Skip to content

Commit 3946921

Browse files
amilcarlucasamilcarlucas
committed
feat(vehicle templates): Add and Hobbywing X6 vehicle template
1 parent 2a191a3 commit 3946921

52 files changed

Lines changed: 1883 additions & 0 deletions

File tree

Some content is hidden

Large Commits have some content hidden by default. Use the searchbox below for content that may be hidden.

‎ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/00_default.param‎

Lines changed: 1079 additions & 0 deletions
Large diffs are not rendered by default.

‎ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/02_imu_temperature_calibration_setup.param‎

Lines changed: 9 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,9 @@
1+
BRD_HEAT_TARG,65 # Reasonable for most places on this planet
2+
INS_LOG_BAT_MASK,7 # Calculate IMU calibration for all IMUs, irrespective of their usage in a future step. Saves the trouble of recalibrating an inactive IMU if you later decide to activate it
3+
INS_TCAL1_ENABLE,2 # Activates the temperature calibration for IMU 1 at the next start
4+
INS_TCAL1_TMAX,60 # Pixhawk 6C has integrated IMU heating
5+
INS_TCAL2_ENABLE,2 # Activates the temperature calibration for IMU 2 at the next start
6+
INS_TCAL2_TMAX,60 # Pixhawk 6C has integrated IMU heating
7+
INS_TCAL3_ENABLE,2 # Activates the temperature calibration for IMU 3 at the next start
8+
LOG_BITMASK,524416 # Only for IMU and Raw-IMU
9+
LOG_DISARMED,1 # Gather data for the offline IMU temperature calibration while the FC is disarmed

‎ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/03_imu_temperature_calibration_results.param‎

Lines changed: 63 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,63 @@
1+
INS_TCAL1_ACC1_X,1008.507844
2+
INS_TCAL1_ACC1_Y,505.028098
3+
INS_TCAL1_ACC1_Z,2110.303258
4+
INS_TCAL1_ACC2_X,12.134173
5+
INS_TCAL1_ACC2_Y,-0.180665
6+
INS_TCAL1_ACC2_Z,8.243756
7+
INS_TCAL1_ACC3_X,-0.409631
8+
INS_TCAL1_ACC3_Y,-0.054657
9+
INS_TCAL1_ACC3_Z,0.706557
10+
INS_TCAL1_ENABLE,0
11+
INS_TCAL1_GYR1_X,142.342596
12+
INS_TCAL1_GYR1_Y,98.017184
13+
INS_TCAL1_GYR1_Z,70.542303
14+
INS_TCAL1_GYR2_X,3.328674
15+
INS_TCAL1_GYR2_Y,3.270675
16+
INS_TCAL1_GYR2_Z,-0.89795
17+
INS_TCAL1_GYR3_X,-0.16581
18+
INS_TCAL1_GYR3_Y,-0.136828
19+
INS_TCAL1_GYR3_Z,0.05735
20+
INS_TCAL1_TMAX,59.5
21+
INS_TCAL1_TMIN,13
22+
INS_TCAL2_ACC1_X,-238.660179
23+
INS_TCAL2_ACC1_Y,-2378.446833
24+
INS_TCAL2_ACC1_Z,2518.994921
25+
INS_TCAL2_ACC2_X,18.680889
26+
INS_TCAL2_ACC2_Y,-17.010887
27+
INS_TCAL2_ACC2_Z,-7.279485
28+
INS_TCAL2_ACC3_X,0.031184
29+
INS_TCAL2_ACC3_Y,0.1771
30+
INS_TCAL2_ACC3_Z,0.549584
31+
INS_TCAL2_ENABLE,0
32+
INS_TCAL2_GYR1_X,61.379101
33+
INS_TCAL2_GYR1_Y,-24.160771
34+
INS_TCAL2_GYR1_Z,26.890803
35+
INS_TCAL2_GYR2_X,-0.725999
36+
INS_TCAL2_GYR2_Y,0.536831
37+
INS_TCAL2_GYR2_Z,-0.161731
38+
INS_TCAL2_GYR3_X,-0.008922
39+
INS_TCAL2_GYR3_Y,0.015921
40+
INS_TCAL2_GYR3_Z,-0.030287
41+
INS_TCAL2_TMAX,60
42+
INS_TCAL2_TMIN,12
43+
INS_TCAL3_ACC1_X,5537.138407
44+
INS_TCAL3_ACC1_Y,-13144.717457
45+
INS_TCAL3_ACC1_Z,-37021.246814
46+
INS_TCAL3_ACC2_X,316.718696
47+
INS_TCAL3_ACC2_Y,-956.863247
48+
INS_TCAL3_ACC2_Z,-2414.185632
49+
INS_TCAL3_ACC3_X,7.644001
50+
INS_TCAL3_ACC3_Y,-22.809174
51+
INS_TCAL3_ACC3_Z,-54.57293
52+
INS_TCAL3_ENABLE,0
53+
INS_TCAL3_GYR1_X,5166.646813
54+
INS_TCAL3_GYR1_Y,903.833297
55+
INS_TCAL3_GYR1_Z,-915.84359
56+
INS_TCAL3_GYR2_X,355.381273
57+
INS_TCAL3_GYR2_Y,50.403139
58+
INS_TCAL3_GYR2_Z,-85.389639
59+
INS_TCAL3_GYR3_X,7.97312
60+
INS_TCAL3_GYR3_Y,0.803663
61+
INS_TCAL3_GYR3_Z,-1.953931
62+
INS_TCAL3_TMAX,25.2
63+
INS_TCAL3_TMIN,15.1

