From 7043ade9044689182bc3a7a1072df3b04936f446 Mon Sep 17 00:00:00 2001 From: PonomarevDA Date: Thu, 2 May 2024 18:51:47 +0300 Subject: [PATCH] [TEMP] update configs --- configs/px4/cyphal.yaml | 1 + configs/px4/dronecan.yaml | 1 + configs/px4/v1.13/vtol_13070/airframe.yaml | 1 + configs/vehicles/px4_v1_14_0_cyphal_quadplane_vtol.yaml | 2 +- scripts/docker.sh | 6 +++++- scripts/run_sim.sh | 3 ++- 6 files changed, 11 insertions(+), 3 deletions(-) diff --git a/configs/px4/cyphal.yaml b/configs/px4/cyphal.yaml index 8c458ad..c744355 100644 --- 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 index fc241e0..46fb778 100644 --- 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 index 3cf3730..5e808b5 100644 --- 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 index 0611288..e749a57 100644 --- 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 index ccb6a14..d0db921 100755 --- 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=$CMD diff --git a/scripts/run_sim.sh b/scripts/run_sim.sh index ec829ed..b183680 100755 --- a/scripts/run_sim.sh +++ b/scripts/run_sim.sh @@ -12,6 +12,7 @@ Usage: run_sim.sh Commands: px4_v1_14_0_dronecan_quadplane_vtol Run dynamics simulator in DroneCan HITL mode for px4 vtol 13000 airframe px4_v1_12_1_dronecan_vtol Run dynamics simulator in DroneCan HITL mode for px4 vtol 13070 airframe + px4_v1_13_0_dronecan_vtol Run dynamics simulator in DroneCan HITL mode for px4 vtol 13070 airframe px4_v1_14_0_dronecan_quadrotor Run dynamics simulator in DroneCan HITL mode for flight_goggles airframe px4_v1_14_0_cyphal_quadcopter Cyphal HITL PX4 Quadrotor (4001) px4_v1_14_0_cyphal_octorotor Cyphal HITL PX4 Octorotor (12001) @@ -236,7 +237,7 @@ SCRIPT_DIR="$(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