diff --git a/.github/workflows/update_vehicle_components_translation.yaml b/.github/workflows/update_vehicle_components_translation.yaml index 0591aca28..823bfa005 100644 --- a/.github/workflows/update_vehicle_components_translation.yaml +++ b/.github/workflows/update_vehicle_components_translation.yaml @@ -66,7 +66,7 @@ jobs: uses: peter-evans/create-pull-request@5f6978faf089d4d20b00c7766989d076bb2fc7f1 # v8.1.1 with: token: ${{ secrets.GITHUB_TOKEN }} - commit-message: 'Auto-update vehicle components translatable strings' + commit-message: 'docs(component editor): Auto-update vehicle components translatable strings' title: 'Update vehicle components translatable strings' body: | This PR updates the vehicle_components.py file with new translatable strings. diff --git a/ardupilot_methodic_configurator/data_model_vehicle_components_import.py b/ardupilot_methodic_configurator/data_model_vehicle_components_import.py index ff5d0d2b9..b4cfda74a 100644 --- a/ardupilot_methodic_configurator/data_model_vehicle_components_import.py +++ b/ardupilot_methodic_configurator/data_model_vehicle_components_import.py @@ -8,7 +8,6 @@ SPDX-License-Identifier: GPL-3.0-or-later """ -import contextlib from dataclasses import dataclass # from logging import debug as logging_debug @@ -463,7 +462,7 @@ def _set_battery_type_from_fc_parameters(self, fc_parameters: dict[str, float]) final_chemistry = BATTERY_DEFAULT_CHEMISTRY specs = BatteryVoltageSpecs( - estimated_cell_count=self._estimate_battery_cell_count(fc_parameters), + estimated_cell_count=self._estimate_battery_cell_count(fc_parameters, final_chemistry), limit_min=BatteryCell.limit_min_voltage(final_chemistry), limit_max=BatteryCell.limit_max_voltage(final_chemistry), detected_chemistry=final_chemistry, @@ -586,50 +585,52 @@ def _detect_battery_chemistry_from_voltages( return None - def _estimate_cells_from_voltage_param( - self, param_name: str, param_value: float, volt_per_cell_spec: str + def _estimate_cells_from_voltage_param_default( + self, param_name: str, param_value: float, volt_per_cell_spec: str, chemistry: str ) -> Optional[int]: """ - Estimate cell count from a voltage parameter. + Estimate cell count from a voltage parameter using the chemistry-specific default per-cell voltages. Args: param_name: Name of the parameter for logging param_value: Value of the voltage parameter volt_per_cell_spec: Battery specification name (e.g., "Volt per cell max") + chemistry: Battery chemistry to use for default per-cell voltages Returns: Estimated cell count or None if estimation failed """ - volt_per_cell_value = self.get_component_value(("Battery", "Specifications", volt_per_cell_spec)) - - volt_per_cell = 0.0 - if isinstance(volt_per_cell_value, (int, float, str)) and volt_per_cell_value: - with contextlib.suppress(ValueError, TypeError): - volt_per_cell = float(volt_per_cell_value) - - if volt_per_cell <= 0: - logging_warning(_("Volt per cell value for %s is zero or invalid: %s"), volt_per_cell_spec, volt_per_cell_value) + # Get default per-cell voltage for this chemistry and spec + volt_per_cell = BatteryCell.recommended_cell_voltage(chemistry, volt_per_cell_spec) + if isnan(volt_per_cell) or volt_per_cell <= 0: + logging_error(_("No recommended voltage for %s %s"), chemistry, volt_per_cell_spec) return None try: voltage = float(param_value) - if voltage > 0: - return round(voltage / volt_per_cell) - except (ValueError, TypeError, ZeroDivisionError) as e: + if voltage <= 0: + logging_warning(_("Voltage value for %s is zero or invalid: %s"), param_name, param_value) + return None + estimated_cells = round(voltage / volt_per_cell) + # Validate reasonable range + if 1 <= estimated_cells <= 50: # Reasonable range for battery packs + return estimated_cells + logging_warning(_("Estimated cell count %d from %s seems unreasonable"), estimated_cells, param_name) + except (ValueError, TypeError) as e: logging_error(_("Error processing %s parameter: %s"), param_name, str(e)) - return None - def _estimate_battery_cell_count(self, fc_parameters: dict[str, float]) -> int: + def _estimate_battery_cell_count(self, fc_parameters: dict[str, float], chemistry: str = BATTERY_DEFAULT_CHEMISTRY) -> int: """ Estimate battery cell count from voltage parameters. Uses MOT_BAT_VOLT_MAX, BATT_LOW_VOLT, BATT_CRT_VOLT, BATT_ARM_VOLT, or MOT_BAT_VOLT_MIN - along with current volt-per-cell values to estimate the number of cells. + along with default volt-per-cell values for the given chemistry to estimate the number of cells. Args: fc_parameters: Dictionary of flight controller parameters + chemistry: Battery chemistry to use for default per-cell voltages """ # Try to estimate cell count from available voltage parameters @@ -637,29 +638,29 @@ def _estimate_battery_cell_count(self, fc_parameters: dict[str, float]) -> int: estimated_cells = None if "MOT_BAT_VOLT_MAX" in fc_parameters: - estimated_cells = self._estimate_cells_from_voltage_param( - "MOT_BAT_VOLT_MAX", fc_parameters["MOT_BAT_VOLT_MAX"], "Volt per cell max" + estimated_cells = self._estimate_cells_from_voltage_param_default( + "MOT_BAT_VOLT_MAX", fc_parameters["MOT_BAT_VOLT_MAX"], "Volt per cell max", chemistry ) if estimated_cells is None and "BATT_LOW_VOLT" in fc_parameters: - estimated_cells = self._estimate_cells_from_voltage_param( - "BATT_LOW_VOLT", fc_parameters["BATT_LOW_VOLT"], "Volt per cell low" + estimated_cells = self._estimate_cells_from_voltage_param_default( + "BATT_LOW_VOLT", fc_parameters["BATT_LOW_VOLT"], "Volt per cell low", chemistry ) if estimated_cells is None and "BATT_CRT_VOLT" in fc_parameters: - estimated_cells = self._estimate_cells_from_voltage_param( - "BATT_CRT_VOLT", fc_parameters["BATT_CRT_VOLT"], "Volt per cell crit" + estimated_cells = self._estimate_cells_from_voltage_param_default( + "BATT_CRT_VOLT", fc_parameters["BATT_CRT_VOLT"], "Volt per cell crit", chemistry ) # lower prio, because less often used if estimated_cells is None and "BATT_ARM_VOLT" in fc_parameters: - estimated_cells = self._estimate_cells_from_voltage_param( - "BATT_ARM_VOLT", fc_parameters["BATT_ARM_VOLT"], "Volt per cell arm" + estimated_cells = self._estimate_cells_from_voltage_param_default( + "BATT_ARM_VOLT", fc_parameters["BATT_ARM_VOLT"], "Volt per cell arm", chemistry ) if estimated_cells is None and "MOT_BAT_VOLT_MIN" in fc_parameters: - estimated_cells = self._estimate_cells_from_voltage_param( - "MOT_BAT_VOLT_MIN", fc_parameters["MOT_BAT_VOLT_MIN"], "Volt per cell min" + estimated_cells = self._estimate_cells_from_voltage_param_default( + "MOT_BAT_VOLT_MIN", fc_parameters["MOT_BAT_VOLT_MIN"], "Volt per cell min", chemistry ) # If no estimation succeeded, all volt per cell values must be invalid diff --git a/ardupilot_methodic_configurator/vehicle_components.py b/ardupilot_methodic_configurator/vehicle_components.py index 34f30628f..02c06c8c9 100644 --- a/ardupilot_methodic_configurator/vehicle_components.py +++ b/ardupilot_methodic_configurator/vehicle_components.py @@ -80,7 +80,10 @@ def translatable_descriptions() -> None: # noqa: PLR0915 # pylint: disable=too- _vehicle_components_descriptions = _("Component that monitors battery voltage and current") _vehicle_components_descriptions = _("Connection type (e.g., UART, I2C, SPI)") _vehicle_components_descriptions = _("Critical voltage per cell below which damage may occur (e.g., 3.3V)") + _vehicle_components_descriptions = _("Data path from flight controller to ESC") _vehicle_components_descriptions = _("Details about how a component connects to the flight controller") + _vehicle_components_descriptions = _("ESC firmware information") + _vehicle_components_descriptions = _("Electronic Speed Controller component with (optional) telemetry") _vehicle_components_descriptions = _("Electronic Speed Controller for the motors") _vehicle_components_descriptions = _("Flight controller component that runs the ArduPilot firmware") _vehicle_components_descriptions = _("Flight controller firmware information") @@ -118,6 +121,7 @@ def translatable_descriptions() -> None: # noqa: PLR0915 # pylint: disable=too- _vehicle_components_descriptions = _("Technical specifications of the motors") _vehicle_components_descriptions = _("Technical specifications of the propellers") _vehicle_components_descriptions = _("Technical specifications of the vehicle frame") + _vehicle_components_descriptions = _("Telemetry path from ESC to flight controller (if applicable)") _vehicle_components_descriptions = _("Transmitter part of the remote control system") _vehicle_components_descriptions = _("Type of firmware") _vehicle_components_descriptions = _("Version number of the firmware") diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/08_batt1.