diff --git a/ROMFS/px4fmu_common/init.d/airframes/2500_generic_airship b/ROMFS/px4fmu_common/init.d/airframes/2500_generic_airship new file mode 100644 index 00000000000..12215c073e8 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/airframes/2500_generic_airship @@ -0,0 +1,44 @@ +#!/bin/sh +# +# @name Generic Airship +# @type Airship +# @class Airship +# @maintainer Hyunduk Shin +# +# @output Motor1 starboard thruster +# @output Motor2 port thruster +# @output Servo1 right elevator +# @output Servo2 left elevator +# @output Servo3 upper rudder +# @output Servo4 lower rudder +# +# @board px4_fmu-v2 exclude +# @board bitcraze_crazyflie exclude +# + +. ${R}etc/init.d/rc.airship_defaults + +param set-default COM_PREARM_MODE 2 + +param set-default CA_AIRFRAME 9 + +# Thrusters offset starboard/port but driven collectively +param set-default CA_ROTOR_COUNT 2 +param set-default CA_ROTOR0_AX 1 +param set-default CA_ROTOR0_AZ 0 +param set-default CA_ROTOR0_KM 0 +param set-default CA_ROTOR0_PY 0 +param set-default CA_ROTOR1_AX 1 +param set-default CA_ROTOR1_AZ 0 +param set-default CA_ROTOR1_KM 0 +param set-default CA_ROTOR1_PY 0 + +param set-default CA_SV_CS_COUNT 4 +param set-default CA_SV_CS0_TYPE 3 +param set-default CA_SV_CS0_TRQ_P 0.5 +param set-default CA_SV_CS1_TYPE 3 +param set-default CA_SV_CS1_TRQ_P 0.5 +param set-default CA_SV_CS2_TYPE 4 +param set-default CA_SV_CS2_TRQ_Y 0.5 +param set-default CA_SV_CS3_TYPE 4 +param set-default CA_SV_CS3_TRQ_Y 0.5 diff --git a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt index 92a15e10232..0595abe4a79 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt +++ b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt @@ -127,6 +127,7 @@ endif() if(CONFIG_MODULES_AIRSHIP_ATT_CONTROL) px4_add_romfs_files( + 2500_generic_airship 2507_cloudship ) endif() diff --git a/docs/en/frames_airship/index.md b/docs/en/frames_airship/index.md index 98c274861dc..ab5e8bd8102 100644 --- a/docs/en/frames_airship/index.md +++ b/docs/en/frames_airship/index.md @@ -7,5 +7,9 @@ Support for airships is [experimental](../airframes/index.md#experimental-vehicl Maintainer volunteers, [contribution](../contribute/index.md) of new features, new frame configurations, or other improvements would all be very welcome! ::: -PX4 supports a single airship geometry with starboard, port and tail thrusters, and a thrust tilt server. -The frame configuration is shown in [Airframes Reference > Airship](../airframes/airframe_reference.md#airship). +PX4 supports two airship geometries: + +- **Generic airship:** two forward thrusters and a cruciform tail with elevators and rudders. +- **Cloudship:** starboard, port and tail thrusters with a thrust tilt servo. + +The frame configurations are shown in [Airframes Reference > Airship](../airframes/airframe_reference.md#airship).