diff options
author | Lorenz Meier <lm@inf.ethz.ch> | 2014-12-26 17:06:19 +0100 |
---|---|---|
committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-12-26 17:06:19 +0100 |
commit | 407889ea2c472ed5be950307bb5dc27f07f88006 (patch) | |
tree | 0dacd8384fd8a136c27163da1e22a086a0b9d3d5 /ROMFS/px4fmu_common/init.d | |
parent | f3a224e30d8a70418541a6185ce5765b37745a7a (diff) | |
parent | 5c51adf5f79266de2b483c2461babd4d673cfffb (diff) | |
download | px4-firmware-407889ea2c472ed5be950307bb5dc27f07f88006.tar.gz px4-firmware-407889ea2c472ed5be950307bb5dc27f07f88006.tar.bz2 px4-firmware-407889ea2c472ed5be950307bb5dc27f07f88006.zip |
Merged master into indoor branch
Diffstat (limited to 'ROMFS/px4fmu_common/init.d')
35 files changed, 300 insertions, 130 deletions
diff --git a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery index c8379e3a1..c1b366de8 100644 --- a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery +++ b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery @@ -7,7 +7,7 @@ sh /etc/init.d/rc.mc_defaults -if [ $DO_AUTOCONFIG == yes ] +if [ $AUTOCNF == yes ] then # TODO review MC_YAWRATE_I param set MC_ROLL_P 8.0 @@ -26,5 +26,5 @@ fi set MIXER FMU_quad_w -set PWM_OUTPUTS 1234 +set PWM_OUT 1234 set PWM_MIN 1200 diff --git a/ROMFS/px4fmu_common/init.d/10016_3dr_iris b/ROMFS/px4fmu_common/init.d/10016_3dr_iris index 0b422de7e..3879737a8 100644 --- a/ROMFS/px4fmu_common/init.d/10016_3dr_iris +++ b/ROMFS/px4fmu_common/init.d/10016_3dr_iris @@ -7,7 +7,7 @@ sh /etc/init.d/rc.mc_defaults -if [ $DO_AUTOCONFIG == yes ] +if [ $AUTOCNF == yes ] then # TODO tune roll/pitch separately param set MC_ROLL_P 7.0 @@ -29,7 +29,7 @@ fi set MIXER FMU_quad_w -set PWM_OUTPUTS 1234 +set PWM_OUT 1234 set PWM_MIN 1200 set PWM_MAX 1950 diff --git a/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d b/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d index a621de7ce..57f77754c 100644 --- a/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d +++ b/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d @@ -7,7 +7,7 @@ sh /etc/init.d/rc.mc_defaults -if [ $DO_AUTOCONFIG == yes ] +if [ $AUTOCNF == yes ] then # TODO tune roll/pitch separately param set MC_ROLL_P 7.0 @@ -31,4 +31,4 @@ set MIXER FMU_quad_w set PWM_MIN 1210 set PWM_MAX 2100 -set PWM_OUTPUTS 1234 +set PWM_OUT 1234 diff --git a/ROMFS/px4fmu_common/init.d/10018_tbs_endurance b/ROMFS/px4fmu_common/init.d/10018_tbs_endurance new file mode 100644 index 000000000..2d5e272bd --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/10018_tbs_endurance @@ -0,0 +1,31 @@ +#!nsh +# +# Team Blacksheep Discovery Long Range Quadcopter +# +# Setup: 15 x 6.5" Props, 6S 4000mAh TBS LiPo, TBS 30A ESCs, TBS 400kV Motors +# +# Simon Wilks <simon@px4.io> +# + +sh /etc/init.d/rc.mc_defaults + +if [ $DO_AUTOCONFIG == yes ] +then + param set MC_ROLL_P 7.0 + param set MC_ROLLRATE_P 0.07 + param set MC_ROLLRATE_I 0.02 + param set MC_ROLLRATE_D 0.003 + param set MC_PITCH_P 7.0 + param set MC_PITCHRATE_P 0.1 + param set MC_PITCHRATE_I 0.05 + param set MC_PITCHRATE_D 0.003 + param set MC_YAW_P 