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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-09-16 22:32:54 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-09-16 22:32:54 +0200 |
commit | bd39d101f58aa5e1ca5f8f7feb72ed46e0e19939 (patch) | |
tree | 74fed6d17ce2360c98fd33e069bbe1a029bd5edc /ROMFS/px4fmu_common/init.d/1000_rc.hil | |
parent | cb1621005c8e04a72f9d1ecefc069af9718fd9cf (diff) | |
download | px4-firmware-bd39d101f58aa5e1ca5f8f7feb72ed46e0e19939.tar.gz px4-firmware-bd39d101f58aa5e1ca5f8f7feb72ed46e0e19939.tar.bz2 px4-firmware-bd39d101f58aa5e1ca5f8f7feb72ed46e0e19939.zip |
Fixed HIL rc script
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/1000_rc.hil')
-rw-r--r-- | ROMFS/px4fmu_common/init.d/1000_rc.hil | 89 |
1 files changed, 89 insertions, 0 deletions
diff --git a/ROMFS/px4fmu_common/init.d/1000_rc.hil b/ROMFS/px4fmu_common/init.d/1000_rc.hil new file mode 100644 index 000000000..11318023c --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/1000_rc.hil @@ -0,0 +1,89 @@ +#!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 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) +# +mixer load /dev/pwm_output /etc/mixers/FMU_AET.mix +fw_pos_control_l1 start +fw_att_control start + +echo "[HIL] setup done, running" + |