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/08_batt1.param index 8e3c00de3..78dca49c5 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/08_batt1.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/08_batt1.param @@ -12,4 +12,4 @@ BATT_LOW_VOLT,79.2 # Low failsafe voltage x nr. of cells BATT_MONITOR,4 # Selected in component editor window BATT_VOLT_MULT,12.17 MOT_BAT_VOLT_MAX,92.4 # Scale the PIDs up when battery voltage is below this threshold -MOT_BAT_VOLT_MIN,78.1 # Scale the PIDs up when battery voltage is above this threshold +MOT_BAT_VOLT_MIN,67.199 # Scale the PIDs up when battery voltage is above this threshold diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/vehicle_components.json index 65dd272b3..2a160542f 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/vehicle_components.json @@ -60,7 +60,7 @@ "Volt per cell arm": 3.9455, "Volt per cell low": 3.6, "Volt per cell crit": 3.55, - "Volt per cell min": 3.55, + "Volt per cell min": 3.0545, "Number of cells": 22, "Capacity mAh": 30000 }, @@ -77,10 +77,14 @@ "Type": "", "Version": "" }, - "FC Connection": { + "FC->ESC Connection": { "Type": "Main Out", "Protocol": "Normal" }, + "ESC->FC Telemetry": { + "Type": "None", + "Protocol": "None" + }, "Notes": "" }, "Motors": { @@ -119,7 +123,7 @@ "Version": "1.13.2" }, "FC Connection": { - "Type": "SERIAL3", + "Type": "CAN1", "Protocol": "DroneCAN" }, "Notes": "uBlox M8P GNSS with a patch antenna." diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/vehicle_components.json index 8360aef9d..f5af7a112 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/vehicle_components.json @@ -77,10 +77,14 @@ "Type": "hobbywing", "Version": "" }, - "FC Connection": { + "FC->ESC Connection": { "Type": "Main Out", "Protocol": "Normal" }, + "ESC->FC Telemetry": { + "Type": "None", + "Protocol": "None" + }, "Notes": "ESCs are integrated in the motor arm sets" }, "Motors": { diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/08_batt1.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/08_batt1.param index 2ae9608c4..95d7c88aa 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/08_batt1.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/08_batt1.param @@ -12,4 +12,4 @@ BATT_LOW_VOLT,21.6 # Low failsafe voltage x nr. of cells BATT_MONITOR,4 # Selected in component editor window BATT_VOLT_MULT,11 # Use a power source with a voltage close to BATT_LOW_VOLT measure with a calibrated voltimeter and adapt this parameter so that the telemetry voltage reading matches it MOT_BAT_VOLT_MAX,25.2 # Scale the PIDs up when battery voltage is below this threshold -MOT_BAT_VOLT_MIN,21.3 # Scale the PIDs up when battery voltage is above this threshold +MOT_BAT_VOLT_MIN,19.8 # Scale the PIDs up when battery voltage is above this threshold diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/10_gnss.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/10_gnss.param index 8e702101f..33938b3b7 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/10_gnss.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/10_gnss.param @@ -1,5 +1,5 @@ BRD_SAFETY_DEFLT,0 # Matek H743 Slim has no safety switch -GPS_GNSS_MODE,1 # limit the constalations to ensure an update rate higher than 5Hz +GPS_GNSS_MODE,1 # limit the constellations to ensure an update rate higher than 5Hz GPS_POS1_X,0 # GNSS antenna pahse center location relative to CG GPS_POS1_Y,0 # GNSS antenna pahse center location relative to CG GPS_POS1_Z,0 # GNSS antenna pahse center location relative to CG diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/vehicle_components.json index 2adc3b1f7..7a6fd7ea4 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/vehicle_components.json @@ -60,7 +60,7 @@ "Volt per cell arm": 3.9333, "Volt per cell low": 3.6, "Volt per cell crit": 3.55, - "Volt per cell min": 3.55, + "Volt per cell min": 3.3, "Number of cells": 6, "Capacity mAh": 3000 }, @@ -77,10 +77,14 @@ "Type": "BLHeli32", "Version": "32.10" }, - "FC Connection": { + "FC->ESC Connection": { "Type": "Main Out", "Protocol": "DShot600" }, + "ESC->FC Telemetry": { + "Type": "SERIAL5", + "Protocol": "ESC Telemetry" + }, "Notes": "Runs BDshot600 on Main out and uses SERIAL5 as extra connection for low rate telemetry" }, "Motors": { diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/10_gnss.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/10_gnss.param index 8b12f6f4c..40fa706d8 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/10_gnss.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/10_gnss.param @@ -1,4 +1,5 @@ BRD_SAFETY_DEFLT,0 +CAN_D1_PROTOCOL,1 CAN_D1_UC_ESC_BM,65535 CAN_P1_DRIVER,1 COMPASS_ORIENT,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/vehicle_components.json index b224605ca..42a744ce5 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/vehicle_components.json @@ -77,10 +77,14 @@ "Type": "", "Version": "" }, - "FC Connection": { + "FC->ESC Connection": { "Type": "Main Out", "Protocol": "Normal" }, + "ESC->FC Telemetry": { + "Type": "None", + "Protocol": "None" + }, "Notes": "" }, "Motors": { diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/08_batt1.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/08_batt1.param index 7d19eb6cb..5c7c98a3a 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/08_batt1.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/08_batt1.param @@ -10,4 +10,4 @@ BATT_LOW_MAH,900 # trigger low failsafe just below 33% remaining BATT_LOW_VOLT,21 # Low failsafe voltage x nr. of cells BATT_MONITOR,9 # Selected in component editor window MOT_BAT_VOLT_MAX,25.2 # Scale the PIDs up when battery voltage is below this threshold -MOT_BAT_VOLT_MIN,19.2 # Scale the PIDs up when battery voltage is above this threshold +MOT_BAT_VOLT_MIN,19.8 # Scale the PIDs up when battery voltage is above this threshold diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/10_gnss.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/10_gnss.param index 8d5ac5bdd..4b1f0ad93 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/10_gnss.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/10_gnss.param @@ -1,7 +1,7 @@ BRD_SAFETY_DEFLT,0 # do not use safety switch CAN_D1_PROTOCOL,1 # 2nd GPS (Here3) is connected via CAN CAN_P1_DRIVER,1 # Here3 -GPS_GNSS_MODE,7 # limit the constalations to ensure an update rate higher than 5Hz +GPS_GNSS_MODE,7 # limit the constellations to ensure an update rate higher than 5Hz GPS_POS1_X,0 # GNSS antenna pahse center location relative to CG GPS_POS1_Y,0 # GNSS antenna pahse center location relative to CG GPS_POS1_Z,0 # GNSS antenna pahse center location relative to CG diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/vehicle_components.json index fc9718ef1..b514c0afb 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/vehicle_components.json @@ -60,7 +60,7 @@ "Volt per cell arm": 3.5833, "Volt per cell low": 3.5, "Volt per cell crit": 3.2, - "Volt per cell min": 3.2, + "Volt per cell min": 3.3, "Number of cells": 6, "Capacity mAh": 5000 }, @@ -77,7 +77,11 @@ "Type": "FETtec", "Version": "10_224" }, - "FC Connection": { + "FC->ESC Connection": { + "Type": "SERIAL1", + "Protocol": "FETtecOneWire" + }, + "ESC->FC Telemetry": { "Type": "SERIAL1", "Protocol": "FETtecOneWire" }, diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/08_batt1.