ACT 1 | ||
| param set-default COM_POSCTL_NAVL 2 | ||
|
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||
| # Set thrusters | ||
| param set-default CA_THRUSTER0_PX -0.50 | ||
| param set-default CA_THRUSTER0_PY 0.50 | ||
| param set-default CA_THRUSTER0_PZ 0.0 | ||
| param set-default CA_THRUSTER0_CT 0.237 | ||
| param set-default CA_THRUSTER0_AX 0.0 | ||
| param set-default CA_THRUSTER0_AY -1.0 | ||
| param set-default CA_THRUSTER0_AZ 0.0 | ||
|
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| param set-default CA_THRUSTER1_PX 0.50 | ||
| param set-default CA_THRUSTER1_PY 0.50 | ||
| param set-default CA_THRUSTER1_PZ 0.0 | ||
| param set-default CA_THRUSTER1_CT 0.237 | ||
| param set-default CA_THRUSTER1_AX 0.0 | ||
| param set-default CA_THRUSTER1_AY -1.0 | ||
| param set-default CA_THRUSTER1_AZ 0.0 | ||
|
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| param set-default CA_THRUSTER2_PX 0.50 | ||
| param set-default CA_THRUSTER2_PY -0.50 | ||
| param set-default CA_THRUSTER2_PZ 0.0 | ||
| param set-default CA_THRUSTER2_CT 0.237 | ||
| param set-default CA_THRUSTER2_AX 0.0 | ||
| param set-default CA_THRUSTER2_AY 1.0 | ||
| param set-default CA_THRUSTER2_AZ 0.0 | ||
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| param set-default CA_THRUSTER3_PX -0.50 | ||
| param set-default CA_THRUSTER3_PY -0.50 | ||
| param set-default CA_THRUSTER3_PZ 0.0 | ||
| param set-default CA_THRUSTER3_CT 0.237 | ||
| param set-default CA_THRUSTER3_AX 0.0 | ||
| param set-default CA_THRUSTER3_AY 1.0 | ||
| param set-default CA_THRUSTER3_AZ 0.0 | ||
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| param set-default CA_THRUSTER4_PX -0.50 | ||
| param set-default CA_THRUSTER4_PY 0.0 | ||
| param set-default CA_THRUSTER4_PZ -0.50 | ||
| param set-default CA_THRUSTER4_CT 0.237 | ||
| param set-default CA_THRUSTER4_AX 1.0 | ||
| param set-default CA_THRUSTER4_AY 0.0 | ||
| param set-default CA_THRUSTER4_AZ 0.0 | ||
|
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||
| param set-default CA_THRUSTER5_PX 0.50 | ||
| param set-default CA_THRUSTER5_PY 0.0 | ||
| param set-default CA_THRUSTER5_PZ -0.50 | ||
| param set-default CA_THRUSTER5_CT 0.237 | ||
| param set-default CA_THRUSTER5_AX -1.0 | ||
| param set-default CA_THRUSTER5_AY 0.0 | ||
| param set-default CA_THRUSTER5_AZ 0.0 | ||
|
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||
| param set-default CA_THRUSTER6_PX 0.50 | ||
| param set-default CA_THRUSTER6_PY 0.0 | ||
| param set-default CA_THRUSTER6_PZ 0.50 | ||
| param set-default CA_THRUSTER6_CT 0.237 | ||
| param set-default CA_THRUSTER6_AX -1.0 | ||
| param set-default CA_THRUSTER6_AY 0.0 | ||
| param set-default CA_THRUSTER6_AZ 0.0 | ||
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| param set-default CA_THRUSTER7_PX -0.50 | ||
| param set-default CA_THRUSTER7_PY 0.0 | ||
| param set-default CA_THRUSTER7_PZ 0.50 | ||
| param set-default CA_THRUSTER7_CT 0.237 | ||
| param set-default CA_THRUSTER7_AX 1.0 | ||
| param set-default CA_THRUSTER7_AY 0.0 | ||
| param set-default CA_THRUSTER7_AZ 0.0 | ||
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| param set-default CA_THRUSTER8_PX 0.0 | ||
| param set-default CA_THRUSTER8_PY -0.50 | ||
| param set-default CA_THRUSTER8_PZ -0.50 | ||
| param set-default CA_THRUSTER8_CT 0.237 | ||
| param set-default CA_THRUSTER8_AX 0.0 | ||
| param set-default CA_THRUSTER8_AY 0.0 | ||
| param set-default CA_THRUSTER8_AZ 1.0 | ||
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| param set-default CA_THRUSTER9_PX 0.0 | ||
| param set-default CA_THRUSTER9_PY 0.50 | ||
| param set-default CA_THRUSTER9_PZ -0.50 | ||
| param set-default CA_THRUSTER9_CT 0.237 | ||
| param set-default CA_THRUSTER9_AX 0.0 | ||
| param set-default CA_THRUSTER9_AY 0.0 | ||
| param set-default CA_THRUSTER9_AZ 1.0 | ||
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||
| param set-default CA_THRUSTER10_PX 0.0 | ||
| param set-default CA_THRUSTER10_PY 0.50 | ||
| param set-default CA_THRUSTER10_PZ 0.50 | ||
| param set-default CA_THRUSTER10_CT 0.237 | ||
| param set-default CA_THRUSTER10_AX 0.0 | ||
| param set-default CA_THRUSTER10_AY 0.0 | ||
| param set-default CA_THRUSTER10_AZ -1.0 | ||
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| param set-default CA_THRUSTER11_PX 0.0 | ||
| param set-default CA_THRUSTER11_PY -0.50 | ||
| param set-default CA_THRUSTER11_PZ 0.50 | ||
| param set-default CA_THRUSTER11_CT 0.237 | ||
| param set-default CA_THRUSTER11_AX 0.0 | ||
| param set-default CA_THRUSTER11_AY 0.0 | ||
| param set-default CA_THRUSTER11_AZ -1.0 | ||
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| param set-default PWM_MAIN_FUNC1 501 | ||
| param set-default PWM_MAIN_FUNC2 502 | ||
| param set-default PWM_MAIN_FUNC3 503 | ||
| param set-default PWM_MAIN_FUNC4 504 | ||
| param set-default PWM_MAIN_FUNC5 505 | ||
| param set-default PWM_MAIN_FUNC6 506 | ||
| param set-default PWM_MAIN_FUNC7 507 | ||
| param set-default PWM_MAIN_FUNC8 508 | ||
| param set-default PWM_MAIN_FUNC9 509 | ||
| param set-default PWM_MAIN_FUNC10 510 | ||
| param set-default PWM_MAIN_FUNC11 511 | ||
| param set-default PWM_MAIN_FUNC12 512 | ||
|
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| # PWM Simulation | ||
| param set PWM_SIM_PWM_MAX 10000 | ||
| param set PWM_SIM_PWM_MIN 0 | ||
|
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||
| # Controller Tunings | ||
| param set-default SC_ROLLRATE_P 0.14 | ||
| param set-default SC_PITCHRATE_P 0.14 | ||
| param set-default SC_ROLLRATE_I 0.3 | ||
| param set-default SC_PITCHRATE_I 0.3 | ||
| param set-default SC_ROLLRATE_D 0.004 | ||
| param set-default SC_PITCHRATE_D 0.004 |
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