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| author | Helen Oleynikova <helenoleynikova@gmail.com> | 2014-03-04 16:33:18 +0100 |
|---|---|---|
| committer | Helen Oleynikova <helenoleynikova@gmail.com> | 2014-03-04 16:33:18 +0100 |
| commit | 958f7597e7d13f82e41b9c8e0aa4c3ac552cdf1c (patch) | |
| tree | e676f39c9c34792ca434ab058565bd078fabb4c5 /ROMFS/px4fmu_common/init.d/4008_ardrone | |
| parent | ea70e967565a15ffc06aeb95df87f47440df97c1 (diff) | |
| download | px4-firmware-958f7597e7d13f82e41b9c8e0aa4c3ac552cdf1c.tar.gz px4-firmware-958f7597e7d13f82e41b9c8e0aa4c3ac552cdf1c.tar.bz2 px4-firmware-958f7597e7d13f82e41b9c8e0aa4c3ac552cdf1c.zip | |
Added actual ARDrone start up script.
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/4008_ardrone')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/4008_ardrone | 40 |
1 files changed, 40 insertions, 0 deletions
diff --git a/ROMFS/px4fmu_common/init.d/4008_ardrone b/ROMFS/px4fmu_common/init.d/4008_ardrone new file mode 100644 index 000000000..fa9b9d18a --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/4008_ardrone @@ -0,0 +1,40 @@ +#!nsh +# +# ARDrone +# + +# Just use the default multicopter settings. +sh /etc/init.d/rc.mc_defaults + +# +# Load default params for this platform +# +if param compare SYS_AUTOCONFIG 1 +then + # Set all params here, then disable autoconfig + param set MC_ATTRATE_D 0 + param set MC_ATTRATE_I 0 + param set MC_ATTRATE_P 0.13 + param set MC_ATT_D 0 + param set MC_ATT_I 0.3 + param set MC_ATT_P 5 + param set MC_YAWPOS_D 0.1 + param set MC_YAWPOS_I 0.15 + param set MC_YAWPOS_P 1 + param set MC_YAWRATE_D 0 + param set MC_YAWRATE_I 0 + param set MC_YAWRATE_P 0.15 + + param set SYS_AUTOCONFIG 0 + param save +fi + +set FMU_MODE gpio + +# +# Force some key parameters to sane values +# MAV_TYPE 2 = quadrotor +# +set MAV_TYPE 2 +set VEHICLE_TYPE mc +param set BAT_V_SCALING 0.008381 |