From ebf9ab126a01d7951596327a5f3024f81f38df82 Mon Sep 17 00:00:00 2001 From: Willian Galvani Date: Wed, 25 Sep 2024 12:44:28 -0300 Subject: [PATCH] params: add params for sub 4.5 --- params/ardupilot/ArduSub/4.5/base.params | 6 ++ params/ardupilot/ArduSub/4.5/heavy.params | 10 +++ .../4.5/navigator/Heavy BlueROV2.params | 3 + .../4.5/navigator/Standard BlueROV2.params | 3 + .../4.5/pixhawk1/Heavy BlueROV2.params | 3 + .../4.5/pixhawk1/Standard BlueROV2.params | 3 + .../ardupilot/ArduSub/4.5/sitl/heavy.params | 62 +++++++++++++ .../ArduSub/4.5/sitl/standard.params | 88 +++++++++++++++++++ params/ardupilot/ArduSub/4.5/standard.params | 2 + 9 files changed, 180 insertions(+) create mode 100644 params/ardupilot/ArduSub/4.5/base.params create mode 100644 params/ardupilot/ArduSub/4.5/heavy.params create mode 100755 params/ardupilot/ArduSub/4.5/navigator/Heavy BlueROV2.params create mode 100755 params/ardupilot/ArduSub/4.5/navigator/Standard BlueROV2.params create mode 100644 params/ardupilot/ArduSub/4.5/pixhawk1/Heavy BlueROV2.params create mode 100755 params/ardupilot/ArduSub/4.5/pixhawk1/Standard BlueROV2.params create mode 100755 params/ardupilot/ArduSub/4.5/sitl/heavy.params create mode 100755 params/ardupilot/ArduSub/4.5/sitl/standard.params create mode 100644 params/ardupilot/ArduSub/4.5/standard.params diff --git a/params/ardupilot/ArduSub/4.5/base.params b/params/ardupilot/ArduSub/4.5/base.params new file mode 100644 index 0000000..2e5fe68 --- /dev/null +++ b/params/ardupilot/ArduSub/4.5/base.params @@ -0,0 +1,6 @@ +%include '../hardware/power_sense_module.params' + +AHRS_ORIENTATION: 16, +BRD_RTC_TYPES: 3, +MNT1_TYPE: 1, +SERIAL0_PROTOCOL: 2, // MAVLink2 diff --git a/params/ardupilot/ArduSub/4.5/heavy.params b/params/ardupilot/ArduSub/4.5/heavy.params new file mode 100644 index 0000000..6d359e2 --- /dev/null +++ b/params/ardupilot/ArduSub/4.5/heavy.params @@ -0,0 +1,10 @@ +ATC_ANG_PIT_P: 6.0, +ATC_ANG_RLL_P: 6.0, +ATC_ANG_YAW_P: 6.0, +FRAME_CONFIG: 2, +SERVO7_FUNCTION: 39, // Motor7 +SERVO8_FUNCTION: 40, // Motor8 +SERVO8_REVERSED: 0, +SERVO9_FUNCTION: 59, // RCIN9 (camera) +SERVO10_FUNCTION: 7, // mount_tilt +SERVO10_REVERSED: 1, diff --git a/params/ardupilot/ArduSub/4.5/navigator/Heavy BlueROV2.params b/params/ardupilot/ArduSub/4.5/navigator/Heavy BlueROV2.params new file mode 100755 index 0000000..4049cb0 --- /dev/null +++ b/params/ardupilot/ArduSub/4.5/navigator/Heavy BlueROV2.params @@ -0,0 +1,3 @@ +%include "../../hardware/boards/navigator.params" +%include "../base.params" +%include "../heavy.params" \ No newline at end of file diff --git a/params/ardupilot/ArduSub/4.5/navigator/Standard BlueROV2.params b/params/ardupilot/ArduSub/4.5/navigator/Standard BlueROV2.params new file mode 100755 index 0000000..e308d21 --- /dev/null +++ b/params/ardupilot/ArduSub/4.5/navigator/Standard BlueROV2.params @@ -0,0 +1,3 @@ +%include "../../hardware/boards/navigator.params" +%include "../base.params" +%include "../standard.params" \ No newline at end of file diff --git a/params/ardupilot/ArduSub/4.5/pixhawk1/Heavy BlueROV2.params b/params/ardupilot/ArduSub/4.5/pixhawk1/Heavy BlueROV2.params new file mode 100644 index 0000000..8df6828 --- /dev/null +++ b/params/ardupilot/ArduSub/4.5/pixhawk1/Heavy BlueROV2.params @@ -0,0 +1,3 @@ +%include "../../hardware/boards/pixhawk1.params" +%include "../base.params" +%include "../heavy.params" \ No newline at end of file diff --git a/params/ardupilot/ArduSub/4.5/pixhawk1/Standard BlueROV2.params b/params/ardupilot/ArduSub/4.5/pixhawk1/Standard BlueROV2.params new file mode 100755 index 0000000..460b92e --- /dev/null +++ b/params/ardupilot/ArduSub/4.5/pixhawk1/Standard BlueROV2.params @@ -0,0 +1,3 @@ +%include "../../hardware/boards/pixhawk1.params" +%include "../base.params" +%include "../standard.params" \ No newline at end of file diff --git a/params/ardupilot/ArduSub/4.5/sitl/heavy.params b/params/ardupilot/ArduSub/4.5/sitl/heavy.params new file mode 100755 index 0000000..67c7af3 --- /dev/null +++ b/params/ardupilot/ArduSub/4.5/sitl/heavy.params @@ -0,0 +1,62 @@ +BARO_RND 0.02 +BATT_MONITOR 4 +BTN0_FUNCTION 0 +BTN10_SFUNCTION 0 +BTN10_FUNCTION 22 +BTN10_SFUNCTION 0 +BTN11_FUNCTION 42 +BTN11_SFUNCTION 47 +BTN12_FUNCTION 43 +BTN12_SFUNCTION 46 +BTN13_FUNCTION 33 +BTN13_SFUNCTION 45 +BTN14_FUNCTION 32 +BTN14_SFUNCTION 44 +BTN15_FUNCTION 0 +BTN15_SFUNCTION 0 +BTN1_FUNCTION 6 +BTN1_SFUNCTION 0 +BTN2_FUNCTION 8 +BTN2_SFUNCTION 0 +BTN3_FUNCTION 7 +BTN3_SFUNCTION 0 +BTN4_FUNCTION 4 +BTN4_SFUNCTION 0 +BTN5_FUNCTION 1 +BTN5_SFUNCTION 0 +BTN6_FUNCTION 3 +BTN6_SFUNCTION 0 +BTN7_FUNCTION 21 +BTN7_SFUNCTION 0 +BTN8_FUNCTION 48 +BTN8_SFUNCTION 0 +BTN9_FUNCTION 23 +BTN9_SFUNCTION 0 +COMPASS_OFS_X 5 +COMPASS_OFS_Y 13 +COMPASS_OFS_Z -18 +COMPASS_OFS2_X 5 +COMPASS_OFS2_Y 13 +COMPASS_OFS2_Z -18 +COMPASS_OFS3_X 5 +COMPASS_OFS3_Y 13 +COMPASS_OFS3_Z -18 +INS_ACCOFFS_X 0.001 +INS_ACCOFFS_Y 0.001 +INS_ACCOFFS_Z 0.001 +INS_ACCSCAL_X 1.001 +INS_ACCSCAL_Y 