2.8 + param set MC_YAWRATE_P 0.4 + param set MC_YAWRATE_I 0.1 + param set MC_YAWRATE_D 0.0 +fi + +set MIXER FMU_quad_w + +set PWM_OUTPUTS 1234 +set PWM_MIN 1200 diff --git a/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil b/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil index 00b97d675..f208b692a 100644 --- a/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil +++ b/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil @@ -7,7 +7,7 @@ sh /etc/init.d/rc.fw_defaults -if [ $DO_AUTOCONFIG == yes ] +if [ $AUTOCNF == yes ] then param set FW_AIRSPD_MIN 12 param set FW_AIRSPD_TRIM 25 diff --git a/ROMFS/px4fmu_common/init.d/11001_hexa_cox b/ROMFS/px4fmu_common/init.d/11001_hexa_cox index e4d96fbd5..50f717e3d 100644 --- a/ROMFS/px4fmu_common/init.d/11001_hexa_cox +++ b/ROMFS/px4fmu_common/init.d/11001_hexa_cox @@ -10,4 +10,4 @@ sh /etc/init.d/rc.mc_defaults set MIXER FMU_hexa_cox # Need to set all 8 channels -set PWM_OUTPUTS 12345678 +set PWM_OUT 12345678 diff --git a/ROMFS/px4fmu_common/init.d/12001_octo_cox b/ROMFS/px4fmu_common/init.d/12001_octo_cox index f820251ad..e0a838185 100644 --- a/ROMFS/px4fmu_common/init.d/12001_octo_cox +++ b/ROMFS/px4fmu_common/init.d/12001_octo_cox @@ -9,4 +9,4 @@ sh /etc/init.d/rc.mc_defaults set MIXER FMU_octo_cox -set PWM_OUTPUTS 12345678 +set PWM_OUT 12345678 diff --git a/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol b/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol new file mode 100644 index 000000000..7e9a6d3dc --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol @@ -0,0 +1,16 @@ +#!nsh +# +# Generic configuration file for caipirinha VTOL version +# +# Roman Bapst <bapstr@ethz.ch> +# + +sh /etc/init.d/rc.vtol_defaults + +set MIXER FMU_caipirinha_vtol + +set PWM_OUT 12 +set PWM_MAX 2000 +set PWM_RATE 400 +param set VT_MOT_COUNT 2 +param set VT_IDLE_PWM_MC 1080 diff --git a/ROMFS/px4fmu_common/init.d/2102_3dr_skywalker b/ROMFS/px4fmu_common/init.d/2102_3dr_skywalker index dcc5db824..906f4b1cc 100644 --- a/ROMFS/px4fmu_common/init.d/2102_3dr_skywalker +++ b/ROMFS/px4fmu_common/init.d/2102_3dr_skywalker @@ -2,4 +2,4 @@ sh /etc/init.d/rc.fw_defaults -set MIXER FMU_AERT
\ No newline at end of file +set MIXER skywalker
\ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/3030_io_camflyer b/ROMFS/px4fmu_common/init.d/3030_io_camflyer index 0f0cb3a89..fe0269557 100644 --- a/ROMFS/px4fmu_common/init.d/3030_io_camflyer +++ b/ROMFS/px4fmu_common/init.d/3030_io_camflyer @@ -4,5 +4,5 @@ sh /etc/init.d/rc.fw_defaults set MIXER FMU_Q # Provide ESC a constant 1000 us pulse while disarmed -set PWM_OUTPUTS 4 +set PWM_OUT 4 set PWM_DISARMED 1000 diff --git a/ROMFS/px4fmu_common/init.d/3031_phantom b/ROMFS/px4fmu_common/init.d/3031_phantom index a7749cba6..c7dd1dfc5 100644 --- a/ROMFS/px4fmu_common/init.d/3031_phantom +++ b/ROMFS/px4fmu_common/init.d/3031_phantom @@ -7,7 +7,7 @@ sh /etc/init.d/rc.fw_defaults -if [ $DO_AUTOCONFIG == yes ] +if [ $AUTOCNF == yes ] then param set FW_AIRSPD_MIN 13 param set FW_AIRSPD_TRIM 15 @@ -36,5 +36,5 @@ fi set MIXER phantom # Provide