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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-01-10 13:18:34 +0100 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-01-10 13:18:34 +0100 |
| commit | b5d56523bc100d7bf95a6dfbac95c1afc89e345e (patch) | |
| tree | a54be4fa60168cab7c03aa8622ddf05c1cf275b3 /ROMFS/px4fmu_common/init.d/10015_tbs_discovery | |
| parent | 891cb3f8c2755fdc566711448f1f19a06938bd2f (diff) | |
| download | px4-firmware-b5d56523bc100d7bf95a6dfbac95c1afc89e345e.tar.gz px4-firmware-b5d56523bc100d7bf95a6dfbac95c1afc89e345e.tar.bz2 px4-firmware-b5d56523bc100d7bf95a6dfbac95c1afc89e345e.zip | |
Init scripts cleanup, WIP
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/10015_tbs_discovery')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/10015_tbs_discovery | 85 |
1 files changed, 21 insertions, 64 deletions
diff --git a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery index 81d4b5d57..610d482c1 100644 --- a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery +++ b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery @@ -1,74 +1,31 @@ #!nsh +# Maintainers: Anton Babushkin <anton.babushkin@me.com> + echo "[init] Team Blacksheep Discovery Quad" -# -# Load default params for this platform -# -if param compare SYS_AUTOCONFIG 1 +if [ $DO_AUTOCONFIG == yes ] then - # Set all params here, then disable autoconfig - param set SYS_AUTOCONFIG 0 - - param set MC_ATTRATE_D 0.006 - param set MC_ATTRATE_I 0.0 - param set MC_ATTRATE_P 0.17 - param set MC_ATT_D 0.0 - param set MC_ATT_I 0.0 + # + # Default parameters for this platform + # param set MC_ATT_P 5.0 - param set MC_YAWPOS_D 0.0 - param set MC_YAWPOS_I 0.15 + param set MC_ATT_I 0.0 + param set MC_ATT_D 0.0 + param set MC_ATTRATE_P 0.17 + param set MC_ATTRATE_I 0.0 + param set MC_ATTRATE_D 0.006 param set MC_YAWPOS_P 0.5 - param set MC_YAWRATE_D 0.0 - param set MC_YAWRATE_I 0.0 + param set MC_YAWPOS_I 0.15 + param set MC_YAWPOS_D 0.0 param set MC_YAWRATE_P 0.2 - - param save -fi - -# -# Force some key parameters to sane values -# MAV_TYPE 2 = quadrotor -# -param set MAV_TYPE 2 - -# -# Start and configure PX4IO or FMU interface -# -if px4io detect -then - # Start MAVLink (depends on orb) - mavlink start - usleep 5000 - - sh /etc/init.d/rc.io -else - # Start MAVLink (on UART1 / ttyS0) - mavlink start -d /dev/ttyS0 - usleep 5000 - fmu mode_pwm - param set BAT_V_SCALING 0.004593 - set EXIT_ON_END yes + param set MC_YAWRATE_I 0.0 + param set MC_YAWRATE_D 0.0 fi -# -# Load the mixer for a quad with wide arms -# -mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix - -# -# Set PWM output frequency -# -pwm rate -c 1234 -r 400 - -# -# Set disarmed, min and max PWM signals -# -pwm disarmed -c 1234 -p 900 -pwm min -c 1234 -p 1100 -pwm max -c 1234 -p 1900 - -# -# Start common for all multirotors apps -# -sh /etc/init.d/rc.multirotor +set FRAME_TYPE mc +set FRAME_GEOMETRY quad_w +set PWM_RATE 400 +set PWM_DISARMED 900 +set PWM_MIN 1100 +set PWM_MAX 1900 |