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/08_batt1.param index 6b920fade..81326488d 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/08_batt1.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/08_batt1.param @@ -1,15 +1,15 @@ BATT_AMP_PERVLT,17 # new calibrated value for Mamba F45_128k 4in1 ESC -BATT_ARM_VOLT,15.7 # Only arm above this voltage, to avoid taking off with insufficient battery capacity +BATT_ARM_VOLT,11.775 # Only arm above this voltage, to avoid taking off with insufficient battery capacity BATT_CAPACITY,1800 # Total battery capacity specified in the component editor BATT_CRT_MAH,0 # When only 450mAh out of the total 1800mAh remain, trigger critical failsafe -BATT_CRT_VOLT,14.2 # Critical failsafe voltage x nr. of cells +BATT_CRT_VOLT,10.65 # Critical failsafe voltage x nr. of cells BATT_FS_CRT_ACT,1 # Land ASAP BATT_FS_LOW_ACT,2 # Return and land at home or rally point BATT_FS_VOLTSRC,0 # Let the firmware handle the nasty business of variable and battery dependent internal resistance BATT_I2C_BUS,0 # Selected in component editor window BATT_LOW_MAH,0 # When only 450mAh out of the total 1800mAh remain, trigger low failsafe -BATT_LOW_VOLT,14.4 # Low failsafe voltage x nr. of cells +BATT_LOW_VOLT,10.8 # Low failsafe voltage x nr. of cells BATT_MONITOR,4 # Selected in component editor window BATT_VOLT_MULT,10.1 # Use a power source with a voltage close to BATT_LOW_VOLT measure with a calibrated voltimeter and adapt this parameter so that the telemetry voltage reading matches it -MOT_BAT_VOLT_MAX,16.8 # Scale the PIDs up when battery voltage is below this threshold -MOT_BAT_VOLT_MIN,14.2 # Scale the PIDs up when battery voltage is above this threshold +MOT_BAT_VOLT_MAX,12.8001 # Scale the PIDs up when battery voltage is below this threshold +MOT_BAT_VOLT_MIN,9.6 # Scale the PIDs up when battery voltage is above this threshold diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/10_gnss.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/10_gnss.param index 7b0ffa42e..2051e061c 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/10_gnss.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/10_gnss.param @@ -1,5 +1,5 @@ BRD_SAFETY_DEFLT,0 # Matek H743 Slim has no safety switch -GPS_GNSS_MODE,7 # limit the constalations to ensure an update rate higher than 5Hz +GPS_GNSS_MODE,7 # limit the constellations to ensure an update rate higher than 5Hz GPS_POS1_X,0.056 # HX-CH7604A GNSS antenna pahse center location relative to CG GPS_POS1_Y,0 # HX-CH7604A GNSS antenna pahse center location relative to CG GPS_POS1_Z,-0.07 # HX-CH7604A GNSS antenna pahse center location relative to CG diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/vehicle_components.json index ee9c7d484..dcfeb835f 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/vehicle_components.json @@ -55,13 +55,13 @@ "URL": "-" }, "Specifications": { - "Chemistry": "Lipo", - "Volt per cell max": 4.2, + "Chemistry": "LipoHV", + "Volt per cell max": 4.2667, "Volt per cell arm": 3.925, "Volt per cell low": 3.6, "Volt per cell crit": 3.55, - "Volt per cell min": 3.55, - "Number of cells": 4, + "Volt per cell min": 3.2, + "Number of cells": 3, "Capacity mAh": 1800 }, "Notes": "A Simulated battery" @@ -77,10 +77,14 @@ "Type": "-", "Version": "-" }, - "FC Connection": { + "FC->ESC Connection": { "Type": "Main Out", "Protocol": "Normal" }, + "ESC->FC Telemetry": { + "Type": "None", + "Protocol": "None" + }, "Notes": "" }, "Motors": { diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/vehicle_components.json index 6901be463..2580b9e1c 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/vehicle_components.json @@ -77,10 +77,14 @@ "Type": "", "Version": "" }, - "FC Connection": { + "FC->ESC Connection": { "Type": "Main Out", "Protocol": "Normal" }, + "ESC->FC Telemetry": { + "Type": "None", + "Protocol": "None" + }, "Notes": "" }, "Motors": { diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/12_mp_setup_mandatory_hardware.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/12_mp_setup_mandatory_hardware.param index 17490b83a..e8e35b6f9 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/12_mp_setup_mandatory_hardware.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/12_mp_setup_mandatory_hardware.param @@ -76,7 +76,7 @@ RC8_TRIM,1000 RC9_MAX,1900 RC9_MIN,1100 RC9_TRIM,1500 -SERVO1_FUNCTION,0 -SERVO2_FUNCTION,0 -SERVO3_FUNCTION,0 -SERVO4_FUNCTION,0 +SERVO1_FUNCTION,33 +SERVO2_FUNCTION,34 +SERVO3_FUNCTION,35 +SERVO4_FUNCTION,36 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/vehicle_components.json index 290403ca5..4f336b0a1 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/vehicle_components.json @@ -77,10 +77,14 @@ "Type": "", "Version": "" }, - "FC Connection": { + "FC->ESC Connection": { "Type": "Main Out", "Protocol": "Normal" }, + "ESC->FC Telemetry": { + "Type": "None", + "Protocol": "None" + }, "Notes": "Main Out connectie want All in one has the current and the pwm modulation for the ESC's" }, "Motors": { diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/06_telemetry.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/06_telemetry.param index 4b8e327e9..4be490683 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/06_telemetry.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/06_telemetry.param @@ -1,2 +1,3 @@ BRD_SER1_RTSCTS,2 # we have no RTS/CTS pins connected, telemetry was working fine already SERIAL1_BAUD,115 # CUAV LTE-Link SE +SERIAL1_PROTOCOL,2 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/vehicle_components.json index 6c4220985..fc2211782 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/vehicle_components.json @@ -77,10 +77,14 @@ "Type": "AM32", "Version": "" }, - "FC Connection": { + "FC->ESC Connection": { "Type": "Main Out", "Protocol": "DShot600" }, + "ESC->FC Telemetry": { + "Type": "Main Out", + "Protocol": "BDShot" + }, "Notes": "" }, "Motors": { diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/08_batt1.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/08_batt1.param index 9f6556b57..71248532b 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/08_batt1.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/08_batt1.param @@ -12,4 +12,4 @@ BATT_LOW_VOLT,50.4 # Low failsafe voltage x nr. of cells BATT_MONITOR,9 # Selected in component editor window BATT_VOLT_MULT,0 # WE DONT HAVE A VOLT METER MOT_BAT_VOLT_MAX,58.8 # Scale the PIDs up when battery voltage is below this threshold -MOT_BAT_VOLT_MIN,49.7 # Scale the PIDs up when battery voltage is above this threshold +MOT_BAT_VOLT_MIN,46.2 # Scale the PIDs up when battery voltage is above this threshold diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/10_gnss.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/10_gnss.param index 0e82e4544..56159321d 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/10_gnss.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/10_gnss.param @@ -1,13 +1,15 @@ BRD_SAFETY_DEFLT,1 # Use a safety switch -GPS_GNSS_MODE,69 # BEST OVER INDIA , AND KEEPING LESS -GPS_POS1_X,0 # HERE4 GPS1 IS ON SAM EAUTOPILOT AXIS +CAN_D2_PROTOCOL,1 +CAN_P2_DRIVER,1 +GPS_GNSS_MODE,69 # BEST OVER INDIA, AND KEEPING LESS +GPS_POS1_X,0 # HERE4 GPS1 IS ON SAME AUTOPILOT AXIS GPS_POS1_Y,0.11 # Here4 GPS1 IS 11 CM RIGHT OF AUTOPILOT AXIS GPS_POS1_Z,-0.05 # Here4 GPS1 IS 5 CM ABOVE OF AUTOPILOT AXIS -GPS_POS2_X,0 # HERE4 GPS2 IS ON SAM EAUTOPILOT AXIS +GPS_POS2_X,0 # HERE4 GPS2 IS ON SAME AUTOPILOT AXIS GPS_POS2_Y,-0.11 # Here4 GPS2 IS 11 CM LEFT OF AUTOPILOT AXIS GPS_POS2_Z,-0.05 # Here4 GPS2 IS 5 CM ABOVE OF AUTOPILOT AXIS GPS_TYPE,9 # Defined in component editor NTF_LED_TYPES,32 # DRONECAN LED -SERIAL3_PROTOCOL,-1 # NO SERIAKL 3 +SERIAL3_PROTOCOL,-1 # NO SERIAL 3 SERIAL4_PROTOCOL,-1 # NO SERIAL 4 -WPNAV_RADIUS,500 # 5 METER RADIUS TO WAYPOINT IS GOOD KEEING INERTIA IN MIND +WPNAV_RADIUS,500 # 5 METER RADIUS TO WAYPOINT IS GOOD KEEPING INERTIA IN MIND diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/vehicle_components.json index eab129b04..73d32f505 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/vehicle_components.json @@ -60,7 +60,7 @@ "Volt per cell arm": 3.9429, "Volt per cell low": 3.6, "Volt per cell crit": 3.55, - "Volt per cell min": 3.55, + "Volt per cell min": 3.3, "Number of cells": 14, "Capacity mAh": 80000 }, @@ -77,10 +77,14 @@ "Type": "", "Version": "" }, - "FC Connection": { + "FC->ESC Connection": { "Type": "Main Out", "Protocol": "Normal" }, + "ESC->FC Telemetry": { + "Type": "None", + "Protocol": "None" + }, "Notes": "" }, "Motors": { diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/08_batt1.