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| author | M.H.Kabir <mhkabir98@gmail.com> | 2014-12-18 13:27:37 +0530 |
|---|---|---|
| committer | M.H.Kabir <mhkabir98@gmail.com> | 2014-12-18 13:27:37 +0530 |
| commit | 5ed11ffa8b5f2e843a661e6cf6cfb707c2d93b4e (patch) | |
| tree | c11324e0209084e9851c3923e78329d0cefc1a6b | |
| parent | c59f20706f93908ff9137aa315e8c77cb470e298 (diff) | |
| parent | 6e874bed50d6d8a13a3b7f9b883697cb2718d27b (diff) | |
| download | px4-firmware-5ed11ffa8b5f2e843a661e6cf6cfb707c2d93b4e.tar.gz px4-firmware-5ed11ffa8b5f2e843a661e6cf6cfb707c2d93b4e.tar.bz2 px4-firmware-5ed11ffa8b5f2e843a661e6cf6cfb707c2d93b4e.zip | |
Merge remote-tracking branch 'upstream/master' into timesync
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/10018_tbs_endurance | 31 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.autostart | 5 | ||||
| -rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 6 | ||||
| -rw-r--r-- | src/modules/fw_pos_control_l1/module.mk | 2 |
4 files changed, 40 insertions, 4 deletions
diff --git a/ROMFS/px4fmu_common/init.d/10018_tbs_endurance b/ROMFS/px4fmu_common/init.d/10018_tbs_endurance new file mode 100644 index 000000000..2d5e272bd --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/10018_tbs_endurance @@ -0,0 +1,31 @@ +#!nsh +# +# Team Blacksheep Discovery Long Range Quadcopter +# +# Setup: 15 x 6.5" Props, 6S 4000mAh TBS LiPo, TBS 30A ESCs, TBS 400kV Motors +# +# Simon Wilks <simon@px4.io> +# + +sh /etc/init.d/rc.mc_defaults + +if [ $DO_AUTOCONFIG == yes ] +then + param set MC_ROLL_P 7.0 + param set MC_ROLLRATE_P 0.07 + param set MC_ROLLRATE_I 0.02 + param set MC_ROLLRATE_D 0.003 + param set MC_PITCH_P 7.0 + param set MC_PITCHRATE_P 0.1 + param set MC_PITCHRATE_I 0.05 + param set MC_PITCHRATE_D 0.003 + param set MC_YAW_P 2.8 + param set MC_YAWRATE_P 0.4 + param set MC_YAWRATE_I 0.1 + param set MC_YAWRATE_D 0.0 +fi + +set MIXER FMU_quad_w + +set PWM_OUTPUTS 1234 +set PWM_MIN 1200 diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart index 8388da1dd..20f2be0d9 100644 --- a/ROMFS/px4fmu_common/init.d/rc.autostart +++ b/ROMFS/px4fmu_common/init.d/rc.autostart @@ -221,6 +221,11 @@ then sh /etc/init.d/10017_steadidrone_qu4d fi +if param compare SYS_AUTOSTART 10018 18 +then + sh /etc/init.d/10018_tbs_endurance +fi + # # Hexa Coaxial # diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index e7c95cc86..948b29bcb 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -1399,8 +1399,6 @@ FixedwingPositionControl::task_main() continue; } - perf_begin(_loop_perf); - /* check vehicle control mode for changes to publication state */ vehicle_control_mode_poll(); @@ -1419,6 +1417,7 @@ FixedwingPositionControl::task_main() /* only run controller if position changed */ if (fds[1].revents & POLLIN) { + perf_begin(_loop_perf); /* XXX Hack to get mavlink output going */ if (_mavlink_fd < 0) { @@ -1473,10 +1472,9 @@ FixedwingPositionControl::task_main() } } - + perf_end(_loop_perf); } - perf_end(_loop_perf); } _task_running = false; diff --git a/src/modules/fw_pos_control_l1/module.mk b/src/modules/fw_pos_control_l1/module.mk index 15b575b50..440bab2c5 100644 --- a/src/modules/fw_pos_control_l1/module.mk +++ b/src/modules/fw_pos_control_l1/module.mk @@ -45,3 +45,5 @@ SRCS = fw_pos_control_l1_main.cpp \ mtecs/mTecs_params.c MODULE_STACKSIZE = 1200 + +MAXOPTIMIZATION = -Os |