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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-10-23 13:38:16 -0700 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-10-23 13:38:16 -0700 |
commit | bdf7d515613151127a401a4da2300d0ecc9a3806 (patch) | |
tree | 9b39ff8942d69e79b7e93b41ea4488308823c0d3 | |
parent | 49ff143551b141f2c98febb7f0f038b1fc98e491 (diff) | |
parent | 28845c4846e4f225e686f6643b5d2e0851392b2b (diff) | |
download | px4-firmware-bdf7d515613151127a401a4da2300d0ecc9a3806.tar.gz px4-firmware-bdf7d515613151127a401a4da2300d0ecc9a3806.tar.bz2 px4-firmware-bdf7d515613151127a401a4da2300d0ecc9a3806.zip |
Merge pull request #490 from thomasgubler/hil_aert
Rascal (AERT) hil startup script
-rw-r--r-- | ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil (renamed from ROMFS/px4fmu_common/init.d/1000_rc_fw.hil) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil | 103 | ||||
-rwxr-xr-x | ROMFS/px4fmu_common/init.d/rcS | 8 |
3 files changed, 110 insertions, 1 deletions
diff --git a/ROMFS/px4fmu_common/init.d/1000_rc_fw.hil b/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil index 5e4028bbb..5e4028bbb 100644 --- a/ROMFS/px4fmu_common/init.d/1000_rc_fw.hil +++ b/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil diff --git a/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil b/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil new file mode 100644 index 000000000..8c5e4b6a8 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil @@ -0,0 +1,103 @@ +#!nsh +# +# USB HIL start +# + +echo "[HIL] HILStar starting.." + +# +# 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 + +# Allow USB some time to come up +sleep 1 +# Tell MAVLink that this link is "fast" +mavlink start -b 230400 -d /dev/ttyACM0 + +# Create a fake HIL /dev/pwm_output interface +hil mode_pwm + +# +# Force some key parameters to sane values +# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor +# see https://pixhawk.ethz.ch/mavlink/ +# +param set MAV_TYPE 1 + +# +# Start the commander (depends on orb, mavlink) +# +commander start + +# +# Check if we got an IO +# +if px4io start +then + echo "IO started" +else + fmu mode_serial + echo "FMU started" +fi + +# +# Start the sensors (depends on orb, px4io) +# +sh /etc/init.d/rc.sensors + +# +# Start the attitude estimator (depends on orb) +# +att_pos_estimator_ekf start + +# +# Load mixer and start controllers (depends on px4io) +# +set MODE autostart +mixer load /dev/pwm_output /etc/mixers/FMU_AERT.mix +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_AERT.mix +else + echo "Using /etc/mixers/FMU_AERT.mix" + mixer load /dev/pwm_output /etc/mixers/FMU_AERT.mix +fi + + +fw_pos_control_l1 start +fw_att_control start + +echo "[HIL] setup done, running" + diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 424787d54..94c01419e 100755 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -108,7 +108,7 @@ then if param compare SYS_AUTOSTART 1000 then - sh /etc/init.d/1000_rc_fw.hil + sh /etc/init.d/1000_rc_fw_easystar.hil set MODE custom fi @@ -129,6 +129,12 @@ then sh /etc/init.d/1003_rc_quad_+.hil set MODE custom fi + + if param compare SYS_AUTOSTART 1004 + then + sh /etc/init.d/1004_rc_fw_Rascal110.hil + set MODE custom + fi if [ $MODE != custom ] then |