cleanup: update firmware files to have new firmware parameter names.

Author: JMoore5353

rosflight_firmware

@@ -1,19 +1,18 @@
 # Parameters for using a Fixedwing with ROSflight firmware.
 
-- {name: MOTOR_PWM_UPDATE, type: 6, value: 50} # Set pwm update rate for motor.
 - {name: ARM_SPIN_MOTORS, type: 6, value: 0} # Do not set motors to spin when armed.
 - {name: MOTOR_IDLE_THR, type: 9, value: .1} # Set motor to not idle at zero throttle.
-- {name: ARM_CHANNEL, type: 6, value: 4} # Set to desired arm channel.
+- {name: RC_ARM_CHN, type: 6, value: 4} # Set to desired arm channel.
 - {name: FIXED_WING, type: 6, value: 1} # Configure firmware for fixedwing.
 - {name: PRIMARY_MIXER, type: 6, value: 10} # Set mixer to inverted vtail mixer
-- {name: ELEVATOR_REV, type: 6, value: 1} # Option to reverse elevator.
-- {name: AIL_REV, type: 6, value: 0} # Option to reverse Aileron.
-- {name: RUDDER_REV, type: 6, value: 0} # Option to reverse rudder.
-- {name: CAL_GYRO_ARM, type: 6, value: 0} # Option to calibrate gyro when arming (generally only for multi-rotors).
+- {name: REV_ELEVATOR, type: 6, value: 1} # Option to reverse elevator.
+- {name: REV_AILERON, type: 6, value: 0} # Option to reverse Aileron.
+- {name: REV_RUDDER, type: 6, value: 0} # Option to reverse rudder.
+- {name: ARM_CAL_GYRO, type: 6, value: 0} # Option to calibrate gyro when arming (generally only for multi-rotors).
 - {name: RC_THR_OVRD_CHN, type: 6, value: 5} # Set pilot override channel for throttle control.
 - {name: RC_ATT_OVRD_CHN, type: 6, value: 5} # Set pilot override channel for attitude control.
 - {name: RC_ATT_CTRL_CHN, type: 6, value: 8} # TODO this should not be 8.
-- {name: MIN_THROTTLE, type: 6, value: 0} # Set to not take the minimum of the commanded throttles.
+- {name: TAKE_MIN_THR, type: 6, value: 0} # Set to not take the minimum of the commanded throttles.
 - {name: RC_OVRD_DEV, type: 9, value: 1.0} # Ignore any stick inputs when override is enabled.
 - {name: RC_NUM_CHN, type: 6, value: 8} # Set the number of RC channels to max.
 - {name: RC_F_AXIS, type: 6, value: 0}  # Set the RC F axis (for the RC pilot) to be the x axis

rosflight_sim/params/fixedwing_firmware.yaml

@@ -1,11 +1,11 @@
 - {name: FIXED_WING, type: 6, value: 0}       # Aircraft is not a fixedwing
 - {name: RC_NUM_CHN, type: 6, value: 8}       # Aircraft has 8 RC channels
-- {name: ARM_CHANNEL, type: 6, value: 4}      # Set arm channel (0-indexed)
+- {name: RC_ARM_CHN, type: 6, value: 4}      # Set arm channel (0-indexed)
 - {name: RC_THR_OVRD_CHN, type: 6, value: 5}  # Set pilot override channel for throttle control.
 - {name: RC_ATT_OVRD_CHN, type: 6, value: 5}  # Set pilot override channel for attitude control.
 - {name: RC_ATT_CTRL_CHN, type: 6, value: 6}  # Set channel to switch RC control type
 - {name: FAILSAFE_THR, type: 9, value: 0.0}
-- {name: MIN_THROTTLE, type: 6, value: 0}     # Don't take minimum of RC and offboard at all times
+- {name: TAKE_MIN_THR, type: 6, value: 0}     # Don't take minimum of RC and offboard at all times
 - {name: RC_F_AXIS, type: 6, value: 2}        # RC_F_AXIS is the Z axis for multirotors by default
 - {name: PRIMARY_MIXER, type: 6, value: 11}   # Custom mixer -- make sure USE_MOTOR_PARAM is set to 1 and
                                               # both motor_parameters and motor_mixer_parameters are set properly
@@ -26,7 +26,7 @@
 - {name: PROP_DIAMETER, type: 9, value: 0.381}
 - {name: PROP_CT, type: 9, value: 0.075}
 - {name: PROP_CQ, type: 9, value: 0.0045}
-- {name: VOLT_MAX, type: 9, value: 23.5}
+- {name: BATT_VOLT_MAX, type: 9, value: 23.5}
 - name: PRI_MIXER_0_0
   type: 9
   value: -0.0

rosflight_sim/params/multirotor_firmware/multirotor_combined.yaml

@@ -1,11 +1,11 @@
 - {name: FIXED_WING, type: 6, value: 0}       # Aircraft is not a fixedwing
 - {name: RC_NUM_CHN, type: 6, value: 8}       # Aircraft has 8 RC channels
-- {name: ARM_CHANNEL, type: 6, value: 4}
+- {name: RC_ARM_CHN, type: 6, value: 4}
 - {name: RC_THR_OVRD_CHN, type: 6, value: 5} # Set pilot override channel for throttle control.
 - {name: RC_ATT_OVRD_CHN, type: 6, value: 5} # Set pilot override channel for attitude control.
 - {name: RC_ATT_CTRL_CHN, type: 6, value: 6}
 - {name: FAILSAFE_THR, type: 9, value: 0.0}
-- {name: MIN_THROTTLE, type: 6, value: 0}    # Don't take minimum of RC and offboard at all times
+- {name: TAKE_MIN_THR, type: 6, value: 0}    # Don't take minimum of RC and offboard at all times
 - {name: RC_F_AXIS, type: 6, value: 2}      # RC_F_AXIS is the Z axis for multirotors by default
 - {name: PRIMARY_MIXER, type: 6, value: 11}  # Custom mixer -- make sure USE_MOTOR_PARAM is set to 1 and
                                              # both motor_parameters and motor_mixer_parameters are set properly

rosflight_sim/params/multirotor_firmware/multirotor_firmware.yaml

@@ -1,10 +1,8 @@
 - {name: NUM_MOTORS, type: 6, value: 4}
-- {name: VEHICLE_MASS, type: 9, value: 3.50}
 - {name: MOTOR_RESISTANCE, type: 9, value: 0.085}
-- {name: AIR_DENSITY, type: 9, value: 1.225}
 - {name: MOTOR_KV, type: 9, value: 0.02894}
 - {name: NO_LOAD_CURRENT, type: 9, value: 1.01}
 - {name: PROP_DIAMETER, type: 9, value: 0.381}
 - {name: PROP_CT, type: 9, value: 0.075}
 - {name: PROP_CQ, type: 9, value: 0.0045}
-- {name: VOLT_MAX, type: 9, value: 25.0}
+- {name: BATT_VOLT_MAX, type: 9, value: 23.5}