path: root/ROMFS/px4fmu_common/init.d/3033_io_wingwing

#!nsh

echo "[init] PX4FMU v1, v2 with or without IO on the Wing Wing (aka Z-84)"

#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
   # Set all params here, then disable autoconfig
   param set FW_AIRSPD_MIN 7
   param set FW_AIRSPD_TRIM 9
   param set FW_AIRSPD_MAX 14
   param set FW_L1_PERIOD 10
   param set FW_P_D 0
   param set FW_P_I 0
   param set FW_P_IMAX 20
   param set FW_P_LIM_MAX 30
   param set FW_P_LIM_MIN -20
   param set FW_P_P 30
   param set FW_P_RMAX_NEG 0
   param set FW_P_RMAX_POS 0
   param set FW_P_ROLLFF 2
   param set FW_R_D 0
   param set FW_R_I 5
   param set FW_R_IMAX 20
   param set FW_R_P 60
   param set FW_R_RMAX 60
   param set FW_THR_CRUISE 0.65
   param set FW_THR_MAX 0.7
   param set FW_THR_MIN 0
   param set FW_T_SINK_MAX 5
   param set FW_T_SINK_MIN 2
   param set FW_T_TIME_CONST 9
   param set FW_Y_ROLLFF 2.0
   param set RC_SCALE_ROLL 1.0
   param set RC_SCALE_PITCH 1.0

   param set SYS_AUTOCONFIG 0
   param save
fi
 
#
# Force some key parameters to sane values
# MAV_TYPE     1 = fixed wing
#
param set MAV_TYPE 1

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

   sh /etc/init.d/rc.io
   # Limit to 100 Hz updates and (implicit) 50 Hz PWM
   px4io limit 100
else
   # Start MAVLink (on UART1 / ttyS0)
   mavlink start -d /dev/ttyS0

   fmu mode_pwm
   param set BAT_V_SCALING 0.004593
   set EXIT_ON_END yes
fi

#
# Load mixer and start controllers (depends on px4io)
#
if [ -f /fs/microsd/etc/mixers/FMU_Q.mix ]
then
   echo "Using /fs/microsd/etc/mixers/FMU_Q.mix"
   mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_Q.mix
else
   echo "Using /etc/mixers/FMU_Q.mix"
   mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
fi

#
# Start common fixedwing apps
#
sh /etc/init.d/rc.fixedwing