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params: add params for sub 4.5 #15

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Sep 25, 2024
Merged

params: add params for sub 4.5 #15

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6 changes: 6 additions & 0 deletions params/ardupilot/ArduSub/4.5/base.params
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%include '../hardware/power_sense_module.params'

AHRS_ORIENTATION: 16,
BRD_RTC_TYPES: 3,
MNT1_TYPE: 1,
SERIAL0_PROTOCOL: 2, // MAVLink2
10 changes: 10 additions & 0 deletions params/ardupilot/ArduSub/4.5/heavy.params
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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,
3 changes: 3 additions & 0 deletions params/ardupilot/ArduSub/4.5/navigator/Heavy BlueROV2.params
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%include "../../hardware/boards/navigator.params"
%include "../base.params"
%include "../heavy.params"
3 changes: 3 additions & 0 deletions params/ardupilot/ArduSub/4.5/navigator/Standard BlueROV2.params
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%include "../../hardware/boards/navigator.params"
%include "../base.params"
%include "../standard.params"
3 changes: 3 additions & 0 deletions params/ardupilot/ArduSub/4.5/pixhawk1/Heavy BlueROV2.params
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%include "../../hardware/boards/pixhawk1.params"
%include "../base.params"
%include "../heavy.params"
3 changes: 3 additions & 0 deletions params/ardupilot/ArduSub/4.5/pixhawk1/Standard BlueROV2.params
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%include "../../hardware/boards/pixhawk1.params"
%include "../base.params"
%include "../standard.params"
62 changes: 62 additions & 0 deletions params/ardupilot/ArduSub/4.5/sitl/heavy.params
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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
88 changes: 88 additions & 0 deletions params/ardupilot/ArduSub/4.5/sitl/standard.params
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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
2 changes: 2 additions & 0 deletions params/ardupilot/ArduSub/4.5/standard.params
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ATC_ANG_RLL_P: 0.0,
FRAME_CONFIG: 1,
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