ESC a constant 1000 us pulse -set PWM_OUTPUTS 4 +set PWM_OUT 4 set PWM_DISARMED 1000 diff --git a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 index 26c7c95e6..94363bf6a 100644 --- a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 +++ b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 @@ -7,7 +7,7 @@ sh /etc/init.d/rc.fw_defaults -if [ $DO_AUTOCONFIG == yes ] +if [ $AUTOCNF == yes ] then param set FW_AIRSPD_MIN 15 param set FW_AIRSPD_TRIM 20 diff --git a/ROMFS/px4fmu_common/init.d/3033_wingwing b/ROMFS/px4fmu_common/init.d/3033_wingwing index 919eefb4a..add905b11 100644 --- a/ROMFS/px4fmu_common/init.d/3033_wingwing +++ b/ROMFS/px4fmu_common/init.d/3033_wingwing @@ -7,7 +7,7 @@ sh /etc/init.d/rc.fw_defaults -if [ $DO_AUTOCONFIG == yes ] +if [ $AUTOCNF == yes ] then param set BAT_N_CELLS 2 param set FW_AIRSPD_MAX 15 @@ -44,5 +44,5 @@ fi set MIXER wingwing # Provide ESC a constant 1000 us pulse -set PWM_OUTPUTS 4 +set PWM_OUT 4 set PWM_DISARMED 1000 diff --git a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha index 9bfd9d9ed..9eafac1c5 100644 --- a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha +++ b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha @@ -7,9 +7,9 @@ sh /etc/init.d/rc.fw_defaults -if [ $DO_AUTOCONFIG == yes ] +if [ $AUTOCNF == yes ] then - + # TODO: these are the X5 default parameters, update them to the caipi param set FW_AIRSPD_MIN 15 diff --git a/ROMFS/px4fmu_common/init.d/4001_quad_x b/ROMFS/px4fmu_common/init.d/4001_quad_x index 8fe8961c5..4677f9fc3 100644 --- a/ROMFS/px4fmu_common/init.d/4001_quad_x +++ b/ROMFS/px4fmu_common/init.d/4001_quad_x @@ -9,4 +9,4 @@ sh /etc/init.d/rc.mc_defaults set MIXER FMU_quad_x -set PWM_OUTPUTS 1234 +set PWM_OUT 1234 diff --git a/ROMFS/px4fmu_common/init.d/4008_ardrone b/ROMFS/px4fmu_common/init.d/4008_ardrone index 0488e3928..c3358ef4c 100644 --- a/ROMFS/px4fmu_common/init.d/4008_ardrone +++ b/ROMFS/px4fmu_common/init.d/4008_ardrone @@ -8,7 +8,7 @@ sh /etc/init.d/rc.mc_defaults # # Load default params for this platform # -if [ $DO_AUTOCONFIG == yes ] +if [ $AUTOCNF == yes ] then # Set all params here, then disable autoconfig param set MC_ROLL_P 6.0 @@ -24,7 +24,7 @@ then param set MC_YAWRATE_I 0.2 param set MC_YAWRATE_D 0.0 param set MC_YAW_FF 0.8 - + param set BAT_V_SCALING 0.00838095238 fi diff --git a/ROMFS/px4fmu_common/init.d/4010_dji_f330 b/ROMFS/px4fmu_common/init.d/4010_dji_f330 index f0cc05207..8e5dc76b1 100644 --- a/ROMFS/px4fmu_common/init.d/4010_dji_f330 +++ b/ROMFS/px4fmu_common/init.d/4010_dji_f330 @@ -7,7 +7,7 @@ sh /etc/init.d/4001_quad_x -if [ $DO_AUTOCONFIG == yes ] +if [ $AUTOCNF == yes ] then param set MC_ROLL_P 7.0 param set MC_ROLLRATE_P 0.1 diff --git a/ROMFS/px4fmu_common/init.d/4011_dji_f450 b/ROMFS/px4fmu_common/init.d/4011_dji_f450 index 1ca716a6b..ea35b3ba9 100644 --- a/ROMFS/px4fmu_common/init.d/4011_dji_f450 +++ b/ROMFS/px4fmu_common/init.d/4011_dji_f450 @@ -7,7 +7,7 @@ sh /etc/init.d/4001_quad_x -if [ $DO_AUTOCONFIG == yes ] +if [ $AUTOCNF == yes ] then # TODO REVIEW param set MC_ROLL_P 7.0 diff --git