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/08_batt1.param index 49e5bf135..da9b1ef27 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/08_batt1.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/08_batt1.param @@ -12,4 +12,4 @@ BATT_LOW_VOLT,50.4 # Low failsafe voltage x nr. of cells BATT_MONITOR,9 # Selected in component editor window BATT_VOLT_MULT,0 # WE TAKE DATA FROM ESC TELEMETRY, so this can stay at 0 MOT_BAT_VOLT_MAX,58.8 # Scale the PIDs up when battery voltage is below this threshold -MOT_BAT_VOLT_MIN,49.7 # Scale the PIDs up when battery voltage is above this threshold +MOT_BAT_VOLT_MIN,46.2 # Scale the PIDs up when battery voltage is above this threshold diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/vehicle_components.json index 8a892609c..953152ce1 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/vehicle_components.json @@ -60,7 +60,7 @@ "Volt per cell arm": 3.9429, "Volt per cell low": 3.6, "Volt per cell crit": 3.55, - "Volt per cell min": 3.55, + "Volt per cell min": 3.3, "Number of cells": 14, "Capacity mAh": 160000 }, @@ -77,10 +77,14 @@ "Type": "", "Version": "" }, - "FC Connection": { + "FC->ESC Connection": { "Type": "Main Out", "Protocol": "Normal" }, + "ESC->FC Telemetry": { + "Type": "None", + "Protocol": "None" + }, "Notes": "https://ardupilot.org/copter/docs/common-hobbywing-dronecan-esc.html" }, "Motors": { diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/08_batt1.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/08_batt1.param index f8550f517..e95e12679 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/08_batt1.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/08_batt1.param @@ -12,4 +12,4 @@ BATT_LOW_VOLT,21.6 # Low failsafe voltage x nr. of cells BATT_MONITOR,4 # Selected in component editor window BATT_VOLT_MULT,11.1 # Use a power source with a voltage close to BATT_LOW_VOLT measure with a calibrated voltimeter and adapt this parameter so that the telemetry voltage reading matches it MOT_BAT_VOLT_MAX,25.2 # Scale the PIDs up when battery voltage is below this threshold -MOT_BAT_VOLT_MIN,21.3 # Scale the PIDs up when battery voltage is above this threshold +MOT_BAT_VOLT_MIN,19.8 # Scale the PIDs up when battery voltage is above this threshold diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/10_gnss.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/10_gnss.param index 869ac9a8f..c1f5c20aa 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/10_gnss.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/10_gnss.param @@ -1,5 +1,5 @@ BRD_SAFETY_DEFLT,0 # Matek H743 Slim has no safety switch -GPS_GNSS_MODE,5 # limit the constalations to ensure an update rate higher than 5Hz +GPS_GNSS_MODE,5 # limit the constellations to ensure an update rate higher than 5Hz GPS_POS1_X,0 # GNSS antenna pahse center location relative to CG GPS_POS1_Y,0 # GNSS antenna pahse center location relative to CG GPS_POS1_Z,0 # GNSS antenna pahse center location relative to CG diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/vehicle_components.json index 250dc14e2..282c01023 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/vehicle_components.json @@ -60,7 +60,7 @@ "Volt per cell arm": 3.9333, "Volt per cell low": 3.6, "Volt per cell crit": 3.55, - "Volt per cell min": 3.55, + "Volt per cell min": 3.3, "Number of cells": 6, "Capacity mAh": 1400 }, @@ -77,11 +77,15 @@ "Type": "BLHeli32", "Version": "32.10" }, - "FC Connection": { + "FC->ESC Connection": { "Type": "Main Out", "Protocol": "DShot600" }, - "Notes": "Runs BDshot600 on Main out and uses SERIAL6 as extra connection for low rate telemetry" + "ESC->FC Telemetry": { + "Type": "Main Out", + "Protocol": "BDShot" + }, + "Notes": "Runs BDshot600 on Main out and no serial telemetry backup channel" }, "Motors": { "Product": { diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/08_batt1.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/08_batt1.param index b6724e3f5..b257663fd 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/08_batt1.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/08_batt1.param @@ -12,4 +12,4 @@ BATT_LOW_VOLT,21.6 # Low failsafe voltage x nr. of cells BATT_MONITOR,4 # Selected in component editor window BATT_VOLT_MULT,18.97948 # measured/calibrated MOT_BAT_VOLT_MAX,26.1 # Scale the PIDs up when battery voltage is below this threshold -MOT_BAT_VOLT_MIN,21.3 # Scale the PIDs up when battery voltage is above this threshold +MOT_BAT_VOLT_MIN,19.8 # Scale the PIDs up when battery voltage is above this threshold diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/10_gnss.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/10_gnss.param index 9221f38a8..3e8ac0088 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/10_gnss.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/10_gnss.param @@ -1,7 +1,7 @@ BRD_SAFETY_DEFLT,0 # do not use safety switch CAN_D1_PROTOCOL,1 # Here3 CAN_P1_DRIVER,1 # Here3 -GPS_GNSS_MODE,7 # limit the constalations to ensure an update rate higher than 5Hz +GPS_GNSS_MODE,7 # limit the constellations to ensure an update rate higher than 5Hz GPS_POS1_X,0 # GNSS antenna pahse center location relative to CG GPS_POS1_Y,0 # GNSS antenna pahse center location relative to CG GPS_POS1_Z,0 # GNSS antenna pahse center location relative to CG diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/vehicle_components.json index 9063d102a..704dfd8fb 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/vehicle_components.json @@ -60,7 +60,7 @@ "Volt per cell arm": 3.9333, "Volt per cell low": 3.6, "Volt per cell crit": 3.55, - "Volt per cell min": 3.55, + "Volt per cell min": 3.3, "Number of cells": 6, "Capacity mAh": 6500 }, @@ -77,10 +77,14 @@ "Type": "BLHeli32", "Version": "32.10" }, - "FC Connection": { + "FC->ESC Connection": { "Type": "AIO", "Protocol": "DShot600" }, + "ESC->FC Telemetry": { + "Type": "SERIAL3", + "Protocol": "ESC Telemetry" + }, "Notes": "Runs BDshot600 on AIO and uses SERIAL3 as extra connection for low rate telemetry" }, "Motors": { @@ -180,7 +184,7 @@ }, "FC Connection": { "Type": "SERIAL1", - "Protocol": "MAVLink High Latency" + "Protocol": "MAVLink2" }, "Notes": "" } diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/vehicle_components.json index 58ccc59e4..e3dd3c79c 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/vehicle_components.json @@ -77,10 +77,14 @@ "Type": "BlueJay", "Version": "21.0" }, - "FC Connection": { + "FC->ESC Connection": { "Type": "Main Out", "Protocol": "DShot600" }, + "ESC->FC Telemetry": { + "Type": "SERIAL7", + "Protocol": "ESC Telemetry" + }, "Notes": "Runs BDshot600 on Main out, One of two 4-in-1 ESCs, the other being a RuiBet 55A, this is the one used for Voltage and Current measurements. \"If you are still on 0.20.0, please upgrade to version 0.21.0 - there have been issues with stall detection and motor protection which might result in broken ESCs and/or motors\"" }, "Motors": { diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/vehicle_components.json index 8c3af5274..5d5b2e37b 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/vehicle_components.json @@ -77,10 +77,14 @@ "Type": "T-Motor", "Version": "" }, - "FC Connection": { + "FC->ESC Connection": { "Type": "Main Out", "Protocol": "Normal" }, + "ESC->FC Telemetry": { + "Type": "None", + "Protocol": "None" + }, "Notes": "ESCs are integrated in the motor arm sets" }, "Motors": { @@ -179,7 +183,7 @@ "Version": "1.0" }, "FC Connection": { - "Type": "SERIAL1", + "Type": "SERIAL2", "Protocol": "MAVLink2" }, "Notes": "A cheap ESP Now based alternative to the more commonly used 3DR and RFDesigns telemetry modems. Custom developed firmware." diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/08_batt1.