[TEMP] update configs

ZilantRobotics · May 2, 2024 · 7043ade · 7043ade
1 parent 70a411e
commit 7043ade
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Showing 6 changed files with 11 additions and 3 deletions.
diff --git a/configs/px4/cyphal.yaml b/configs/px4/cyphal.yaml
@@ -15,6 +15,7 @@ UCAN1_BAROT0_SUB: 2403
 UCAN1_BAROP0_SUB: 2404
 
 UCAN1_GPS0_SUB:   2406
+UCAN1_GPSCO0_SUB: 2405
 UCAN1_GPSSA0_SUB: 2407
 UCAN1_GPSST0_SUB: 2408
 UCAN1_GPSPD0_SUB: 2409

diff --git a/configs/px4/dronecan.yaml b/configs/px4/dronecan.yaml
@@ -3,6 +3,7 @@ UAVCAN_ENABLE:       3
 UAVCAN_SUB_BARO:     1
 UAVCAN_SUB_BAT:      1
 UAVCAN_SUB_DPRES:    1
+UAVCAN_SUB_FUEL:     1
 UAVCAN_SUB_GPS:      1
 UAVCAN_SUB_ICE:      1
 UAVCAN_SUB_IMU:      1

diff --git a/configs/px4/v1.13/vtol_13070/airframe.yaml b/configs/px4/v1.13/vtol_13070/airframe.yaml
@@ -7,3 +7,4 @@ FW_AIRSPD_MIN: 20.0       # Minimum Airspeed (CAS)
 FW_AIRSPD_STALL: 15.0     # Stall Airspeed (CAS)
 NAV_LOITER_RAD: 150.0     # Loiter radius (FW only)
 FW_YR_P: 0.5              # Yaw rate proportional rate
+VT_ELEV_MC_LOCK : 1       # Lock control surfaces in hover
diff --git a/configs/vehicles/px4_v1_14_0_cyphal_quadplane_vtol.yaml b/configs/vehicles/px4_v1_14_0_cyphal_quadplane_vtol.yaml
@@ -1,4 +1,4 @@
-firmware: https://github.com/ZilantRobotics/PX4-Autopilot/releases/download/v1.14.0-0.4.1-beta1/px4_fmu-v5_cyphal.px4
+# firmware: https://github.com/ZilantRobotics/PX4-Autopilot/releases/download/v1.14.0-0.4.1-beta1/px4_fmu-v5_cyphal.px4
 params:
   - configs/px4/v1.14/standard_vtol/airframe.yaml
   - configs/px4/v1.14/standard_vtol/cyphal.yaml

diff --git a/scripts/docker.sh b/scripts/docker.sh
@@ -21,6 +21,7 @@ Supported modes (with aliases):
   px4_v1_14_0_dronecan_quadrotor,dq         | DroneCAN    PX4 v1.14-beta  Quadrotor (4001)
   px4_v1_14_0_dronecan_quadplane_vtol,dv    | DroneCAN    PX4 v1.14-beta  Standard VTOL (13000)
   px4_v1_12_1_dronecan_vtol,dvo             | DroneCAN    PX4 v1.12       vtol 13070
+  px4_v1_13_0_dronecan_vtol                 | DroneCAN    PX4 v1.13       vtol 13070
 -------------------------------------------------------------------------------
   px4_v1_14_0_cyphal_octorotor,co           | Cyphal      PX4 v1.14-beta  Octorotor Coaxial (12001)
   sitl_inno_vtol                            | MAVLink     PX4 v1.12       vtol 13070
@@ -223,7 +224,9 @@ declare -A aliases=(
     [csv]="px4_v1_14_0_cyphal_quadplane_vtol"
     [cv8]="px4_v1_14_0_cyphal_octoplane_vtol"
 )
-if [[ -n "${aliases[$1]}" ]]; then
+if [ $# -eq 0 ]; then
+    CMD="help"
+elif [[ -n "${aliases[$1]}" ]]; then
     CMD="${aliases[$1]}"
 else
     CMD=$1
@@ -246,6 +249,7 @@ elif [ "$CMD" = "kill" ]; then
 
 # DroneCAN commands:
 elif [ "$CMD" = "px4_v1_12_1_dronecan_vtol" ] || \
+     [ "$CMD" = "px4_v1_13_0_dronecan_vtol" ] || \
      [ "$CMD" = "px4_v1_14_0_dronecan_quadplane_vtol" ] || \
      [ "$CMD" = "px4_v1_14_0_dronecan_quadrotor" ] ; then
     vehicle=$CMD

diff --git a/scripts/run_sim.sh b/scripts/run_sim.sh
@@ -12,6 +12,7 @@ Usage: run_sim.sh <command>
 Commands:
   px4_v1_14_0_dronecan_quadplane_vtol     Run dynamics simulator in DroneCan HITL mode for px4 vtol 13000 airframe
   px4_v1_12_1_dronecan_vtol               Run dynamics simulator in DroneCan HITL mode for px4 vtol 13070 airframe
+  px4_v1_13_0_dronecan_vtol               Run dynamics simulator in DroneCan HITL mode for px4 vtol 13070 airframe
   px4_v1_14_0_dronecan_quadrotor          Run dynamics simulator in DroneCan HITL mode for flight_goggles airframe
   px4_v1_14_0_cyphal_quadcopter           Cyphal HITL PX4 Quadrotor (4001)
   px4_v1_14_0_cyphal_octorotor            Cyphal HITL PX4 Octorotor (12001)
@@ -236,7 +237,7 @@ SCRIPT_DIR="$(dirname "$0")"
 
 if [ "$1" = "px4_v1_14_0_dronecan_quadplane_vtol" ]; then
     px4_v1_14_0_dronecan_quadplane_vtol
-elif [ "$1" = "px4_v1_12_1_dronecan_vtol" ]; then
+elif [ "$1" = "px4_v1_12_1_dronecan_vtol" ] || [ "$1" = "px4_v1_13_0_dronecan_vtol" ]; then
     px4_v1_12_1_dronecan_vtol
 elif [ "$1" = "px4_v1_14_0_dronecan_quadrotor" ]; then
     px4_v1_14_0_dronecan_quadrotor