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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-12-28 22:18:07 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-12-28 22:18:07 +0100 |
| commit | 501c5ff49f2ba05d21cfe10775c1ebc3bc6af2c9 (patch) | |
| tree | 3f7802b940d831ca05c0143ea5ec3a8e8ac1cabf /ROMFS/px4fmu_common/init.d/2102_3dr_skywalker | |
| 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/2102_3dr_skywalker')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/2102_3dr_skywalker | 82 |
1 files changed, 82 insertions, 0 deletions
diff --git a/ROMFS/px4fmu_common/init.d/2102_3dr_skywalker b/ROMFS/px4fmu_common/init.d/2102_3dr_skywalker new file mode 100644 index 000000000..a6d2ace96 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/2102_3dr_skywalker @@ -0,0 +1,82 @@ +#!nsh + +echo "[init] PX4FMU v1, v2 with or without IO on 3DR SkyWalker" + +# +# 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 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 + +# +# Force some key parameters to sane values +# MAV_TYPE 1 = fixed wing +# +param set MAV_TYPE 1 + +# +# Start and configure PX4IO or FMU interface +# +if px4io detect +then + # Start MAVLink (depends on orb) + mavlink start + + sh /etc/init.d/rc.io + # Limit to 100 Hz updates and (implicit) 50 Hz PWM + px4io limit 100 +else + # Start MAVLink (on UART1 / ttyS0) + mavlink start -d /dev/ttyS0 + + fmu mode_pwm + param set BAT_V_SCALING 0.004593 + set EXIT_ON_END yes +fi + +pwm disarmed -c 3 -p 1056 + +# +# Load mixer and start controllers (depends on px4io) +# +if [ -f /fs/microsd/etc/mixers/FMU_AERT.mix ] +then + echo "Using /fs/microsd/etc/mixers/FMU_AERT.mix" + mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_AETR.mix +else + echo "Using /etc/mixers/FMU_Q.mix" + mixer load /dev/pwm_output /etc/mixers/FMU_AETR.mix +fi + +# +# Start common fixedwing apps +# +sh /etc/init.d/rc.fixedwing |