diff options
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/4009_ardrone_flow')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/4009_ardrone_flow | 83 |
1 files changed, 83 insertions, 0 deletions
diff --git a/ROMFS/px4fmu_common/init.d/4009_ardrone_flow b/ROMFS/px4fmu_common/init.d/4009_ardrone_flow new file mode 100644 index 000000000..2886bcb75 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/4009_ardrone_flow @@ -0,0 +1,83 @@ +#!nsh + +echo "[init] 09_ardrone_flow: PX4FMU on PX4IOAR carrier board with PX4FLOW" + +# +# Load default params for this platform +# +if param compare SYS_AUTOCONFIG 1 +then + # Set all params here, then disable autoconfig + param set MC_ATTRATE_D 0 + param set MC_ATTRATE_I 0 + param set MC_ATTRATE_P 0.13 + param set MC_ATT_D 0 + param set MC_ATT_I 0.3 + param set MC_ATT_P 5 + param set MC_YAWPOS_D 0.1 + param set MC_YAWPOS_I 0.15 + param set MC_YAWPOS_P 1 + param set MC_YAWRATE_D 0 + param set MC_YAWRATE_I 0 + param set MC_YAWRATE_P 0.15 + + param set SYS_AUTOCONFIG 0 + param save +fi + +# +# Force some key parameters to sane values +# MAV_TYPE 2 = quadrotor +# +param set MAV_TYPE 2 +param set BAT_V_SCALING 0.008381 + +# +# Start MAVLink and MAVLink Onboard (PX4FLOW Sensor) +# +mavlink start -d /dev/ttyS0 -b 57600 +mavlink_onboard start -d /dev/ttyS3 -b 115200 +usleep 5000 + +# +# Configure PX4FMU for operation with PX4IOAR +# +fmu mode_gpio_serial + +# +# Fire up the AR.Drone interface. +# +ardrone_interface start -d /dev/ttyS1 + +# +# Start the sensors. +# +sh /etc/init.d/rc.sensors + +# +# Start the attitude estimator +# +attitude_estimator_ekf start + +# +# Start the position estimator +# +flow_position_estimator start + +# +# Fire up the multi rotor attitude controller +# +multirotor_att_control start + +# +# Fire up the flow position controller +# +flow_position_control start + +# +# Fire up the flow speed controller +# +flow_speed_control start + +# Exit, because /dev/ttyS0 is needed for MAVLink +exit |