Hi guys, I am a little bit confused about creating an airframe and changing airframe.
In documentation page, if I create new airframe said that I have to use SD card. (Is it controller’s sd card right?)
But I have work with airframe very similar to 13030/ Generic Quad VTOL Tiltrotor, but my wing is V tail so I need to combine elevator and rudder as acts combines of them. And I don’t know that ,and also do I have to add PID parameters in its airframe file? If I add, does it mean creating new airframe or simply can I add and use it without sd card process?
And also my controller is durandal and in PX4-Autopilot/build folder I have two folders that are holybro_durandal-v1_default and holybro_durandal-v1_rtps and they have ROMFS folder in it but their airframe, mixer folders are empty, do I have to add the airframe files and mixer folder into them, I will use px4 wirh ROS2 in that case using holybro_durandal-v1_rtps folder with every build or something (like airframe ) is must right? Or simply can I use PX4-Autopilot/ROMFS/px4fmu_common folder ?
And could you explain HIL and SIL usage in which conditons, I didn’t get it in documentation page.
Hi guys, now I read AGAIN the doc. page
Here is the steps that I made:
-
First I open fc’s SD and I create /etc/mixers folders in it.
-
Then I created two files aux.mix is in mixers folder and config.txt is in etc.
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Here is the files aux.mixer and config.txt, respectively.
vtol_TTTTAAER.aux.mix (file name)
# Generic quadplane tiltrotor servo mixer
# @board px4_fmu-v2 exclude
# Tilt mechanism servo mixer
---------------------------
# front left up:2000 down:1000
M: 1
S: 1 4 0 -20000 10000 -10000 10000
# front right up:1000 down:2000
M: 1
S: 1 4 0 20000 -10000 -10000 10000
Z:
Z:
# Aileron mixer
# ---------------------------------
M: 1
S: 1 0 10000 10000 0 -10000 10000
M: 1
S: 1 0 10000 10000 0 -10000 10000
# Vtail mixer
#-------------
M: 1
S: 1 1 10000 10000 0 -10000 10000
S: 1 2 -10000 -10000 0 -10000 10000
M: 1
S: 1 1 10000 10000 0 -10000 10000
S: 1 2 10000 10000 0 -10000 10000
config.txt
set MIXER_AUX vtol_TTTTAAER
set PWM_AUX_OUT 1234
set PWM_AUX_DISARMED 1500
set PWM_AUX_MIN 1000
set PWM_AUX_MAX 2000
set PWM_AUX_RATE 50
Can I make PWM_OUT 123456 instead 1234?
here is my purpose is not creating new airframe, is just changing most smilar
airframe (13030) to my airframe which is 4 motor front motors are tilting with 2 servos, with aileron (2 servos ) and vtail (2 servos), that’s why in aux file I deleted and replaced null mixer (Z) for two back tilting servos and I changed the elevator and rudder part of the default airframe.
And in my controller, there is 5 aux and 8 main but in aux actually I am using 6 servos in that case does it mean I cannot use the 6th one?
And I replug my SD card in my controller nothing changed in QGC, is there anyting wrong I didn’t get it, also did I do that process correctly?
Thanks in advance.
when I command in nsh I saw it:
nsh> listener actuator_outputs
TOPIC: actuator_outputs 2 instances
Instance 0:
actuator_outputs_s
timestamp: 2433622772 (0.003951 seconds ago)
noutputs: 8
output: [1500.0000, 1500.0000, 1500.0000, 1500.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
Instance 1:
actuator_outputs_s
timestamp: 2433636114 (0.000346 seconds ago)
noutputs: 8
output: [900.0000, 900.0000, 900.0000, 900.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.00
I think my other two servos are not set after airframe settings.
and the other output is:
nsh> pwm info -a
device: /dev/pwm_output0
channel 1: 900 us (alternative rate: 400 Hz failsafe: 0, disarmed: 900 us, min: 1100 us, max: 2000 us, trim: 0.00)
channel 2: 900 us (alternative rate: 400 Hz failsafe: 0, disarmed: 900 us, min: 1100 us, max: 2000 us, trim: 0.00)
channel 3: 900 us (alternative rate: 400 Hz failsafe: 0, disarmed: 900 us, min: 1100 us, max: 2000 us, trim: 0.00)
channel 4: 900 us (alternative rate: 400 Hz failsafe: 0, disarmed: 900 us, min: 1100 us, max: 2000 us, trim: 0.00)
channel 5: 0 us (default rate: 50 Hz failsafe: 0, disarmed: 0 us, min: 1000 us, max: 2000 us, trim: 0.00)
channel 6: 0 us (default rate: 50 Hz failsafe: 0, disarmed: 0 us, min: 1000 us, max: 2000 us, trim: 0.00)
channel 7: 0 us (default rate: 50 Hz failsafe: 0, disarmed: 0 us, min: 1000 us, max: 2000 us, trim: 0.00)
channel 8: 0 us (default rate: 50 Hz failsafe: 0, disarmed: 0 us, min: 1000 us, max: 2000 us, trim: 0.00)
channel group 0: channels 1 2
channel group 1: channels 3 4
channel group 2: channels 5 6 7 8
nsh> pwm info -d /dev/pwm_output1
device: /dev/pwm_output1
channel 1: 1500 us (alternative rate: 50 Hz failsafe: 0, disarmed: 1500 us, min: 1000 us, max: 2000 us, trim: 0.00)
channel 2: 1500 us (alternative rate: 50 Hz failsafe: 0, disarmed: 1500 us, min: 1000 us, max: 2000 us, trim: 0.00)
channel 3: 1500 us (alternative rate: 50 Hz failsafe: 0, disarmed: 1500 us, min: 1000 us, max: 2000 us, trim: 0.00)
channel 4: 1500 us (alternative rate: 50 Hz failsafe: 0, disarmed: 1500 us, min: 1000 us, max: 2000 us, trim: 0.00)
channel 5: 0 us (default rate: 50 Hz failsafe: 0, disarmed: 0 us, min: 1000 us, max: 2000 us, trim: 0.00)
channel 6: 0 us (default rate: 50 Hz failsafe: 0, disarmed: 0 us, min: 1000 us, max: 2000 us, trim: 0.00)
channel 7: 0 us (default rate: 50 Hz failsafe: 0, disarmed: 0 us, min: 1000 us, max: 2000 us, trim: 0.00)
channel 8: 0 us (default rate: 50 Hz failsafe: 0, disarmed: 0 us, min: 1000 us, max: 2000 us, trim: 0.00)
channel group 0: channels 1 2 3 4
channel group 1: channels 5
channel group 2: channels 6 7 8
I guess I could load that features, when I wrote in nsh dmesg give me that message:
INFO [init] Mixer: /etc/mixers/quad_x.main.mix on /dev/pwm_output0
INFO [init] Mixer: /fs/microsd/etc/mixers/vtol_TTTTAAER.aux.mix on /dev/pwm_output1