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author | Andrew Tridgell <tridge@samba.org> | 2013-12-01 07:57:22 +1100 |
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committer | Andrew Tridgell <tridge@samba.org> | 2013-12-01 07:57:22 +1100 |
commit | ba8399780ae162b61240bf12bd8b093c91cf2bfe (patch) | |
tree | 2b30a0b968e05a7ff6a469cf02529134a770b6d2 | |
parent | bdb462379ac01b1f4fa25154624193c153647789 (diff) | |
download | px4-firmware-ba8399780ae162b61240bf12bd8b093c91cf2bfe.tar.gz px4-firmware-ba8399780ae162b61240bf12bd8b093c91cf2bfe.tar.bz2 px4-firmware-ba8399780ae162b61240bf12bd8b093c91cf2bfe.zip |
init.d: added 3dr_skywalker airframe config
params not tuned yet, but servos in the right direction
-rw-r--r-- | ROMFS/px4fmu_common/init.d/102_3dr_skywalker | 89 | ||||
-rwxr-xr-x | ROMFS/px4fmu_common/init.d/rcS | 6 |
2 files changed, 95 insertions, 0 deletions
diff --git a/ROMFS/px4fmu_common/init.d/102_3dr_skywalker b/ROMFS/px4fmu_common/init.d/102_3dr_skywalker new file mode 100644 index 000000000..e5d21c321 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/102_3dr_skywalker @@ -0,0 +1,89 @@ +#!nsh + +echo "[init] PX4FMU v1, v2 with or without IO on 3DR SkyWalker" + +# +# Load default params for this platform +# +if param compare SYS_AUTOCONFIG 1 +then + # Set all params here, then disable autoconfig + param set FW_P_D 0 + param set FW_P_I 0 + param set FW_P_IMAX 15 + param set FW_P_LIM_MAX 50 + param set FW_P_LIM_MIN -50 + param set FW_P_P 60 + param set FW_P_RMAX_NEG 0 + param set FW_P_RMAX_POS 0 + param set FW_P_ROLLFF 1.1 + param set FW_R_D 0 + param set FW_R_I 5 + param set FW_R_IMAX 20 + param set FW_R_P 100 + param set FW_R_RMAX 100 + param set FW_THR_CRUISE 0.65 + param set FW_THR_MAX 1 + param set FW_THR_MIN 0 + param set FW_T_SINK_MAX 5.0 + param set FW_T_SINK_MIN 4.0 + param set FW_Y_ROLLFF 1.1 + param set FW_L1_PERIOD 16 + 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 + +set EXIT_ON_END no + +# +# 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 + +pwm disarmed -c 3 -p 1056 + +# +# Load mixer and start controllers (depends on px4io) +# +if [ -f /fs/microsd/etc/mixers/FMU_AERT.mix ] +then + echo "Using /fs/microsd/etc/mixers/FMU_AERT.mix" + mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_AETR.mix +else + echo "Using /etc/mixers/FMU_Q.mix" + mixer load /dev/pwm_output /etc/mixers/FMU_AETR.mix +fi + +# +# Start common fixedwing apps +# +sh /etc/init.d/rc.fixedwing + +if [ $EXIT_ON_END == yes ] +then + exit +fi diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index d8b5cb608..f1df99048 100755 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -313,6 +313,12 @@ then sh /etc/init.d/101_hk_bixler set MODE custom fi + + if param compare SYS_AUTOSTART 102 + then + sh /etc/init.d/102_3dr_skywalker + set MODE custom + fi # Start any custom extensions that might be missing if [ -f /fs/microsd/etc/rc.local ] |