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| author | Simon Wilks <sjwilks@gmail.com> | 2013-12-28 08:56:58 +0100 |
|---|---|---|
| committer | Simon Wilks <sjwilks@gmail.com> | 2013-12-28 08:56:58 +0100 |
| commit | d9f75a751b72c266ef68de4e1b7c56fafe1c8d5a (patch) | |
| tree | 9615f74ff17f95354460281ac605e2c647a0ede1 | |
| parent | d623c703ceafd3835064dd8466f49cc0409215db (diff) | |
| download | px4-firmware-d9f75a751b72c266ef68de4e1b7c56fafe1c8d5a.tar.gz px4-firmware-d9f75a751b72c266ef68de4e1b7c56fafe1c8d5a.tar.bz2 px4-firmware-d9f75a751b72c266ef68de4e1b7c56fafe1c8d5a.zip | |
Startup script for Wing Wing (Z-84)
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/33_io_wingwing | 91 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rcS | 6 |
2 files changed, 97 insertions, 0 deletions
diff --git a/ROMFS/px4fmu_common/init.d/33_io_wingwing b/ROMFS/px4fmu_common/init.d/33_io_wingwing new file mode 100644 index 000000000..fd709ec86 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/33_io_wingwing @@ -0,0 +1,91 @@ +#!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_P_D 0 + param set FW_P_I 0 + param set FW_P_IMAX 15 + 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 5.0 + param set FW_T_SINK_MIN 2.0 + param set FW_T_TIME_CONST 4 + param set FW_Y_ROLLFF 2.0 + param set FW_L1_PERIOD 25.0 + 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 + +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 + +# +# 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 + +if [ $EXIT_ON_END == yes ] +then + exit +fi
\ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 06102b707..3408b4ad5 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -321,6 +321,12 @@ then set MODE custom fi + if param compare SYS_AUTOSTART 33 + then + sh /etc/init.d/32_io_wingwing + set MODE custom + fi + if param compare SYS_AUTOSTART 40 then sh /etc/init.d/40_io_segway |