Airframe for custom motor configuration

PX4 Autopilot
1

Hello smart people,

I’m working on a university project where we want to build our own frame configuration for the custom boat we are building. Two motors in the back, one motor on the front with a thrust vector perpendicular to the direction of travel.
We seemed to have managed that, but now since the custom firmware runs on the pixhawk, the actuators tab behaves strangely and the PixHawk doesn’t remember some of the settings on reboot.

#!/bin/sh
#
# @name EC Vessel
#
# @type Rover
# @class Rover
#
# @output Motor1 right thruster
# @output Motor2 left thruster
# @output Motor3 yaw (front) thruster
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#

. ${R}etc/init.d/rc.rover_differential_defaults

param set-default COM_PREARM_MODE 2

param set-default CA_AIRFRAME 2025


# rotor config
param set-default CA_ROTOR_COUNT 3

param set-default CA_ROTOR0_AX 1
param set-default CA_ROTOR0_AZ 0
param set-default CA_ROTOR0_KM 0
param set-default CA_ROTOR0_PX -689
param set-default CA_ROTOR0_PY 245

param set-default CA_ROTOR1_AX 1
param set-default CA_ROTOR1_AZ 0
param set-default CA_ROTOR1_KM 0
param set-default CA_ROTOR1_PX -689
param set-default CA_ROTOR1_PY -245

param set-default CA_ROTOR2_AX 0
param set-default CA_ROTOR2_AY 1
param set-default CA_ROTOR2_AZ 0
param set-default CA_ROTOR2_KM 0
param set-default CA_ROTOR2_PX 241
param set-default CA_ROTOR2_PY 0

The file is registered under the CONFIG_MODULES_ROVER_DIFFERENTIAL section:


if(CONFIG_MODULES_ROVER_DIFFERENTIAL)
	px4_add_romfs_files(
		# [50000, 50999] Differential rovers
		50000_generic_rover_differential
		50001_aion_robotics_r1_rover
		50010_ec_vessel
	)
endif()

Is there anything obvious we are missing? Or any way we could get this to work more easily?