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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-01-27 18:16:50 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-01-27 18:16:50 +0100 |
commit | dc3907fb36d06064e1f92b098b2b0bae860f4074 (patch) | |
tree | 7b0fa8b77b1adc60644faa72e170d09b40bcfbb7 /ROMFS/px4fmu_common/init.d/1002_rc_fw_state.hil | |
parent | 20108ed95d5bbae64bfcb95de5404fa97d9d0ac1 (diff) | |
parent | 7e855b5a23c9053dc8a59fcf33670e1cb93dd34b (diff) | |
download | px4-firmware-dc3907fb36d06064e1f92b098b2b0bae860f4074.tar.gz px4-firmware-dc3907fb36d06064e1f92b098b2b0bae860f4074.tar.bz2 px4-firmware-dc3907fb36d06064e1f92b098b2b0bae860f4074.zip |
Merge branch 'master' of github.com:PX4/Firmware into beta
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/1002_rc_fw_state.hil')
-rw-r--r-- | ROMFS/px4fmu_common/init.d/1002_rc_fw_state.hil | 56 |
1 files changed, 11 insertions, 45 deletions
diff --git a/ROMFS/px4fmu_common/init.d/1002_rc_fw_state.hil b/ROMFS/px4fmu_common/init.d/1002_rc_fw_state.hil index 7b9f41bf6..46da24d35 100644 --- a/ROMFS/px4fmu_common/init.d/1002_rc_fw_state.hil +++ b/ROMFS/px4fmu_common/init.d/1002_rc_fw_state.hil @@ -1,14 +1,13 @@ #!nsh # -# USB HIL start +# HIL Rascal 110 (Flightgear) +# +# Maintainers: Thomas Gubler <thomasgubler@gmail.com> # -echo "[HIL] HILStar starting in state-HIL mode.." +echo "HIL Rascal 110 starting.." -# -# Load default params for this platform -# -if param compare SYS_AUTOCONFIG 1 +if [ $DO_AUTOCONFIG == yes ] then # Set all params here, then disable autoconfig @@ -32,48 +31,15 @@ then 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 - -# -# 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 - -# -# 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" +set HIL yes +set VEHICLE_TYPE fw +set MIXER FMU_AERT |