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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-28 15:50:06 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-28 15:50:06 +0200 |
| commit | 0731d331bfbee88f91fa4737ec77c0a66ce171f6 (patch) | |
| tree | b6a25a74edcd3bc81ba5a64444bff1dfbd3aad89 /ROMFS/px4fmu_common/init.d/15_tbs_discovery | |
| parent | feb4dad9e1c8e766cac93b55437c8234493ed71b (diff) | |
| download | px4-firmware-0731d331bfbee88f91fa4737ec77c0a66ce171f6.tar.gz px4-firmware-0731d331bfbee88f91fa4737ec77c0a66ce171f6.tar.bz2 px4-firmware-0731d331bfbee88f91fa4737ec77c0a66ce171f6.zip | |
ROMFS reshuffling / cleanup, in sync with QGC
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/15_tbs_discovery')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/15_tbs_discovery | 78 |
1 files changed, 78 insertions, 0 deletions
diff --git a/ROMFS/px4fmu_common/init.d/15_tbs_discovery b/ROMFS/px4fmu_common/init.d/15_tbs_discovery new file mode 100644 index 000000000..4e7406b66 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/15_tbs_discovery @@ -0,0 +1,78 @@ +#!nsh + +echo "[init] Team Blacksheep Discovery 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 0.006 + 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 + param set MC_ATT_P 5.0 + param set MC_RCLOSS_THR 0.0 + 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 + +set EXIT_ON_END no + +# +# 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 + # Set PWM values for DJI ESCs + px4io idle 900 900 900 900 + px4io min 1200 1200 1200 1200 + px4io max 1800 1800 1800 1800 +else + # Start MAVLink (on UART1 / ttyS0) + mavlink start -d /dev/ttyS0 + usleep 5000 + fmu mode_pwm + 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 -u 400 -m 0xff + +# +# Start common for all multirotors apps +# +sh /etc/init.d/rc.multirotor + +if [ $EXIT_ON_END == yes ] +then + exit +fi |