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qgroundcontrol
Commit a1ed12ee authored by Gus Grubba's avatar Gus Grubba
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Merge branch 'master' of https://github.com/mavlink/qgroundcontrol into qgc4

parents 142855e1 9a907bfa
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src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml
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......@@ -410,6 +410,11 @@
<maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
<type>Simulation</type>
</airframe>
<airframe id="1100" maintainer="Romain Chiappinelli &lt;romain.chiap@gmail.com&gt;" name="SIH Quadcopter X">
<class>Copter</class>
<maintainer>Romain Chiappinelli &lt;romain.chiap@gmail.com&gt;</maintainer>
<type>Simulation</type>
</airframe>
</airframe_group>
<airframe_group image="AirframeUnknown" name="Tilt-Quad">
<airframe id="4100" maintainer="Ricardo Marques &lt;marques.ricardo17@gmail.com&gt;" name="Tilt-Quadrotor">
......
src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
View file @ a1ed12ee
......@@ -8796,6 +8796,159 @@ is less than 50% of this value</short_desc>
</values>
</parameter>
</group>
<group name="Simulation In Hardware">
<parameter default="0.025" name="SIH_IXX" type="FLOAT">
<short_desc>Vehicle inertia about X axis</short_desc>
<long_desc>The intertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate.</long_desc>
<min>0.0</min>
<unit>kg*m*m</unit>
<decimal>3</decimal>
<increment>0.005</increment>
</parameter>
<parameter default="0.0" name="SIH_IXY" type="FLOAT">
<short_desc>Vehicle cross term inertia xy</short_desc>
<long_desc>The intertia is a 3 by 3 symmetric matrix. This value can be set to 0 for a quad symmetric about its center of mass.</long_desc>
<unit>kg*m*m</unit>
<decimal>3</decimal>
<increment>0.005</increment>
</parameter>
<parameter default="0.0" name="SIH_IXZ" type="FLOAT">
<short_desc>Vehicle cross term inertia xz</short_desc>
<long_desc>The intertia is a 3 by 3 symmetric matrix. This value can be set to 0 for a quad symmetric about its center of mass.</long_desc>
<unit>kg*m*m</unit>
<decimal>3</decimal>
<increment>0.005</increment>
</parameter>
<parameter default="0.025" name="SIH_IYY" type="FLOAT">
<short_desc>Vehicle inertia about Y axis</short_desc>
<long_desc>The intertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate.</long_desc>
<min>0.0</min>
<unit>kg*m*m</unit>
<decimal>3</decimal>
<increment>0.005</increment>
</parameter>
<parameter default="0.0" name="SIH_IYZ" type="FLOAT">
<short_desc>Vehicle cross term inertia yz</short_desc>
<long_desc>The intertia is a 3 by 3 symmetric matrix. This value can be set to 0 for a quad symmetric about its center of mass.</long_desc>
<unit>kg*m*m</unit>
<decimal>3</decimal>
<increment>0.005</increment>
</parameter>
<parameter default="0.030" name="SIH_IZZ" type="FLOAT">
<short_desc>Vehicle inertia about Z axis</short_desc>
<long_desc>The intertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate.</long_desc>
<min>0.0</min>
<unit>kg*m*m</unit>
<decimal>3</decimal>
<increment>0.005</increment>
</parameter>
<parameter default="1.0" name="SIH_KDV" type="FLOAT">
<short_desc>First order drag coefficient</short_desc>
<long_desc>Physical coefficient representing the friction with air particules. The greater this value, the slower the quad will move. Drag force function of velocity: D=-KDV*V. The maximum freefall velocity can be computed as V=10*MASS/KDV [m/s]</long_desc>
<min>0.0</min>
<unit>N/(m/s)</unit>
<decimal>2</decimal>
<increment>0.05</increment>
</parameter>
<parameter default="0.025" name="SIH_KDW" type="FLOAT">
<short_desc>First order angular damper coefficient</short_desc>
<long_desc>Physical coefficient representing the friction with air particules during rotations. The greater this value, the slower the quad will rotate. Aerodynamic moment function of body rate: Ma=-KDW*W_B. This value can be set to 0 if unknown.</long_desc>
<min>0.0</min>
<unit>Nm/(rad/s)</unit>
<decimal>3</decimal>
<increment>0.005</increment>
</parameter>
<parameter default="32.34" name="SIH_LOC_H0" type="FLOAT">
<short_desc>Initial AMSL ground altitude</short_desc>
<long_desc>This value represents the Above Mean Sea Level (AMSL) altitude where the simulation begins. If using FlightGear as a visual animation, this value can be tweaked such that the vehicle lies on the ground at takeoff. LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.</long_desc>
<min>-420.0</min>
<max>8848.0</max>
<unit>m</unit>
<decimal>2</decimal>
<increment>0.01</increment>
</parameter>
<parameter default="454671160" name="SIH_LOC_LAT0" type="INT32">
<short_desc>Initial geodetic latitude</short_desc>
<long_desc>This value represents the North-South location on Earth where the simulation begins. A value of 45 deg should be written 450000000. LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.</long_desc>
<min>-850000000</min>
<max>850000000</max>
<unit>1e-7 deg</unit>