‎ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/04_board_orientation.param‎

Lines changed: 4 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,4 @@
1+
AHRS_ORIENTATION,0 # Point forward in the direction of travel
2+
BRD_HEAT_TARG,45 # Reset to default after offline IMU temperature calibration
3+
LOG_BITMASK,145118 # Log all but fast att, Nav, Mission, OF, camera, fast IMU, raw, IMU, video stabilization. These are not needed now
4+
LOG_DISARMED,0 # Log disarmed was only required for offline IMU temperature calibration

‎ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/05_remote_controller.param‎

Lines changed: 10 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,10 @@
1+
ARMING_RUDDER,2 # Vehicle uses arm/disarm via sticks as well as emergency motor stop switch (shoulder switch of Radiomaster Boxer assigned to channel 5)
2+
RC_OPTIONS,32
3+
RC_PROTOCOLS,1 # Selected in the component editor
4+
RC5_OPTION,0
5+
RC6_OPTION,0
6+
RC7_OPTION,0
7+
RC8_OPTION,19 # Gripper release
8+
RC9_OPTION,0
9+
RSSI_TYPE,0
10+
SERIAL1_PROTOCOL,2

‎ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/06_telemetry.param‎

Lines changed: 3 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,3 @@
1+
BRD_SER1_RTSCTS,2 # Auto detect (currently RTS/CTS are not connected)
2+
SERIAL1_BAUD,57 # The MAVLink over CUAV telemetry
3+
SERIAL1_PROTOCOL,2 # Use MAVLink 2 for telemetry

‎ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/07_esc.param‎

Lines changed: 34 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,34 @@
1+
ATC_RAT_PIT_SMAX,50 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html
2+
ATC_RAT_RLL_SMAX,50 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html
3+
ATC_RAT_YAW_SMAX,50 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html
4+
MOT_HOVER_LEARN,2 # So that it can tune the throttle controller on 20_throttle_controller.param file
5+
MOT_PWM_MAX,2000
6+
MOT_PWM_MIN,1000
7+
MOT_PWM_TYPE,0 # Specified in component editor window
8+
MOT_SPOOL_TIME,2 # Spool slower becaus props are big and foldable
9+
NTF_BUZZ_TYPES,5
10+
NTF_LED_TYPES,199
11+
PSC_ACCZ_SMAX,200 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html
12+
SERIAL5_BAUD,57 # left default (no DShot telemetry available)
13+
SERIAL5_PROTOCOL,-1 # no DShot telemetry available
14+
SERVO_BLH_AUTO,0 # BLHeli pass-thru not availble with T-Motor ESCs
15+
SERVO_BLH_BDMASK,0 # no bidirectional DShot available
16+
SERVO_BLH_POLES,14 # Specified in component editor window
17+
SERVO_BLH_TRATE,10
18+
SERVO_DSHOT_ESC,0 # using PWM
19+
SERVO_DSHOT_RATE,0
20+
SERVO_FTW_POLES,14 # Specified in component editor window
21+
SERVO1_MAX,1900
22+
SERVO1_MIN,1100
23+
SERVO1_TRIM,1500
24+
SERVO2_MAX,1900
25+
SERVO2_MIN,1100
26+
SERVO2_TRIM,1500
27+
SERVO3_MAX,1900
28+
SERVO3_MIN,1100
29+
SERVO3_TRIM,1500
30+
SERVO4_MAX,1900
31+
SERVO4_MIN,1100
32+
SERVO4_TRIM,1500
33+
TKOFF_RPM_MIN,0 # no RPM feedback
34+
TKOFF_SLEW_TIME,3 # Slow it down because the vehicle is big

