path: root/ROMFS/px4fmu_common/init.d/11_dji_f450

#!nsh

echo "[init] PX4FMU v1, v2 with or without IO on DJI F450"

#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
	# Set all params here, then disable autoconfig
	param set SYS_AUTOCONFIG 0

	param set MC_ATTRATE_D	         0.004
	param set MC_ATTRATE_I	         0.0
	param set MC_ATTRATE_P	         0.12
	param set MC_ATT_D	         0.0
	param set MC_ATT_I	         0.0
	param set MC_ATT_P	         7.0
	param set MC_YAWPOS_D	         0.0
	param set MC_YAWPOS_I	         0.0
	param set MC_YAWPOS_P	         2.0
	param set MC_YAWRATE_D	         0.005
	param set MC_YAWRATE_I	         0.2
	param set MC_YAWRATE_P	         0.3

	param save
fi
 
#
# Force some key parameters to sane values
# MAV_TYPE     2 = quadrotor
#
param set MAV_TYPE 2

set EXIT_ON_END no

#
# Start and configure PX4IO or FMU interface
#
if px4io detect
then
	# Start MAVLink (depends on orb)
	mavlink start
	usleep 5000

	sh /etc/init.d/rc.io
	# Set PWM values for DJI ESCs
	px4io idle 900 900 900 900
	px4io min 1200 1200 1200 1200
	px4io max 1800 1800 1800 1800
else
	# Start MAVLink (on UART1 / ttyS0)
	mavlink start -d /dev/ttyS0
	usleep 5000
	fmu mode_pwm
	set EXIT_ON_END yes
fi

#
# Load mixer
#
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix

#
# Set PWM output frequency
#
pwm -u 400 -m 0xff

#
# Start common for all multirotors apps
#
sh /etc/init.d/rc.multirotor

if [ $EXIT_ON_END == yes ]
then
	exit
fi