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/08_batt1.param index 5aebe6c9a..f4d1d89dd 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/08_batt1.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/08_batt1.param @@ -11,5 +11,5 @@ BATT_LOW_MAH,0 # No capacity based failsafes, too unreliable BATT_LOW_VOLT,21.6 # Low failsafe voltage x nr. of cells BATT_MONITOR,4 # Selected in component editor window BATT_VOLT_MULT,12.1 -MOT_BAT_VOLT_MAX,25.2 # Scale the PIDs up when battery voltage is below this threshold -MOT_BAT_VOLT_MIN,21.3 # Scale the PIDs up when battery voltage is above this threshold +MOT_BAT_VOLT_MAX,26.1 # Scale the PIDs up when battery voltage is below this threshold +MOT_BAT_VOLT_MIN,19.8 # Scale the PIDs up when battery voltage is above this threshold diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/vehicle_components.json index 6ede6250f..34de75424 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/vehicle_components.json @@ -56,11 +56,11 @@ }, "Specifications": { "Chemistry": "LipoHV", - "Volt per cell max": 4.2, + "Volt per cell max": 4.35, "Volt per cell arm": 3.9333, "Volt per cell low": 3.6, "Volt per cell crit": 3.55, - "Volt per cell min": 3.55, + "Volt per cell min": 3.3, "Number of cells": 6, "Capacity mAh": 30000 }, @@ -77,10 +77,14 @@ "Type": "", "Version": "" }, - "FC Connection": { + "FC->ESC Connection": { "Type": "Main Out", "Protocol": "Normal" }, + "ESC->FC Telemetry": { + "Type": "None", + "Protocol": "None" + }, "Notes": "" }, "Motors": { diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.3.8-params/08_batt1.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.3.8-params/08_batt1.param index e28312eb0..8a8997f9c 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.3.8-params/08_batt1.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.3.8-params/08_batt1.param @@ -12,4 +12,4 @@ BATT_LOW_VOLT,14.4 # Low failsafe voltage x nr. of cells BATT_MONITOR,4 # Selected in component editor window BATT_VOLT_MULT,10.985 # Use a power source with a voltage close to BATT_LOW_VOLT measure with a calibrated voltimeter and adapt this parameter so that the telemetry voltage reading matches it MOT_BAT_VOLT_MAX,16.8 # Scale the PIDs up when battery voltage is below this threshold -MOT_BAT_VOLT_MIN,14.2 # Scale the PIDs up when battery voltage is above this threshold +MOT_BAT_VOLT_MIN,13.2 # Scale the PIDs up when battery voltage is above this threshold diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.3.8-params/10_gnss.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.3.8-params/10_gnss.param index 623f332a7..bebff73c4 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.3.8-params/10_gnss.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.3.8-params/10_gnss.param @@ -1,5 +1,5 @@ BRD_SAFETY_DEFLT,0 # Matek H743 Slim has no safety switch -GPS_GNSS_MODE,7 # limit the constalations to ensure an update rate higher than 5Hz +GPS_GNSS_MODE,7 # limit the constellations to ensure an update rate higher than 5Hz GPS_POS1_X,0.056 # HX-CH7604A GNSS antenna pahse center location relative to CG GPS_POS1_Y,0 # HX-CH7604A GNSS antenna pahse center location relative to CG GPS_POS1_Z,-0.07 # HX-CH7604A GNSS antenna pahse center location relative to CG diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.3.8-params/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.3.8-params/vehicle_components.json index 2143a6f42..2d80f534e 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.3.8-params/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.3.8-params/vehicle_components.json @@ -60,7 +60,7 @@ "Volt per cell arm": 3.925, "Volt per cell low": 3.6, "Volt per cell crit": 3.55, - "Volt per cell min": 3.55, + "Volt per cell min": 3.3, "Number of cells": 4, "Capacity mAh": 1800 }, @@ -77,10 +77,14 @@ "Type": "BLHeli32", "Version": "32.10" }, - "FC Connection": { + "FC->ESC Connection": { "Type": "Main Out", "Protocol": "DShot600" }, + "ESC->FC Telemetry": { + "Type": "SERIAL5", + "Protocol": "ESC Telemetry" + }, "Notes": "Runs BDshot600 on Main out and uses SERIAL5 as extra connection for low rate telemetry" }, "Motors": { diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/08_batt1.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/08_batt1.param index e28312eb0..8a8997f9c 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/08_batt1.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/08_batt1.param @@ -12,4 +12,4 @@ BATT_LOW_VOLT,14.4 # Low failsafe voltage x nr. of cells BATT_MONITOR,4 # Selected in component editor window BATT_VOLT_MULT,10.985 # Use a power source with a voltage close to BATT_LOW_VOLT measure with a calibrated voltimeter and adapt this parameter so that the telemetry voltage reading matches it MOT_BAT_VOLT_MAX,16.8 # Scale the PIDs up when battery voltage is below this threshold -MOT_BAT_VOLT_MIN,14.2 # Scale the PIDs up when battery voltage is above this threshold +MOT_BAT_VOLT_MIN,13.2 # Scale the PIDs up when battery voltage is above this threshold diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/10_gnss.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/10_gnss.param index 623f332a7..bebff73c4 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/10_gnss.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/10_gnss.param @@ -1,5 +1,5 @@ BRD_SAFETY_DEFLT,0 # Matek H743 Slim has no safety switch -GPS_GNSS_MODE,7 # limit the constalations to ensure an update rate higher than 5Hz +GPS_GNSS_MODE,7 # limit the constellations to ensure an update rate higher than 5Hz GPS_POS1_X,0.056 # HX-CH7604A GNSS antenna pahse center location relative to CG GPS_POS1_Y,0 # HX-CH7604A GNSS antenna pahse center location relative to CG GPS_POS1_Z,-0.07 # HX-CH7604A GNSS antenna pahse center location relative to CG diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/vehicle_components.json index f931db4fa..8d49a22f9 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/vehicle_components.json @@ -60,7 +60,7 @@ "Volt per cell arm": 3.925, "Volt per cell low": 3.6, "Volt per cell crit": 3.55, - "Volt per cell min": 3.55, + "Volt per cell min": 3.3, "Number of cells": 4, "Capacity mAh": 1800 }, @@ -77,10 +77,14 @@ "Type": "BLHeli32", "Version": "32.10" }, - "FC Connection": { + "FC->ESC Connection": { "Type": "Main Out", "Protocol": "DShot600" }, + "ESC->FC Telemetry": { + "Type": "SERIAL5", + "Protocol": "ESC Telemetry" + }, "Notes": "Runs BDshot600 on Main out and uses SERIAL5 as extra connection for low rate telemetry" }, "Motors": { diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/08_batt1.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/08_batt1.param index e28312eb0..8a8997f9c 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/08_batt1.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/08_batt1.param @@ -12,4 +12,4 @@ BATT_LOW_VOLT,14.4 # Low failsafe voltage x nr. of cells BATT_MONITOR,4 # Selected in component editor window BATT_VOLT_MULT,10.985 # Use a power source with a voltage close to BATT_LOW_VOLT measure with a calibrated voltimeter and adapt this parameter so that the telemetry voltage reading matches it MOT_BAT_VOLT_MAX,16.8 # Scale the PIDs up when battery voltage is below this threshold -MOT_BAT_VOLT_MIN,14.2 # Scale the PIDs up when battery voltage is above this threshold +MOT_BAT_VOLT_MIN,13.2 # Scale the PIDs up when battery voltage is above this threshold diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/10_gnss.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/10_gnss.param index 623f332a7..bebff73c4 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/10_gnss.