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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-12-28 22:18:07 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-12-28 22:18:07 +0100 |
commit | 501c5ff49f2ba05d21cfe10775c1ebc3bc6af2c9 (patch) | |
tree | 3f7802b940d831ca05c0143ea5ec3a8e8ac1cabf /ROMFS/px4fmu_common/init.d/10016_3dr_iris | |
parent | d7a3aaba45518e04e362101a0e81e55462421375 (diff) | |
download | px4-firmware-501c5ff49f2ba05d21cfe10775c1ebc3bc6af2c9.tar.gz px4-firmware-501c5ff49f2ba05d21cfe10775c1ebc3bc6af2c9.tar.bz2 px4-firmware-501c5ff49f2ba05d21cfe10775c1ebc3bc6af2c9.zip |
Cleaned up startup, should be completely compatible, but allows clean QGC indices
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/10016_3dr_iris')
-rw-r--r-- | ROMFS/px4fmu_common/init.d/10016_3dr_iris | 73 |
1 files changed, 73 insertions, 0 deletions
diff --git a/ROMFS/px4fmu_common/init.d/10016_3dr_iris b/ROMFS/px4fmu_common/init.d/10016_3dr_iris new file mode 100644 index 000000000..b0f4eda79 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/10016_3dr_iris @@ -0,0 +1,73 @@ +#!nsh + +echo "[init] 3DR Iris Quad" + +# +# Load default params for this platform +# +if param compare SYS_AUTOCONFIG 1 +then + # Set all params here, then disable autoconfig + param set SYS_AUTOCONFIG 0 + + param set MC_ATTRATE_D 0.004 + param set MC_ATTRATE_I 0.0 + param set MC_ATTRATE_P 0.13 + param set MC_ATT_D 0.0 + param set MC_ATT_I 0.0 + param set MC_ATT_P 9.0 + param set MC_YAWPOS_D 0.0 + param set MC_YAWPOS_I 0.15 + param set MC_YAWPOS_P 0.5 + param set MC_YAWRATE_D 0.0 + param set MC_YAWRATE_I 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 0.0098 + set EXIT_ON_END yes +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 1050 + +# +# Start common for all multirotors apps +# +sh /etc/init.d/rc.multirotor |