Create a new airframe in 1.16

1

My QGroundControl (QGC) version is 5.0.8 on Ubuntu. I have designed a custom coaxial dual-propeller airframe with the following startup script:#!/bin/sh

@name MicoAir H743 Coaxial Vanes

@type Coaxial Vanes

@class Copter

@output Motor1: Upper Motor (MAIN1)

@output Motor2: Lower Motor (MAIN2)

@output Servo1: CenterVane (MAIN6)

@output Servo2: Right Vane (MAIN7)

@output Servo3: left Vane (MAIN8)

@maintainer sunxiaoyu

. ${R}/etc/init.d/rc.mc_defaults
param set-default SYS_AUTOSTART 4006
param set-default CA_AIRFRAME 16
param set-default MAV_TYPE 3
param set-default PWM_MAIN_FUNC2 101
param set-default PWM_MAIN_FUNC4 102
param set-default PWM_MAIN_FUNC6 201
param set-default PWM_MAIN_FUNC7 202
param set-default PWM_MAIN_FUNC8 203
param set-default PWM_MAIN_RATE 50
param set-default CA_SV_CS0_TRIM 0.0
param set-default CA_SV_CS1_TRIM 0.0
param set-default CA_SV_CS2_TRIM 0.0
I have added this airframe file to the CMakeLists.txt. Additionally, I modified the actuator effectiveness matrix and module.yaml to add my newly defined CA_AIRFRAME.

After compiling and flashing the firmware successfully:

  1. My custom airframe does not appear in the QGC airframe list;

  2. However, all verifications via NSH shell work correctly: the control_allocator status command outputs normally, and the parameters CA_AIRFRAME and SYS_AUTOSTART are set properly;

  3. In the QGC Actuators page, my servos are labeled as Unknown: 201, Unknown: 202, Unknown: 203.

Please help me solve this problem.