Tools: Add freestyle model for sitl

MichelleRos · Nov 13, 2023 · ae7c275 · ae7c275
1 parent 0143bf2
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diff --git a/Tools/autotest/models/Freestyle.json b/Tools/autotest/models/Freestyle.json
@@ -0,0 +1,61 @@
+# 5 inch FPV Freestyle/Racing model
+
+{
+    # total vehicle mass in kg
+    "mass" : 0.8,
+
+    # vehicle diameter
+    "diagonal_size" : 0.25,
+
+    # the ref parameters should be taken from a test
+    # with the copter flying at constant speed in zero wind. This is used
+    # to estimate the drag coefficient
+    "refSpd" : 20.0,    # m/s
+    "refAngle" : 45.0,   # degrees
+    "refVoltage" : 23.2, # volts
+    "refCurrent" : 18, # Amps
+    "refAlt" : 607,       # meters AMSL
+    "refTempC" : 25,     # degrees C
+    "refBatRes" : 0.0226, # BAT.Res from log
+
+    # full battery voltage
+    "maxVoltage" : 25.2,
+
+    # full battery capacity, Ah
+    "battCapacityAh" : 1.3,
+
+    # MOT_THST_EXPO
+    "propExpo" : 0.7,
+
+    # approximate maximum yaw rate in deg/sec
+    "refRotRate" : 700,
+
+    # hover throttle from 0 to 1
+    "hoverThrOut" : 0.125,
+
+    # MOT_PWM_MIN
+    "pwmMin" : 1000,
+
+    # MOT_PWM_MAX
+    "pwmMax" : 2000,
+
+    # MOT_SPIN_MIN
+    "spin_min" : 0.01,
+
+    # MOT_SPIN_MAX
+    "spin_max" : 0.95,
+
+    # maximum motor slew rate, or zero to disable
+    "slew_max" : 200,
+
+    # total effective disc area in sq m for 4 x 5 inch diameter rotors
+    "disc_area" : 0.204,
+
+    # momentum drag coefficient
+    # ratio of momentum drag relative to a ducted rotor of the same effective disc area
+    "mdrag_coef" : 0.10,
+
+    # number of motors
+    "num_motors" : 4
+}
+
diff --git a/Tools/autotest/models/Freestyle.param b/Tools/autotest/models/Freestyle.param
@@ -0,0 +1,160 @@
+ACRO_BAL_PITCH   0.800000
+ACRO_OPTIONS     1.000000
+ACRO_RP_EXPO     0.400000
+ACRO_RP_RATE     533.000000
+ACRO_THR_MID     0.300000
+ACRO_TRAINER     0.000000
+ACRO_Y_EXPO      0.400000
+ACRO_Y_RATE      533.000000
+ANGLE_MAX        7000.000000
+ARMING_RUDDER    0.000000
+ATC_ACCEL_P_MAX  160000.000000
+ATC_ACCEL_R_MAX  160000.000000
+ATC_ACCEL_Y_MAX  120000.000000
+ATC_ANG_PIT_P    15.000000
+ATC_ANG_RLL_P    15.000000
+ATC_ANG_YAW_P    10.000000
+ATC_INPUT_TC     0.040000
+ATC_RAT_PIT_D    0.001500
+ATC_RAT_PIT_FLTD 60.000000
+ATC_RAT_PIT_FLTE 40.000000
+ATC_RAT_PIT_FLTT 60.000000
+ATC_RAT_PIT_I    0.050000
+ATC_RAT_PIT_P    0.050000
+ATC_RAT_PIT_SMAX 50.000000
+ATC_RAT_RLL_D    0.001000
+ATC_RAT_RLL_FLTD 60.000000
+ATC_RAT_RLL_FLTT 60.000000
+ATC_RAT_RLL_I    0.064193
+ATC_RAT_RLL_P    0.060000
+ATC_RAT_RLL_SMAX 50.000000
+ATC_RAT_YAW_D    0.010000
+ATC_RAT_YAW_FLTD 60.000000
+ATC_RAT_YAW_FLTE 2.000000
+ATC_RAT_YAW_FLTT 60.000000
+ATC_RAT_YAW_I    0.050000
+ATC_RAT_YAW_P    0.500000
+ATC_RAT_YAW_SMAX 50.000000
+ATC_SLEW_YAW     24000.000000
+ATC_THR_MIX_MAN  4.000000
+AUTO_OPTIONS     3.000000
+BATT_CAPACITY    1300.000000
+BATT_OPTIONS     64.000000
+CIRCLE_RATE      200.000000
+DISARM_DELAY     0.000000
+EK3_GLITCH_RAD   0.000000
+FLTMODE2         2.000000
+FLTMODE3         5.000000
+FLTMODE4         1.000000
+FLTMODE5         6.000000
+FLTMODE6         9.000000
+FRAME_CLASS      1.000000
+GCS_PID_MASK     7.000000
+INS_ACCEL_FILTER 15.000000
+INS_FAST_SAMPLE  3.000000
+INS_GYRO_FILTER  120.000000
+INS_HNTC2_ATT    60.000000
+INS_HNTC2_BW     10.000000
+INS_HNTC2_ENABLE 1.000000
+INS_HNTC2_FREQ   90.000000
+INS_HNTC2_HMNCS  15.000000
