diff options
| author | Anton Babushkin <anton.babushkin@me.com> | 2014-01-08 20:55:12 +0100 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-01-08 20:55:12 +0100 |
| commit | 4cffd99db940a9f0cda7643842ccf17d8a3f1b48 (patch) | |
| tree | c5347e39d858bcaf2d21cdb3d7de665781573a46 /ROMFS/px4fmu_common/init.d/4011_dji_f450 | |
| parent | 255d91d8d49ce06f065b6a0269bdfabeaa40fae4 (diff) | |
| download | px4-firmware-4cffd99db940a9f0cda7643842ccf17d8a3f1b48.tar.gz px4-firmware-4cffd99db940a9f0cda7643842ccf17d8a3f1b48.tar.bz2 px4-firmware-4cffd99db940a9f0cda7643842ccf17d8a3f1b48.zip | |
Major autostart rewrite
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/4011_dji_f450')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/4011_dji_f450 | 66 |
1 files changed, 11 insertions, 55 deletions
diff --git a/ROMFS/px4fmu_common/init.d/4011_dji_f450 b/ROMFS/px4fmu_common/init.d/4011_dji_f450 index a1d253191..ca055dfcb 100644 --- a/ROMFS/px4fmu_common/init.d/4011_dji_f450 +++ b/ROMFS/px4fmu_common/init.d/4011_dji_f450 @@ -2,14 +2,11 @@ echo "[init] PX4FMU v1, v2 with or without IO on DJI F450" -# -# Load default params for this platform -# -if param compare SYS_AUTOCONFIG 1 +if [ $DO_AUTOCONFIG == yes ] then - # Set all params here, then disable autoconfig - param set SYS_AUTOCONFIG 0 - + # + # 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 @@ -22,53 +19,12 @@ then param set MC_YAWRATE_D 0.005 param set MC_YAWRATE_I 0.2 param set MC_YAWRATE_P 0.3 - - param save fi -# -# Force some key parameters to sane values -# MAV_TYPE 2 = quadrotor -# -param set MAV_TYPE 2 - -# -# 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 -else - # Start MAVLink (on UART1 / ttyS0) - mavlink start -d /dev/ttyS0 - usleep 5000 - fmu mode_pwm - param set BAT_V_SCALING 0.004593 - set EXIT_ON_END yes -fi - -# -# Load mixer -# -mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix - -# -# Set PWM output frequency -# -pwm rate -c 1234 -r 400 - -# -# Set disarmed, min and max PWM signals (for DJI ESCs) -# -pwm disarmed -c 1234 -p 900 -pwm min -c 1234 -p 1200 -pwm max -c 1234 -p 1800 - -# -# Start common multirotor apps -# -sh /etc/init.d/rc.multirotor +set FRAME_TYPE mc +set FRAME_GEOMETRY x +set FRAME_COUNT 4 +set PWM_RATE 400 +set PWM_MIN 1200 +set PWM_MAX 1900 +set PWM_DISARMED 900 |