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ardupilot_dronecan_params.yaml
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ardupilot_dronecan_params.yaml
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# Usage: autopilot-configurator --force-calibrate -v --params configs/ardupilot_dronecan_params.yaml
# devid = bus_type * (1 << 0) + bus * (1 << 3) + address * (1 << 8) + devtype * (1 << 8)
# bus_type = devid % 8 = 3
# bus = (devid >> 3) % 32
# address = (devid >> 8) % 256
# devtype = (devid >> 16) % 256
FRAME_CLASS : 1.0 # Quadcopter
CAN_D1_PROTOCOL : 1.0 # DroneCAN
CAN_D1_UC_ESC_BM : 15.0 # For a Quadcopter
CAN_D2_PROTOCOL : 0.0 # Disable
CAN_P1_DRIVER : 1.0 # First driver
CAN_P1_BITRATE : 1000000.0
BRD_SAFETY_DEFLT : 0.0 # Disabled
FS_THR_ENABLE : 0.0 # Disabled
GPS_TYPE : 9.0 # DroneCAN
ATC_RAT_RLL_P : 0.08
# Disable board sensors
EK3_IMU_MASK : 1.0
INS_ENABLE_MASK : 1.0
INS_USE : 1.0 # Enabled
INS_USE2 : 0.0 # Disabled
INS_USE3 : 0.0 # Disabled
# CUAV X7 SPI Compass devid=1114642 bus_type=2 (SPI), bus=2, address=2 devtype=17
# CAN Compass devid=76291 bus_type=3 (CAN), bus=0, address=42 devtype=1
COMPASS_DEV_ID : 76291.0 # DroneCAN magnetometer
COMPASS_DEV_ID2 : 0.0
COMPASS_DEV_ID3 : 0.0
COMPASS_PRIO1_ID : 76291.0
COMPASS_USE : 1.0
COMPASS_USE2 : 0.0
COMPASS_USE3 : 0.0
COMPASS_EXTERNAL : 1.0
COMPASS_EXTERN2 : 0.0
COMPASS_EXTERN3 : 0.0
COMPASS_USE : 1.0
COMPASS_USE2 : 0.0
COMPASS_USE3 : 0.0
COMPASS_DEC : 0.0
COMPASS_DIA_X : 0.999
COMPASS_DIA_Y : 0.999
COMPASS_DIA_Z : 0.999
COMPASS_ODI_X : 0.001
COMPASS_ODI_Y : 0.001
COMPASS_ODI_Z : 0.001
COMPASS_OFS_X : 0.001
COMPASS_OFS_Y : 0.001
COMPASS_OFS_Z : 0.001
TERRAIN_ENABLE : 0.0
# Use HITL IMU
AHRS_TRIM_X : 0.000214698069612496
AHRS_TRIM_Y : 0.000064728621509857
AHRS_TRIM_Z : 0.000000000000000000
# CUAV X7 SPI INS devid=3211786 bus_type=2 (SPI), bus=1, address=2 devtype=49
# DroneCAN Accel devid=3997955 bus_type=3 (BUS_TYPE_UAVCAN), bus=0, address=1 devtype=61 (DEVTYPE_UAVCAN)
# DroneCAN Gyro devid=3998211 bus_type=3 (BUS_TYPE_UAVCAN), bus=0, address=2 devtype=61 (DEVTYPE_UAVCAN)
INS_ACC1_CALTEMP : 0.000
INS_ACCOFFS_X : 0.001
INS_ACCOFFS_Y : 0.001
INS_ACCOFFS_Z : 0.001
INS_ACCSCAL_X : 0.999
INS_ACCSCAL_Y : 0.999
INS_ACCSCAL_Z : 0.999
INS_GYR1_CALTEMP : 0.000
INS_GYROFFS_X : 0.001
INS_GYROFFS_Y : 0.001
INS_GYROFFS_Z : 0.001