+INS_HNTC2_MODE   3.000000
+INS_HNTC2_OPTS   22.000000
+INS_HNTC2_REF    1.000000
+INS_LOG_BAT_MASK 3.000000
+INS_LOG_BAT_OPT  4.000000
+LAND_ALT_LOW     700.000000
+LOG_BITMASK      196607.000000
+LOG_DARM_RATEMAX 1.000000
+LOG_DISARMED     3.000000
+LOG_REPLAY       1.000000
+LOIT_SPEED       2500.000000
+MOT_BAT_VOLT_MAX 25.200000
+MOT_BAT_VOLT_MIN 19.800000
+MOT_PWM_TYPE     6.000000
+MOT_SPIN_ARM     0.010000
+MOT_SPIN_MIN     0.010000
+MOT_SPOOL_TIME   0.250000
+MOT_THST_EXPO    0.700000
+MOT_THST_HOVER   0.125000
+OSD1_ACRVOLT_EN  1.000000
+OSD1_ACRVOLT_Y   1.000000
+OSD1_ALTITUDE_X  24.000000
+OSD1_ARMING_EN   0.000000
+OSD1_ARMING_X    11.000000
+OSD1_ARMING_Y    0.000000
+OSD1_AVGCELLV_EN 1.000000
+OSD1_AVGCELLV_X  15.000000
+OSD1_AVGCELLV_Y  14.000000
+OSD1_BATTBAR_EN  0.000000
+OSD1_BATUSED_X   24.000000
+OSD1_BAT_VOLT_EN 0.000000
+OSD1_CALLSIGN_X  1.000000
+OSD1_CALLSIGN_Y  13.000000
+OSD1_CELLVOLT_EN 0.000000
+OSD1_CELLVOLT_X  5.000000
+OSD1_CELLVOLT_Y  8.000000
+OSD1_CLK_EN      1.000000
+OSD1_CLK_X       1.000000
+OSD1_CLK_Y       1.000000
+OSD1_COMPASS_EN  0.000000
+OSD1_COMPASS_X   14.000000
+OSD1_COMPASS_Y   14.000000
+OSD1_DIST_EN     1.000000
+OSD1_DIST_X      25.000000
+OSD1_DIST_Y      13.000000
+OSD1_ENABLE      1.000000
+OSD1_FLTMODE_X   1.000000
+OSD1_FLTMODE_Y   12.000000
+OSD1_GPSLAT_X    5.000000
+OSD1_GPSLAT_Y    15.000000
+OSD1_GPSLONG_X   17.000000
+OSD1_GPSLONG_Y   15.000000
+OSD1_GSPEED_X    1.000000
+OSD1_HEADING_X   9.000000
+OSD1_HEADING_Y   14.000000
+OSD1_HOMEDIR_EN  0.000000
+OSD1_HOMEDIR_Y   4.000000
+OSD1_HOMEDIST_EN 0.000000
+OSD1_HOMEDIST_Y  2.000000
+OSD1_HOME_X      22.000000
+OSD1_HOME_Y      14.000000
+OSD1_HORIZON_EN  0.000000
+OSD1_HORIZON_Y   7.000000
+OSD1_MESSAGE_X   1.000000
+OSD1_MESSAGE_Y   11.000000
+OSD1_PITCH_EN    1.000000
+OSD1_PITCH_X     1.000000
+OSD1_PITCH_Y     8.000000
+OSD1_POWER_EN    0.000000
+OSD1_POWER_X     0.000000
+OSD1_ROLL_EN     1.000000
+OSD1_ROLL_X      1.000000
+OSD1_ROLL_Y      9.000000
+OSD1_SATS_Y      15.000000
+OSD1_THROTTLE_X  25.000000
+OSD1_VSPEED_X    25.000000
+OSD_CELL_COUNT   6.000000
+OSD_TYPE         5.000000
+OSD_W_ACRVOLT    3.550000
+OSD_W_AVGCELLV   3.400000
+OSD_W_BATVOLT    21.000000
+OSD_W_NSAT       20.000000
+PILOT_SPEED_DN   500.000000
+PILOT_SPEED_UP   500.000000
+PILOT_Y_RATE     250.000000
+PSC_ACCZ_FLTD    40.000000
+PSC_ACCZ_FLTT    40.000000
+PSC_ACCZ_P       0.200000
+PSC_JERK_XY      10.000000
+PSC_VELZ_P       3.000000
+RTL_ALT          700.000000
+RTL_LOIT_TIME    2000.000000
+RTL_SPEED        900.000000
+THROW_NEXTMODE   5.000000
+WPNAV_ACCEL      1100.000000
+WPNAV_ACCEL_Z    300.000000
+WPNAV_JERK       6.000000
+WPNAV_SPEED      3000.000000
+WPNAV_SPEED_DN   500.000000
+WPNAV_SPEED_UP   500.000000
diff --git a/Tools/autotest/pysim/vehicleinfo.py b/Tools/autotest/pysim/vehicleinfo.py
@@ -193,6 +193,12 @@ def __init__(self):
                 "default_params_filename": ["default_params/copter.parm", "default_params/quad-can.parm"],
                 "periph_params_filename": ["default_params/periph.parm", "default_params/quad-periph.parm"],
             },
+            "Freestyle": {
+                "model": "X:@ROMFS/models/Freestyle.json",
+                "waf_target": "bin/arducopter",
+                "default_params_filename": ["default_params/copter.parm",
+                                            "models/Freestyle.param"],
+            },
         },
     },
     "Helicopter": {