Tools: added StratoBlimp to autotest

muramura · Apr 27, 2024 · 0bccd71 · 0bccd71
1 parent 4bb5a9a
commit 0bccd71
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diff --git a/Tools/autotest/default_params/stratoblimp.parm b/Tools/autotest/default_params/stratoblimp.parm
@@ -0,0 +1,46 @@
+# parameters for default StratoBlimp
+SERVO1_FUNCTION 19
+SERVO2_FUNCTION 19
+
+SERVO3_FUNCTION 73
+SERVO3_MIN 1000
+SERVO3_MAX 2000
+
+SERVO4_FUNCTION 74
+SERVO4_MIN 1000
+SERVO4_MAX 2000
+
+# no need for high loop rate
+SIM_RATE_HZ 100
+
+# avoid IMU cal
+INS_ACCOFFS_X   0.001
+INS_ACCOFFS_Y   0.001
+INS_ACCOFFS_Z   0.001
+INS_ACCSCAL_X   1.001
+INS_ACCSCAL_Y   1.001
+INS_ACCSCAL_Z   1.001
+INS_ACC2OFFS_X   0.001
+INS_ACC2OFFS_Y   0.001
+INS_ACC2OFFS_Z   0.001
+INS_ACC2SCAL_X   1.001
+INS_ACC2SCAL_Y   1.001
+INS_ACC2SCAL_Z   1.001
+INS_ACC3OFFS_X   0.000
+INS_ACC3OFFS_Y   0.000
+INS_ACC3OFFS_Z   0.000
+INS_ACC3SCAL_X   1.000
+INS_ACC3SCAL_Y   1.000
+INS_ACC3SCAL_Z   1.000
+
+# crude rudder control
+RUDD_DT_GAIN 100
+NAVL1_PERIOD 35
+
+RLL_RATE_I 0
+RLL_RATE_D 0
+RLL_RATE_FF 0.03
+ROLL_LIMIT_DEG 5
+PTCH_LIMIT_MAX_DEG 5
+PTCH_LIMIT_MIN_DEG -5
+
diff --git a/Tools/autotest/pysim/vehicleinfo.py b/Tools/autotest/pysim/vehicleinfo.py
@@ -368,6 +368,10 @@ def __init__(self):
                 "extra_mavlink_cmds": "module load sitl_calibration;",
                 "external": True,  # lies!  OTOH, hard to take off with this
             },
+            "stratoblimp": {
+                "waf_target": "bin/arduplane",
+                "default_params_filename": "default_params/stratoblimp.parm",
+            },
         },
     },
     "Rover": {