AAC HAMR airframe (6004) with mixer and custom geometry

.circleci/config.yml

@@ -9,11 +9,11 @@ jobs:
           name: Fetch tags
           command: git fetch --tags
       - run:
-          name: Build px4_fmu-v5_default
-          command: make px4_fmu-v5_default
+          name: Build px4_fmu-v3_default
+          command: make px4_fmu-v3_default
       - store_artifacts:
-          path: build/px4_fmu-v5_default/px4_fmu-v5_default.px4
-          destination: px4_fmu-v5_default.px4
+          path: build/px4_fmu-v3_default/px4_fmu-v3_default.px4
+          destination: px4_fmu-v3_default.px4
       - store_artifacts:
-          path: build/px4_fmu-v5_default/px4_fmu-v5_default.elf
-          destination: px4_fmu-v5_default.elf
+          path: build/px4_fmu-v3_default/px4_fmu-v3_default.elf
+          destination: px4_fmu-v3_default.elf

ROMFS/px4fmu_common/init.d/airframes/6004_hamr

@@ -0,0 +1,144 @@
+#!/bin/sh
+#
+# @name AAC HAMR
+#
+# @type Hexarotor HAMR
+# @class Copter
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 motor 5
+# @output MAIN6 motor 6
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+set PARAM_DEFAULTS_VER 1
+
+if [ $AUTOCNF = yes ]
+then
+
+	# battery
+	param set BAT_A_PER_V 30.82
+	param set BAT_CRIT_THR 0.06
+	param set BAT_EMERGEN_THR 0.03
+	param set BAT_LOW_THR 0.12
+	param set BAT_N_CELLS 12
+	param set BAT_V_CHARGED 4.2
+	param set BAT_V_DIV 28.13
+
+	# commander
+	param set COM_DL_LOSS_T 5
+	param set COM_DL_REG_T 0
+	param set COM_RC_LOSS_T 1.0
+
+	# flight mode switches
+	param set COM_FLTMODE1 8
+	param set COM_FLTMODE2 1
+	param set COM_FLTMODE3 2
+	param set COM_FLTMODE4 5
+	param set COM_FLTMODE5 5
+	param set COM_FLTMODE6 5
+
+	# IMU filter
+	param set IMU_ACCEL_CUTOFF 10.0
+	param set IMU_GYRO_CUTOFF 10.0
+	param set IMU_GYRO_RATEMAX 400
+
+	# land detector
+	param set LNDMC_ROT_MAX 30.0
+
+	# MC attitude controller
+	param set MC_PITCHRATE_D 0.011
+	param set MC_PITCHRATE_I 0.4
+	param set MC_PITCHRATE_MAX 60.0
+	param set MC_PITCHRATE_P 0.22
+	param set MC_PITCH_P 1.5
+	param set MC_PITCH_TC 0.2
+	param set MC_PR_INT_LIM 60.0
+
+	param set MC_ROLLRATE_D 0.015
+	param set MC_ROLLRATE_I 0.40
+	param set MC_ROLLRATE_MAX 60.0
+	param set MC_ROLLRATE_P 0.40
+	param set MC_ROLL_P 1.5
+	param set MC_ROLL_TC 0.20
+	param set MC_RR_INT_LIM 120.0
+
+	param set MC_YAWRATE_D 0.01
+	param set MC_YAWRATE_I 1.60
+	param set MC_YAWRATE_MAX 45.0
+	param set MC_YAWRATE_P 1.20
+	param set MC_YAWRAUTO_MAX 30.0
+	param set MC_YAW_FF 0.5
+	param set MC_YAW_P 1.0
+	param set MC_YR_INT_LIM 3.0
+
+	# navigator
+	param set MIS_TAKEOFF_ALT 6.1
+
+	# MC position controller
+	param set MPC_ACC_DOWN_MAX 5.0
+	param set MPC_ACC_HOR_MAX 0.5
+	param set MPC_ACC_UP_MAX 5.0
+	param set MPC_CRUISE_90 5.0
+	param set MPC_DEC_HOR_SLOW 3.0
+	param set MPC_JERK_MAX 0.0
+	param set MPC_JERK_MIN 1.0
+	param set MPC_LAND_ALT2 7.62
+	param set MPC_MANTHR_MAX 0.9
+	param set MPC_MAN_TILT_MAX 25.0
+	param set MPC_MAN_Y_MAX 200.0
+	param set MPC_THR_HOVER 0.55
+	param set MPC_THR_MAX 0.90
+	param set MPC_TILTMAX_AIR 25.0
+	param set MPC_TKO_RAMP_T 1.0
+	param set MPC_VEL_MANUAL 10.29
+	param set MPC_XY_CRUISE 10.29
+	param set MPC_XY_P 0.08
+	param set MPC_XY_VEL_D 0.02
+	param set MPC_XY_VEL_I 0.02
+	param set MPC_XY_VEL_MAX 10.29
+	param set MPC_XY_VEL_P 0.02
+	param set MPC_Z_P 1.4
+	param set MPC_Z_VEL_D 0.03
+	param set MPC_Z_VEL_I 0.09
+	param set MPC_Z_VEL_MAX_DN 1.03
+	param set MPC_Z_VEL_MAX_UP 2.0
+	param set MPC_Z_VEL_P 0.15
+
+	# PWM output
+	param set PWM_RATE 400
+	param set PWM_AUX_DIS2 1000
+	param set PWM_MAIN_DIS7 1500
+	param set PWM_MAIN_DIS8 1500
+	param set PWM_MAX 1900
+	param set PWM_MIN 1200
+
+	# RC switch mapping
+	param set RC_MAP_AUX2 9
+	param set RC_MAP_FLTMODE 5
+	param set RC_MAP_PITCH 2
+	param set RC_MAP_ROLL 1
+	param set RC_MAP_THROTTLE 3
+	param set RC_MAP_YAW 4
+
+	# RTL
+	param set RTL_DESCEND_ALT 15.24
+	param set RTL_LAND_DELAY 1.0
+	param set RTL_RETURN_ALT 45.72
+
+fi
+
+set MIXER hamr
+
+# Need to set all 8 channels
+set PWM_OUT 12345678

ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt

@@ -39,7 +39,7 @@ px4_add_romfs_files(
 	1001_rc_quad_x.hil
 	1002_standard_vtol.hil
 	1100_rc_quad_x_sih.hil
-	
+
 	# [2000, 2999] Standard planes"
 	2100_standard_plane
 	2105_maja
@@ -96,6 +96,8 @@ px4_add_romfs_files(
 	6001_hexa_x
 	6002_draco_r
 
+	6004_hamr
+
 	# [7000, 7999] Hexarotor +"
 	7001_hexa_+
 
@@ -141,7 +143,7 @@ px4_add_romfs_files(
 	15001_coax_heli
 
 	16001_helicopter
-	
+
 	24001_dodeca_cox
 
 	50000_generic_ground_vehicle

ROMFS/px4fmu_common/mixers/CMakeLists.txt

@@ -86,4 +86,6 @@ px4_add_romfs_files(
 	vtol_delta.aux.mix
 	wingwing.main.mix
 	zmr250.main.mix
+
+	hamr.main.mix
 )

ROMFS/px4fmu_common/mixers/hamr.main.mix

@@ -0,0 +1,13 @@
+# HAMR
+
+R: hamr 10000 10000 0 0
+
+# Yaw Servo
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 2 -10000 -10000      0 -10000  10000
+
+# Yaw Servo
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 2 -10000 -10000      0 -10000  10000

src/lib/mixer/CMakeLists.txt

@@ -53,6 +53,8 @@ set(geometry_files
 	quad_y.toml
 	tri_y.toml
 	twin_engine.toml
+
+	hamr.toml
 )
 
 set(geometries_list)

src/lib/mixer/geometries/hamr.toml

@@ -0,0 +1,40 @@
+# AAC HAMR configuration
+
+[info]
+key = "hamr"
+description = "AAC HAMR Configuration"
+
+[rotor_default]
+axis      = [0.0, 0.0, -1.0]
+Ct        = 1.0
+Cm        = 0.00
+
+[[rotors]]
+name      = "front_left"
+position  = [0.457, -0.591, 0.0]
+direction = "CW"
+
+[[rotors]]
+name      = "front_right"
+position  = [0.457, 0.591, 0.0]
+direction = "CCW"
+
+[[rotors]]
+name      = "rear_left_outer"
+position  = [-0.157, -1.302, 0.0]
+direction = "CW"
+
+[[rotors]]
+name      = "rear_left_inner"
+position  = [-0.30, -0.508, 0.0]
+direction = "CCW"
+
+[[rotors]]
+name      = "rear_right_inner"
+position  = [-0.30, 0.508, 0.0]
+direction = "CW"
+
+[[rotors]]
+name      = "rear_right_outer"
+position  = [-0.157, 1.302, 0.0]
+direction = "CCW"