‎ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/08_batt1.param‎

Lines changed: 13 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,13 @@
1+
BATT_ARM_VOLT,50.3 # Do not allow arming below this voltage
2+
BATT_CAPACITY,17000 # Total battery capacity specified in the component editor
3+
BATT_CRT_MAH,0 # Energy consumption not measured
4+
BATT_CRT_VOLT,45.6 # (Critical voltage + 0.0) x no. of cells
5+
BATT_FS_CRT_ACT,1 # Land ASAP
6+
BATT_FS_LOW_ACT,2 # Return and land at home or rally point
7+
BATT_FS_VOLTSRC,0 # Using only RAW voltage
8+
BATT_LOW_MAH,0 # Energy consumption not measured
9+
BATT_LOW_VOLT,46.8 # (Low voltage + 0.0) x no. of cells
10+
BATT_MONITOR,3 # Selected in component editor window
11+
BATT_VOLT_MULT,18.55167 # calibrated using a battery tester device
12+
MOT_BAT_VOLT_MAX,52.2 # (Max voltage + 0.0) x no. of cells
13+
MOT_BAT_VOLT_MIN,45.6 # (Critical voltage + 0.0) x no. of cells

‎ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/10_gnss.param‎

Lines changed: 8 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,8 @@
1+
BRD_SAFETY_DEFLT,0 # Safety switch gets disabled.
2+
GPS_GNSS_MODE,7 # GPS and galileo
3+
GPS_POS1_X,0
4+
GPS_POS1_Y,0
5+
GPS_POS1_Z,0
6+
GPS_TYPE,2 # Defined in component editor
7+
SERIAL3_PROTOCOL,5 # GNSS receiver is connected to serial3
8+
WPNAV_RADIUS,200

‎ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/11_initial_atc.param‎

Lines changed: 18 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,18 @@
1+
ATC_ACCEL_P_MAX,38700 # Derived from vehicle component editor propeller size
2+
ATC_ACCEL_R_MAX,38700 # Derived from vehicle component editor propeller size
3+
ATC_ACCEL_Y_MAX,15300 # Derived from vehicle component editor propeller size
4+
ATC_ANG_YAW_P,2.5 # Derived from vehicle component editor propeller size
5+
ATC_RAT_PIT_FLTD,10.5 # INS_GYRO_FILTER / 2
6+
ATC_RAT_PIT_FLTE,0 # Initial value, will be improved at a later step
7+
ATC_RAT_PIT_FLTT,10.5 # INS_GYRO_FILTER / 2
8+
ATC_RAT_RLL_FLTD,10.5 # INS_GYRO_FILTER / 2
9+
ATC_RAT_RLL_FLTE,0 # Initial value, will be improved at a later step
10+
ATC_RAT_RLL_FLTT,10.5 # INS_GYRO_FILTER / 2
11+
ATC_RAT_YAW_FLTD,0 # Initial value, will be improved at a later step
12+
ATC_RAT_YAW_FLTE,2 # Initial value, will be improved at a later step
13+
ATC_RAT_YAW_FLTT,10.5 # INS_GYRO_FILTER / 2
14+
ATC_THR_MIX_MAN,0.1 # Value for the first couple of flights will be changed later once MOT_THST_HOVER is learned
15+
INS_ACCEL_FILTER,10 # The default is 20Hz but that is too high in most situations
16+
INS_GYRO_FILTER,21 # Derived from vehicle component editor propeller size
17+
MOT_THST_EXPO,0.73 # Derived from vehicle component editor propeller size
18+
MOT_THST_HOVER,0.2 # Hover learn will improve this initial guess

0 commit comments

Comments
 (0)