1.001 +INS_ACCSCAL_Z 1.001 +INS_ACC2OFFS_X 0.001 +INS_ACC2OFFS_Y 0.001 +INS_ACC2OFFS_Z 0.001 +INS_ACC2SCAL_X 1.001 +INS_ACC2SCAL_Y 1.001 +INS_ACC2SCAL_Z 1.001 +INS_ACC3OFFS_X 0.000 +INS_ACC3OFFS_Y 0.000 +INS_ACC3OFFS_Z 0.000 +INS_ACC3SCAL_X 1.000 +INS_ACC3SCAL_Y 1.000 +INS_ACC3SCAL_Z 1.000 +FRAME_CONFIG 2.000 \ No newline at end of file diff --git a/params/ardupilot/ArduSub/4.5/sitl/standard.params b/params/ardupilot/ArduSub/4.5/sitl/standard.params new file mode 100755 index 0000000..3a17314 --- /dev/null +++ b/params/ardupilot/ArduSub/4.5/sitl/standard.params @@ -0,0 +1,88 @@ +ARSPD_PIN 1 +ARSPD_BUS 2 +BATT_MONITOR 4 +BTN0_FUNCTION 0 +BTN10_SFUNCTION 0 +BTN10_FUNCTION 22 +BTN10_SFUNCTION 0 +BTN11_FUNCTION 42 +BTN11_SFUNCTION 47 +BTN12_FUNCTION 43 +BTN12_SFUNCTION 46 +BTN13_FUNCTION 33 +BTN13_SFUNCTION 45 +BTN14_FUNCTION 32 +BTN14_SFUNCTION 44 +BTN15_FUNCTION 0 +BTN15_SFUNCTION 0 +BTN1_FUNCTION 6 +BTN1_SFUNCTION 0 +BTN2_FUNCTION 8 +BTN2_SFUNCTION 0 +BTN3_FUNCTION 7 +BTN3_SFUNCTION 0 +BTN4_FUNCTION 4 +BTN4_SFUNCTION 0 +BTN5_FUNCTION 1 +BTN5_SFUNCTION 0 +BTN6_FUNCTION 3 +BTN6_SFUNCTION 0 +BTN7_FUNCTION 21 +BTN7_SFUNCTION 0 +BTN8_FUNCTION 48 +BTN8_SFUNCTION 0 +BTN9_FUNCTION 23 +BTN9_SFUNCTION 0 +COMPASS_OFS_X 5 +COMPASS_OFS_Y 13 +COMPASS_OFS_Z -18 +COMPASS_OFS2_X 5 +COMPASS_OFS2_Y 13 +COMPASS_OFS2_Z -18 +COMPASS_OFS3_X 5 +COMPASS_OFS3_Y 13 +COMPASS_OFS3_Z -18 +INS_ACCOFFS_X 0.001 +INS_ACCOFFS_Y 0.001 +INS_ACCOFFS_Z 0.001 +INS_ACCSCAL_X 1.001 +INS_ACCSCAL_Y 1.001 +INS_ACCSCAL_Z 1.001 +INS_ACC2OFFS_X 0.001 +INS_ACC2OFFS_Y 0.001 +INS_ACC2OFFS_Z 0.001 +INS_ACC2SCAL_X 1.001 +INS_ACC2SCAL_Y 1.001 +INS_ACC2SCAL_Z 1.001 +INS_ACC3OFFS_X 0.000 +INS_ACC3OFFS_Y 0.000 +INS_ACC3OFFS_Z 0.000 +INS_ACC3SCAL_X 1.000 +INS_ACC3SCAL_Y 1.000 +INS_ACC3SCAL_Z 1.000 +RC8_OPTION 213 +MNT1_PITCH_MAX 45 +MNT1_PITCH_MIN -45 +MNT1_DEFLT_MODE 3 +MNT1_RC_RATE 30 +MNT1_TYPE 7 +PSC_ACCZ_P 2 +PSC_ACCZ_I 4 +PSC_ACCZ_FF 0.75 +PSC_VELZ_P 8 +PSC_POSZ_P 3 +PSC_POSXY_P 2.5 +PSC_VELXY_D 0.8 +PSC_VELXY_I 0.5 +PSC_VELXY_P 5.0 +RNGFND1_MAX_CM 3000 +RNGFND1_PIN 0 +RNGFND1_SCALING 12.12 +RNGFND1_TYPE 1 +SERVO8_FUNCTION 7 +SERVO8_MAX 1900 +SERVO8_MIN 1100 +BARO_EXT_BUS 1 +PILOT_ACCEL_Z 200 +PILOT_SPEED_UP 200 +PSC_JERK_Z 8 diff --git a/params/ardupilot/ArduSub/4.5/standard.params b/params/ardupilot/ArduSub/4.5/standard.params new file mode 100644 index 0000000..6a8c950 --- /dev/null +++ b/params/ardupilot/ArduSub/4.5/standard.params @@ -0,0 +1,2 @@ +ATC_ANG_RLL_P: 0.0, +FRAME_CONFIG: 1,