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/10_gnss.param @@ -1,5 +1,5 @@ BRD_SAFETY_DEFLT,0 # Matek H743 Slim has no safety switch -GPS_GNSS_MODE,7 # limit the constalations to ensure an update rate higher than 5Hz +GPS_GNSS_MODE,7 # limit the constellations to ensure an update rate higher than 5Hz GPS_POS1_X,0.056 # HX-CH7604A GNSS antenna pahse center location relative to CG GPS_POS1_Y,0 # HX-CH7604A GNSS antenna pahse center location relative to CG GPS_POS1_Z,-0.07 # HX-CH7604A GNSS antenna pahse center location relative to CG diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/vehicle_components.json index 33d04f476..b2e6c99db 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/vehicle_components.json @@ -60,7 +60,7 @@ "Volt per cell arm": 3.925, "Volt per cell low": 3.6, "Volt per cell crit": 3.55, - "Volt per cell min": 3.55, + "Volt per cell min": 3.3, "Number of cells": 4, "Capacity mAh": 1800 }, @@ -77,10 +77,14 @@ "Type": "BLHeli32", "Version": "32.10" }, - "FC Connection": { + "FC->ESC Connection": { "Type": "Main Out", "Protocol": "DShot600" }, + "ESC->FC Telemetry": { + "Type": "SERIAL5", + "Protocol": "ESC Telemetry" + }, "Notes": "Runs BDshot600 on Main out and uses SERIAL5 as extra connection for low rate telemetry" }, "Motors": { diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.6.x-params/08_batt1.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.6.x-params/08_batt1.param index e28312eb0..8a8997f9c 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.6.x-params/08_batt1.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.6.x-params/08_batt1.param @@ -12,4 +12,4 @@ BATT_LOW_VOLT,14.4 # Low failsafe voltage x nr. of cells BATT_MONITOR,4 # Selected in component editor window BATT_VOLT_MULT,10.985 # Use a power source with a voltage close to BATT_LOW_VOLT measure with a calibrated voltimeter and adapt this parameter so that the telemetry voltage reading matches it MOT_BAT_VOLT_MAX,16.8 # Scale the PIDs up when battery voltage is below this threshold -MOT_BAT_VOLT_MIN,14.2 # Scale the PIDs up when battery voltage is above this threshold +MOT_BAT_VOLT_MIN,13.2 # Scale the PIDs up when battery voltage is above this threshold diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.6.x-params/10_gnss.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.6.x-params/10_gnss.param index 623f332a7..bebff73c4 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.6.x-params/10_gnss.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.6.x-params/10_gnss.param @@ -1,5 +1,5 @@ BRD_SAFETY_DEFLT,0 # Matek H743 Slim has no safety switch -GPS_GNSS_MODE,7 # limit the constalations to ensure an update rate higher than 5Hz +GPS_GNSS_MODE,7 # limit the constellations to ensure an update rate higher than 5Hz GPS_POS1_X,0.056 # HX-CH7604A GNSS antenna pahse center location relative to CG GPS_POS1_Y,0 # HX-CH7604A GNSS antenna pahse center location relative to CG GPS_POS1_Z,-0.07 # HX-CH7604A GNSS antenna pahse center location relative to CG diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.6.x-params/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.6.x-params/vehicle_components.json index 4c2490354..461047877 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.6.x-params/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.6.x-params/vehicle_components.json @@ -60,7 +60,7 @@ "Volt per cell arm": 3.925, "Volt per cell low": 3.6, "Volt per cell crit": 3.55, - "Volt per cell min": 3.55, + "Volt per cell min": 3.3, "Number of cells": 4, "Capacity mAh": 1800 }, @@ -77,10 +77,14 @@ "Type": "BLHeli32", "Version": "32.10" }, - "FC Connection": { + "FC->ESC Connection": { "Type": "Main Out", "Protocol": "DShot600" }, + "ESC->FC Telemetry": { + "Type": "SERIAL5", + "Protocol": "ESC Telemetry" + }, "Notes": "Runs BDshot600 on Main out and uses SERIAL5 as extra connection for low rate telemetry" }, "Motors": { diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/08_batt1.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/08_batt1.param index 2c1353b3c..fee1109f2 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/08_batt1.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/08_batt1.param @@ -1,15 +1,15 @@ BATT_AMP_PERVLT,0 -BATT_ARM_VOLT,55.2 +BATT_ARM_VOLT,0 BATT_CAPACITY,0 BATT_CRT_MAH,0 -BATT_CRT_VOLT,49.7 +BATT_CRT_VOLT,0 BATT_FS_CRT_ACT,1 BATT_FS_LOW_ACT,2 BATT_FS_VOLTSRC,0 BATT_I2C_BUS,0 BATT_LOW_MAH,0 -BATT_LOW_VOLT,50.4 -BATT_MONITOR,0 +BATT_LOW_VOLT,0 +BATT_MONITOR,0 # Selected in component editor window BATT_VOLT_MULT,0 MOT_BAT_VOLT_MAX,0 # Scale the PIDs up when battery voltage is below this threshold MOT_BAT_VOLT_MIN,0 # Scale the PIDs up when battery voltage is above this threshold diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/53_everyday_use.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/53_everyday_use.param index ba44f1aa3..53169502d 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/53_everyday_use.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/53_everyday_use.param @@ -1,6 +1,5 @@ ATC_THR_MIX_MAX,0.5 BATT_FS_LOW_ACT,2 -BATT2_FS_LOW_ACT,2 LOG_BITMASK,176126 MIS_OPTIONS,0 RTL_ALT,1500 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/vehicle_components.json index 707759554..09ddc92ef 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/vehicle_components.json @@ -43,7 +43,7 @@ }, "FC Connection": { "Type": "None", - "Protocol": "None" + "Protocol": "Disabled" }, "Notes": "" }, @@ -56,11 +56,11 @@ }, "Specifications": { "Chemistry": "Lipo", - "Volt per cell max": 4.2, - "Volt per cell arm": 3.8, - "Volt per cell low": 3.6, - "Volt per cell crit": 3.55, - "Volt per cell min": 3.2, + "Volt per cell max": 0.0, + "Volt per cell arm": 0.0, + "Volt per cell low": 0.0, + "Volt per cell crit": 0.0, + "Volt per cell min": 0.0, "Number of cells": 0, "Capacity mAh": 0 }, @@ -77,10 +77,14 @@ "Type": "", "Version": "" }, - "FC Connection": { + "FC->ESC Connection": { "Type": "Main Out", "Protocol": "Normal" }, + "ESC->FC Telemetry": { + "Type": "None", + "Protocol": "None" + }, "Notes": "" }, "Motors": { diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/08_batt1.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/08_batt1.param index d40c8a5d2..fee1109f2 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/08_batt1.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/08_batt1.param @@ -1,14 +1,14 @@ BATT_AMP_PERVLT,0 -BATT_ARM_VOLT,55.2 +BATT_ARM_VOLT,0 BATT_CAPACITY,0 BATT_CRT_MAH,0 -BATT_CRT_VOLT,49.7 +BATT_CRT_VOLT,0 BATT_FS_CRT_ACT,1 BATT_FS_LOW_ACT,2 BATT_FS_VOLTSRC,0 BATT_I2C_BUS,0 BATT_LOW_MAH,0 -BATT_LOW_VOLT,50.4 +BATT_LOW_VOLT,0 BATT_MONITOR,0 # Selected in component editor window BATT_VOLT_MULT,0 MOT_BAT_VOLT_MAX,0 # Scale the PIDs up when battery voltage is below this threshold diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/53_everyday_use.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/53_everyday_use.param index ba44f1aa3..53169502d 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/53_everyday_use.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/53_everyday_use.param @@ -1,6 +1,5 @@ ATC_THR_MIX_MAX,0.5 BATT_FS_LOW_ACT,2 -BATT2_FS_LOW_ACT,2 LOG_BITMASK,176126 MIS_OPTIONS,0 RTL_ALT,1500 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/vehicle_components.json index 1eeae4351..5371f8626 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/vehicle_components.json @@ -56,11 +56,11 @@ }, "Specifications": { "Chemistry": "Lipo", - "Volt per cell max": 4.2, - "Volt per cell arm": 3.8, - "Volt per cell low": 3.6, - "Volt per cell crit": 3.55, - "Volt per cell min": 3.2, + "Volt per cell max": 0.0, + "Volt per cell arm": 0.0, + "Volt per cell low": 0.0, + "Volt per cell crit": 0.0, + "Volt per cell min": 0.0, "Number of cells": 0, "Capacity mAh": 0 }, @@ -77,10 +77,14 @@ "Type": "", "Version": "" }, - "FC Connection": { + "FC->ESC Connection": { "Type": "Main Out", "Protocol": "Normal" }, + "ESC->FC Telemetry": { + "Type": "None", + "Protocol": "None" + }, "Notes": "" }, "Motors": { diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/normal_plane/10_gnss.param b/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/normal_plane/10_gnss.param index 372756d7e..ab66937c3 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/normal_plane/10_gnss.