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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-01-09 10:05:24 +0100 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-01-09 10:05:24 +0100 |
| commit | 532c4c771e3da9d0b371101a056c29d0f417cd09 (patch) | |
| tree | 00624f373fc6b7d2ab9a03277e134cac2bdd41df /ROMFS/px4fmu_common/init.d/4011_dji_f450 | |
| parent | 9a5ef700709b50d57201e77bc80f11c47b25f548 (diff) | |
| download | px4-firmware-532c4c771e3da9d0b371101a056c29d0f417cd09.tar.gz px4-firmware-532c4c771e3da9d0b371101a056c29d0f417cd09.tar.bz2 px4-firmware-532c4c771e3da9d0b371101a056c29d0f417cd09.zip | |
Autostart: generic quad, hexa and octo added, WIP
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/4011_dji_f450')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/4011_dji_f450 | 32 |
1 files changed, 18 insertions, 14 deletions
diff --git a/ROMFS/px4fmu_common/init.d/4011_dji_f450 b/ROMFS/px4fmu_common/init.d/4011_dji_f450 index ca055dfcb..cc0ddccc8 100644 --- a/ROMFS/px4fmu_common/init.d/4011_dji_f450 +++ b/ROMFS/px4fmu_common/init.d/4011_dji_f450 @@ -1,30 +1,34 @@ #!nsh +# Maintainers: Lorenz Meier <lm@inf.ethz.ch> + echo "[init] PX4FMU v1, v2 with or without IO on DJI F450" +# Use generic quad X PWM as base +sh /etc/init.d/4001_quad_x_pwm + if [ $DO_AUTOCONFIG == yes ] then # # Default parameters for this platform # - param set MC_ATTRATE_D 0.004 - param set MC_ATTRATE_I 0.0 - param set MC_ATTRATE_P 0.12 - param set MC_ATT_D 0.0 - param set MC_ATT_I 0.0 param set MC_ATT_P 7.0 - param set MC_YAWPOS_D 0.0 - param set MC_YAWPOS_I 0.0 + param set MC_ATT_I 0.0 + param set MC_ATT_D 0.0 + param set MC_ATTRATE_P 0.12 + param set MC_ATTRATE_I 0.0 + param set MC_ATTRATE_D 0.004 param set MC_YAWPOS_P 2.0 - param set MC_YAWRATE_D 0.005 - param set MC_YAWRATE_I 0.2 + param set MC_YAWPOS_I 0.0 + param set MC_YAWPOS_D 0.0 param set MC_YAWRATE_P 0.3 + param set MC_YAWRATE_I 0.2 + param set MC_YAWRATE_D 0.005 + + # TODO add default MPC parameters fi -set FRAME_TYPE mc -set FRAME_GEOMETRY x -set FRAME_COUNT 4 -set PWM_RATE 400 +# DJI ESC range +set PWM_DISARMED 900 set PWM_MIN 1200 set PWM_MAX 1900 -set PWM_DISARMED 900 |