</parameter>
<parameter default="-737578370" name="SIH_LOC_LON0" type="INT32">
<short_desc>Initial geodetic longitude</short_desc>
<long_desc>This value represents the East-West location on Earth where the simulation begins. A value of 45 deg should be written 450000000. LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.</long_desc>
<min>-1800000000</min>
<max>1800000000</max>
<unit>1e-7 deg</unit>
</parameter>
<parameter default="0.179" name="SIH_LOC_MU_X" type="FLOAT">
<short_desc>North magnetic field at the initial location</short_desc>
<long_desc>This value represents the North magnetic field at the initial location. A magnetic field calculator can be found on the NOAA website Note, the values need to be converted from nano Tesla to Gauss LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.</long_desc>
<min>-1.0</min>
<max>1.0</max>
<unit>Gauss</unit>
<decimal>2</decimal>
<increment>0.001</increment>
</parameter>
<parameter default="-0.045" name="SIH_LOC_MU_Y" type="FLOAT">
<short_desc>East magnetic field at the initial location</short_desc>
<long_desc>This value represents the East magnetic field at the initial location. A magnetic field calculator can be found on the NOAA website Note, the values need to be converted from nano Tesla to Gauss LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.</long_desc>
<min>-1.0</min>
<max>1.0</max>
<unit>Gauss</unit>
<decimal>2</decimal>
<increment>0.001</increment>
</parameter>
<parameter default="0.504" name="SIH_LOC_MU_Z" type="FLOAT">
<short_desc>Down magnetic field at the initial location</short_desc>
<long_desc>This value represents the Down magnetic field at the initial location. A magnetic field calculator can be found on the NOAA website Note, the values need to be converted from nano Tesla to Gauss LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.</long_desc>
<min>-1.0</min>
<max>1.0</max>
<unit>Gauss</unit>
<decimal>2</decimal>
<increment>0.001</increment>
</parameter>
<parameter default="0.2" name="SIH_L_PITCH" type="FLOAT">
<short_desc>Pitch arm length</short_desc>
<long_desc>This is the arm length generating the pitching moment This value can be measured with a ruler. This corresponds to half the distance between the front and rear motors.</long_desc>
<min>0.0</min>
<unit>m</unit>
<decimal>2</decimal>
<increment>0.05</increment>
</parameter>
<parameter default="0.2" name="SIH_L_ROLL" type="FLOAT">
<short_desc>Roll arm length</short_desc>
<long_desc>This is the arm length generating the rolling moment This value can be measured with a ruler. This corresponds to half the distance between the left and right motors.</long_desc>
<min>0.0</min>
<unit>m</unit>
<decimal>2</decimal>
<increment>0.05</increment>
</parameter>
<parameter default="1.0" name="SIH_MASS" type="FLOAT">
<short_desc>Vehicle mass</short_desc>
<long_desc>This value can be measured by weighting the quad on a scale.</long_desc>
<min>0.0</min>
<unit>kg</unit>
<decimal>2</decimal>
<increment>0.1</increment>
</parameter>
<parameter default="0.1" name="SIH_Q_MAX" type="FLOAT">
<short_desc>Max propeller torque</short_desc>
<long_desc>This is the maximum torque delivered by one propeller when the motor is running at full speed. This value is usually about few percent of the maximum thrust force.</long_desc>
<min>0.0</min>
<unit>Nm</unit>
<decimal>3</decimal>
<increment>0.05</increment>
</parameter>
<parameter default="5.0" name="SIH_T_MAX" type="FLOAT">
<short_desc>Max propeller thrust force</short_desc>
<long_desc>This is the maximum force delivered by one propeller when the motor is running at full speed. This value is usually about 5 times the mass of the quadrotor.</long_desc>
<min>0.0</min>
<unit>N</unit>
<decimal>2</decimal>
<increment>0.5</increment>
</parameter>
</group>
<group name="Snapdragon UART ESC">
<parameter default="250000" name="UART_ESC_BAUD" type="INT32">
<short_desc>ESC UART baud rate</short_desc>
......@@ -8939,10 +9092,14 @@ is less than 50% of this value</short_desc>
<reboot_required>true</reboot_required>
</parameter>
<parameter default="0" name="SYS_HITL" type="INT32">
<short_desc>Enable HITL mode on next boot</short_desc>
<long_desc>While enabled the system will boot in HITL mode and not enable all sensors and checks. When disabled the same vehicle can be normally flown outdoors.</long_desc>
<boolean />
<short_desc>Enable HITL/SIH mode on next boot</short_desc>
<long_desc>While enabled the system will boot in Hardware-In-The-Loop (HITL) or Simulation-In-Hardware (SIH) mode and not enable all sensors and checks. When disabled the same vehicle can be flown normally.</long_desc>
<reboot_required>true</reboot_required>
<values>
<value code="0">HITL and SIH disabled</value>
<value code="1">HITL enabled</value>
<value code="2">SIH enabled</value>
</values>
</parameter>
<parameter default="2" name="SYS_MC_EST_GROUP" type="INT32">
<short_desc>Set multicopter estimator group</short_desc>
......
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