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/normal_plane/10_gnss.param @@ -4,4 +4,4 @@ GPS_POS1_X,0 GPS_POS1_Y,0 GPS_POS1_Z,0 GPS_TYPE,1 # Defined in component editor -SERIAL3_PROTOCOL,-1 +SERIAL3_PROTOCOL,5 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/normal_plane/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/normal_plane/vehicle_components.json index 597e3df08..cf29a4c50 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/normal_plane/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/normal_plane/vehicle_components.json @@ -77,10 +77,14 @@ "Type": "", "Version": "" }, - "FC Connection": { + "FC->ESC Connection": { "Type": "Main Out", "Protocol": "Normal" }, + "ESC->FC Telemetry": { + "Type": "None", + "Protocol": "None" + }, "Notes": "" }, "Motors": { diff --git a/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/vehicle_components.json index 4e2383173..f4167ce96 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/vehicle_components.json @@ -5,8 +5,8 @@ "Product": { "Manufacturer": "Holybro", "Model": "Pixhawk 6C Mini", - "URL": "https://holybro.com/products/pixhawk-6c-mini?srsltid=AfmBOoowEp_mRvPFxB3wvUi1Cu8wFLKFyPu3hLwfmDt5JQGUxbdnTtqr", - "Version": "1.0" + "Version": "1.0", + "URL": "https://holybro.com/products/pixhawk-6c-mini?srsltid=AfmBOoowEp_mRvPFxB3wvUi1Cu8wFLKFyPu3hLwfmDt5JQGUxbdnTtqr" }, "Firmware": { "Type": "Heli", @@ -21,8 +21,8 @@ "Product": { "Manufacturer": "OMP", "Model": "M4", - "URL": "https://www.omphobby.com/OMPHOBBY-M4-RC-Helicopter-p3639115.html", - "Version": "Base" + "Version": "Base", + "URL": "https://www.omphobby.com/OMPHOBBY-M4-RC-Helicopter-p3639115.html" }, "Specifications": { "TOW min Kg": 1, @@ -30,72 +30,12 @@ }, "Notes": "This was done with the Basic M4 Combo kit, not the max" }, - "RC Controller": { - "Product": { - "Manufacturer": "Radiomaster", - "Model": "TX16S", - "URL": "https://www.radiomasterrc.com/products/tx16s-mark-ii-radio-controller", - "Version": "Max" - }, - "Firmware": { - "Type": "EdgeTX", - "Version": "2.10" - }, - "Notes": "External TBS Module" - }, - "RC Transmitter": { - "Product": { - "Manufacturer": "TBS", - "Model": "Crossfire Micro TX ", - "URL": "https://www.team-blacksheep.com/products/prod:crossfire_micro_tx", - "Version": "V2" - }, - "Firmware": { - "Type": "Crossfire", - "Version": "6.36" - }, - "Notes": "External on TX16S" - }, - "RC Receiver": { - "Product": { - "Manufacturer": "TBS", - "Model": "Crossfire Nano", - "URL": "https://www.team-blacksheep.com/products/prod:crossfire_nano_se", - "Version": "" - }, - "Firmware": { - "Type": "Crossfire", - "Version": "6.36" - }, - "FC Connection": { - "Type": "SERIAL1", - "Protocol": "All" - }, - "Notes": "This receiver is on the vehicle and is connected to the flight controller" - }, - "Telemetry": { - "Product": { - "Manufacturer": "", - "Model": "", - "URL": "", - "Version": "" - }, - "Firmware": { - "Type": "", - "Version": "" - }, - "FC Connection": { - "Type": "SERIAL2", - "Protocol": "MAVLink2" - }, - "Notes": "No telemetry installed." - }, "Battery Monitor": { "Product": { "Manufacturer": "Holybro", "Model": "PMO2 V3", - "URL": "https://holybro.com/collections/power-modules-pdbs/products/pm02-v3-12s-power-module", - "Version": "" + "Version": "", + "URL": "https://holybro.com/collections/power-modules-pdbs/products/pm02-v3-12s-power-module" }, "Firmware": { "Type": "", @@ -111,14 +51,16 @@ "Product": { "Manufacturer": "OMP", "Model": "6S - 2000 mAh", - "URL": "https://www.omphobby.com/OMPHOBBY-M4-Helicopter-6S-2000mAh-HV-Battery-For-M4-M4-Max-OSHM4049-p3669457.html", - "Version": "OSHM4049" + "Version": "OSHM4049", + "URL": "https://www.omphobby.com/OMPHOBBY-M4-Helicopter-6S-2000mAh-HV-Battery-For-M4-M4-Max-OSHM4049-p3669457.html" }, "Specifications": { "Chemistry": "LipoHV", "Volt per cell max": 4.35, + "Volt per cell arm": 3.9833, "Volt per cell low": 3.7, "Volt per cell crit": 3.6, + "Volt per cell min": 3.3, "Number of cells": 6, "Capacity mAh": 2000 }, @@ -128,25 +70,29 @@ "Product": { "Manufacturer": "OMP", "Model": "65A Heli ESC", - "URL": "https://www.omphobby.com/OMPHOBBY-M4-Helicopter-65A-ESC-OSHM4050-p3669459.html", - "Version": "OSHM4050" + "Version": "OSHM4050", + "URL": "https://www.omphobby.com/OMPHOBBY-M4-Helicopter-65A-ESC-OSHM4050-p3669459.html" }, "Firmware": { "Type": "", "Version": "" }, - "FC Connection": { + "FC->ESC Connection": { "Type": "Main Out", "Protocol": "Normal" }, + "ESC->FC Telemetry": { + "Type": "None", + "Protocol": "None" + }, "Notes": "" }, "Motors": { "Product": { "Manufacturer": "OMP", "Model": "8108 Motor", - "URL": "https://www.omphobby.com/OMPHOBBY-M4-Helicopter-8108-Motor-OSHM4024-p3668886.html", - "Version": "OSHM4024" + "Version": "OSHM4024", + "URL": "https://www.omphobby.com/OMPHOBBY-M4-Helicopter-8108-Motor-OSHM4024-p3668886.html" }, "Specifications": { "Poles": 42 @@ -157,8 +103,8 @@ "Product": { "Manufacturer": "OMP", "Model": "385mm", - "URL": "https://www.omphobby.com/OMPHOBBY-M4-Helicopter-385mm-Main-blade-OSHM4046-p3669412.html", - "Version": "OSHM4046" + "Version": "OSHM4046", + "URL": "https://www.omphobby.com/OMPHOBBY-M4-Helicopter-385mm-Main-blade-OSHM4046-p3669412.html" }, "Specifications": { "Diameter_inches": 34 @@ -169,8 +115,8 @@ "Product": { "Manufacturer": "Holybro", "Model": "Micro M10", - "URL": "https://holybro.com/collections/standard-gps-module/products/micro-m10-m9n-gps", - "Version": "With Case" + "Version": "With Case", + "URL": "https://holybro.com/collections/standard-gps-module/products/micro-m10-m9n-gps" }, "Firmware": { "Type": "UBlox", @@ -181,7 +127,67 @@ "Protocol": "AUTO" }, "Notes": "Installed on the tail boom. " + }, + "RC Controller": { + "Product": { + "Manufacturer": "Radiomaster", + "Model": "TX16S", + "Version": "Max", + "URL": "https://www.radiomasterrc.com/products/tx16s-mark-ii-radio-controller" + }, + "Firmware": { + "Type": "EdgeTX", + "Version": "2.10" + }, + "Notes": "External TBS Module" + }, + "RC Transmitter": { + "Product": { + "Manufacturer": "TBS", + "Model": "Crossfire Micro TX ", + "Version": "V2", + "URL": "https://www.team-blacksheep.com/products/prod:crossfire_micro_tx" + }, + "Firmware": { + "Type": "Crossfire", + "Version": "6.36" + }, + "Notes": "External on TX16S" + }, + "RC Receiver": { + "Product": { + "Manufacturer": "TBS", + "Model": "Crossfire Nano", + "Version": "", + "URL": "https://www.team-blacksheep.com/products/prod:crossfire_nano_se" + }, + "Firmware": { + "Type": "Crossfire", + "Version": "6.36" + }, + "FC Connection": { + "Type": "SERIAL1", + "Protocol": "All" + }, + "Notes": "This receiver is on the vehicle and is connected to the flight controller" + }, + "Telemetry": { + "Product": { + "Manufacturer": "", + "Model": "", + "Version": "", + "URL": "" + }, + "Firmware": { + "Type": "", + "Version": "" + }, + "FC Connection": { + "Type": "SERIAL7", + "Protocol": "MAVLink2" + }, + "Notes": "No telemetry installed." } }, - "Program version": "2.0.1" + "Program version": "2.11.0" } diff --git a/ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/08_batt1.param b/ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/08_batt1.param index e1419d661..19124c570 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/08_batt1.param +++ b/ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/08_batt1.param @@ -1,14 +1,14 @@ BATT_AMP_PERVLT,17 -BATT_ARM_VOLT,15.7 # Do not allow arming below this voltage +BATT_ARM_VOLT,15.7 # Only arm above this voltage, to avoid taking off with insufficient battery capacity BATT_CAPACITY,5200 # Total battery capacity specified in the component editor BATT_CRT_MAH,0 -BATT_CRT_VOLT,14.2 # (Critical voltage + 0.0) x no. of cells +BATT_CRT_VOLT,14.2 # Critical failsafe voltage x nr. of cells BATT_FS_CRT_ACT,1 # Land ASAP BATT_FS_LOW_ACT,2 # Return and land at home or rally point BATT_FS_VOLTSRC,1 # Let the firmware handle the nasty business of variable and battery dependent internal resistance BATT_I2C_BUS,0 # Selected in component editor window BATT_LOW_MAH,0 -BATT_LOW_VOLT,14.4 # (Low voltage + 0.0) x no. of cells +BATT_LOW_VOLT,14.4 # Low failsafe voltage x nr. of cells BATT_MONITOR,5 # Selected in component editor window BATT_VOLT_MULT,10.1 # Use a power source with a voltage close to BATT_LOW_VOLT measure with a calibrated voltimeter and adapt this parameter so that the telemetry voltage reading matches it MOT_BAT_VOLT_MAX,16.8 # (Max voltage + 0.0) x no. of cells diff --git a/ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/10_gnss.param b/ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/10_gnss.param index 55fe6791a..0ec862c1c 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/10_gnss.param +++ b/ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/10_gnss.param @@ -1,7 +1,8 @@ BRD_SAFETY_DEFLT,0 # Here4 has no safety switch +CAN_D1_PROTOCOL,1 CAN_P1_DRIVER,1 GPS_AUTO_SWITCH,2 # Randy I do not understand why this, there is only one GNSS receiver -GPS_GNSS_MODE,0 # limit the constalations to ensure an update rate higher than 5Hz +GPS_GNSS_MODE,0 # limit the constellations to ensure an update rate higher than 5Hz GPS_POS1_X,0 GPS_POS1_Y,0 GPS_POS1_Z,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/vehicle_components.json index 3383ba4e1..c97382b1b 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/vehicle_components.json @@ -42,7 +42,7 @@ "Version": "" }, "FC Connection": { - "Type": "Analog", + "Type": "I2C1", "Protocol": "Solo" }, "Notes": "" @@ -60,7 +60,7 @@ "Volt per cell arm": 3.925, "Volt per cell low": 3.6, "Volt per cell crit": 3.55, - "Volt per cell min": 3.55, + "Volt per cell min": 3.3, "Number of cells": 4, "Capacity mAh": 5200 }, @@ -77,10 +77,14 @@ "Type": "", "Version": "" }, - "FC Connection": { + "FC->ESC Connection": { "Type": "Main Out", "Protocol": "Normal" }, + "ESC->FC Telemetry": { + "Type": "None", + "Protocol": "None" + }, "Notes": "Randy I need your help on this" }, "Motors": { diff --git a/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/06_telemetry.param b/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/06_telemetry.param index 301f8213e..ec65dc935 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/06_telemetry.param +++ b/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/06_telemetry.param @@ -1,7 +1,5 @@ -BRD_SER1_RTSCTS,0 -SERIAL1_BAUD,115 -SERIAL1_OPTIONS,0 -SERIAL1_PROTOCOL,13 +SERIAL4_BAUD,57 +SERIAL4_PROTOCOL,2 SR0_EXT_STAT,2 SR0_EXTRA1,4 SR0_EXTRA2,4 @@ -9,9 +7,3 @@ SR0_EXTRA3,2 SR0_POSITION,2 SR0_RAW_SENS,2 SR0_RC_CHAN,2 -SR1_EXTRA1,1 -SR1_EXTRA2,1 -SR1_EXTRA3,1 -SR1_POSITION,1 -SR1_RAW_SENS,1 -SR1_RC_CHAN,1 diff --git a/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/08_batt1.param b/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/08_batt1.param index 7c2837538..1294712c3 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/08_batt1.param +++ b/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/08_batt1.param @@ -1,14 +1,28 @@ BATT_AMP_PERVLT,40 -BATT_ARM_VOLT,8.9 # Do not allow arming below this voltage +BATT_ARM_VOLT,7.5 # Only arm above this voltage, to avoid taking off with insufficient battery capacity BATT_CAPACITY,1400 # Total battery capacity specified in the component editor BATT_CRT_MAH,0 -BATT_CRT_VOLT,6.6 # (Critical voltage + 0.0) x no. of cells +BATT_CRT_VOLT,6.55 # Critical failsafe voltage x nr. of cells BATT_FS_CRT_ACT,1 # Land ASAP BATT_FS_LOW_ACT,2 # Return and land at home or rally point BATT_FS_VOLTSRC,0 BATT_LOW_MAH,0 -BATT_LOW_VOLT,7.2 # (Low voltage + 0.0) x no. of cells +BATT_LOW_VOLT,6.7 # Low failsafe voltage x nr. of cells BATT_MONITOR,4 # Selected in component editor window BATT_VOLT_MULT,11 -MOT_BAT_VOLT_MAX,9.2 +BATT2_AMP_PERVLT,17.73 +BATT2_ARM_VOLT,15 +BATT2_CAPACITY,1800 +BATT2_CRT_MAH,450 +BATT2_CRT_VOLT,14 +BATT2_CURR_PIN,7 +BATT2_FS_CRT_ACT,1 +BATT2_FS_LOW_ACT,1 +BATT2_FS_VOLTSRC,1 +BATT2_LOW_MAH,600 +BATT2_LOW_VOLT,14.4 +BATT2_MONITOR,0 +BATT2_VOLT_MULT,228.342 +BATT2_VOLT_PIN,18 +MOT_BAT_VOLT_MAX,8.4 MOT_BAT_VOLT_MIN,6.5 diff --git a/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/09_batt2.param b/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/09_batt2.param deleted file mode 100644 index 1590d374f..000000000 --- a/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/09_batt2.param +++ /dev/null @@ -1,14 +0,0 @@ -BATT2_AMP_PERVLT,17.73 -BATT2_ARM_VOLT,15 -BATT2_CAPACITY,1800 -BATT2_CRT_MAH,450 -BATT2_CRT_VOLT,14 -BATT2_CURR_PIN,7 -BATT2_FS_CRT_ACT,1 -BATT2_FS_LOW_ACT,1 -BATT2_FS_VOLTSRC,1 -BATT2_LOW_MAH,600 -BATT2_LOW_VOLT,14.4 -BATT2_MONITOR,0 -BATT2_VOLT_MULT,228.342 -BATT2_VOLT_PIN,18 diff --git a/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/10_gnss.param b/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/10_gnss.param index 07d46da41..6305a79f9 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/10_gnss.param +++ b/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/10_gnss.param @@ -1,9 +1,9 @@ BRD_SAFETY_DEFLT,0 -CAN_P1_DRIVER,0 +CAN_D1_PROTOCOL,1 +CAN_P1_DRIVER,1 GPS_AUTO_SWITCH,1 -GPS_GNSS_MODE,0 -GPS_POS1_X,0 -GPS_POS1_Y,0 -GPS_POS1_Z,0 -GPS_TYPE,9 -SERIAL3_PROTOCOL,5 +GPS1_GNSS_MODE,0 +GPS1_POS1_X,0 +GPS1_POS1_Y,0 +GPS1_POS1_Z,0 +GPS1_TYPE,9 # Defined in component editor diff --git a/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/12_mp_setup_mandatory_hardware.param b/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/12_mp_setup_mandatory_hardware.param index faee6662d..36cd2ef39 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/12_mp_setup_mandatory_hardware.param +++ b/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/12_mp_setup_mandatory_hardware.param @@ -75,8 +75,8 @@ MODE3,0 MODE4,9 MODE5,0 MODE6,10 -MOT_BAT_VOLT_MAX,16.799999 -MOT_BAT_VOLT_MIN,13.2 +MOT_BAT_VOLT_MAX,8.4 +MOT_BAT_VOLT_MIN,6.5 MOT_SPIN_ARM,0.02 MOT_SPIN_MAX,0.95 MOT_SPIN_MIN,0.05 diff --git a/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/13_general_configuration.param b/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/13_general_configuration.param index e1be1c1da..6313499ec 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/13_general_configuration.param +++ b/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/13_general_configuration.param @@ -1,5 +1,6 @@ ARMING_CHECK,1 # Perform all arming checks. If you have a problem fix its source. Do NOT change this BRD_RTC_TZ_MIN,0 +BRD_SER1_RTSCTS,0 FENCE_TYPE,6 INS_ACCEL_FILTER,10 INS_POS1_X,0 @@ -8,6 +9,13 @@ INS_POS2_X,0 INS_POS2_Y,0 SCHED_LOOP_RATE,50 SCR_ENABLE,1 # Use lua scripting for VTOL-Quicktune, MagFit automation and wind speed estimation automation +SERIAL1_BAUD,115 +SERIAL1_OPTIONS,0 +SERIAL1_PROTOCOL,13 SERIAL2_BAUD,921 -SERIAL4_BAUD,57 -SERIAL4_PROTOCOL,2 +SR1_EXTRA1,1 +SR1_EXTRA2,1 +SR1_EXTRA3,1 +SR1_POSITION,1 +SR1_RAW_SENS,1 +SR1_RC_CHAN,1 diff --git a/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/vehicle_components.json index 01824691a..770cc21f5 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/vehicle_components.json @@ -57,9 +57,9 @@ "Specifications": { "Chemistry": "NiMH", "Volt per cell max": 1.4, - "Volt per cell arm": 1.4833, - "Volt per cell low": 1.2, - "Volt per cell crit": 1.1, + "Volt per cell arm": 1.25, + "Volt per cell low": 1.1167, + "Volt per cell crit": 1.0917, "Volt per cell min": 1.0833, "Number of cells": 6, "Capacity mAh": 1400 @@ -77,10 +77,14 @@ "Type": "", "Version": "" }, - "FC Connection": { + "FC->ESC Connection": { "Type": "Main Out", "Protocol": "Normal" }, + "ESC->FC Telemetry": { + "Type": "None", + "Protocol": "None" + }, "Notes": "" }, "Motors": { @@ -119,8 +123,8 @@ "Version": "" }, "FC Connection": { - "Type": "SERIAL3", - "Protocol": "AUTO" + "Type": "CAN1", + "Protocol": "DroneCAN" }, "Notes": "" }, @@ -179,7 +183,7 @@ "Version": "" }, "FC Connection": { - "Type": "SERIAL1", + "Type": "SERIAL4", "Protocol": "MAVLink2" }, "Notes": ""