a/ROMFS/px4fmu_common/init.d/4012_quad_x_can b/ROMFS/px4fmu_common/init.d/4012_quad_x_can index 5c4a6497a..b1db1dd9a 100644 --- a/ROMFS/px4fmu_common/init.d/4012_quad_x_can +++ b/ROMFS/px4fmu_common/init.d/4012_quad_x_can @@ -7,7 +7,7 @@ sh /etc/init.d/4001_quad_x -if [ $DO_AUTOCONFIG == yes ] +if [ $AUTOCNF == yes ] then # TODO REVIEW param set MC_ROLL_P 7.0 diff --git a/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb b/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb index 9fe310dde..a1de19d5d 100644 --- a/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb +++ b/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb @@ -9,7 +9,7 @@ echo "HK Micro PCB Quad" sh /etc/init.d/4001_quad_x -if [ $DO_AUTOCONFIG == yes ] +if [ $AUTOCNF == yes ] then param set MC_ROLL_P 7.0 param set MC_ROLLRATE_P 0.1 diff --git a/ROMFS/px4fmu_common/init.d/5001_quad_+ b/ROMFS/px4fmu_common/init.d/5001_quad_+ index 5512aa738..c78911391 100644 --- a/ROMFS/px4fmu_common/init.d/5001_quad_+ +++ b/ROMFS/px4fmu_common/init.d/5001_quad_+ @@ -9,4 +9,4 @@ sh /etc/init.d/rc.mc_defaults set MIXER FMU_quad_+ -set PWM_OUTPUTS 1234 +set PWM_OUT 1234 diff --git a/ROMFS/px4fmu_common/init.d/6001_hexa_x b/ROMFS/px4fmu_common/init.d/6001_hexa_x index 1043ad8ad..0df25b11a 100644 --- a/ROMFS/px4fmu_common/init.d/6001_hexa_x +++ b/ROMFS/px4fmu_common/init.d/6001_hexa_x @@ -10,4 +10,4 @@ sh /etc/init.d/rc.mc_defaults set MIXER FMU_hexa_x # Need to set all 8 channels -set PWM_OUTPUTS 12345678 +set PWM_OUT 12345678 diff --git a/ROMFS/px4fmu_common/init.d/7001_hexa_+ b/ROMFS/px4fmu_common/init.d/7001_hexa_+ index 84ab88883..16c772ee1 100644 --- a/ROMFS/px4fmu_common/init.d/7001_hexa_+ +++ b/ROMFS/px4fmu_common/init.d/7001_hexa_+ @@ -10,4 +10,4 @@ sh /etc/init.d/rc.mc_defaults set MIXER FMU_hexa_+ # Need to set all 8 channels -set PWM_OUTPUTS 12345678 +set PWM_OUT 12345678 diff --git a/ROMFS/px4fmu_common/init.d/8001_octo_x b/ROMFS/px4fmu_common/init.d/8001_octo_x index 74e304cd9..bae36737f 100644 --- a/ROMFS/px4fmu_common/init.d/8001_octo_x +++ b/ROMFS/px4fmu_common/init.d/8001_octo_x @@ -9,4 +9,4 @@ sh /etc/init.d/rc.mc_defaults set MIXER FMU_octo_x -set PWM_OUTPUTS 12345678 +set PWM_OUT 12345678 diff --git a/ROMFS/px4fmu_common/init.d/9001_octo_+ b/ROMFS/px4fmu_common/init.d/9001_octo_+ index f7c06c6c8..ca5439f68 100644 --- a/ROMFS/px4fmu_common/init.d/9001_octo_+ +++ b/ROMFS/px4fmu_common/init.d/9001_octo_+ @@ -9,4 +9,4 @@ sh /etc/init.d/rc.mc_defaults set MIXER FMU_octo_+ -set PWM_OUTPUTS 12345678
\ No newline at end of file +set PWM_OUT 12345678 diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart index 496a52c5f..20f2be0d9 100644 --- a/ROMFS/px4fmu_common/init.d/rc.autostart +++ b/ROMFS/px4fmu_common/init.d/rc.autostart @@ -15,6 +15,7 @@ # 10000 .. 10999 Wide arm / H frame # 11000 .. 11999 Hexa Cox # 12000 .. 12999 Octo Cox +# 13000 .. 13999 VTOL # # Simulation @@ -220,6 +221,11 @@ then sh /etc/init.d/10017_steadidrone_qu4d fi +if param compare SYS_AUTOSTART 10018 18 +then + sh /etc/init.d/10018_tbs_endurance +fi + # # Hexa Coaxial # @@ -237,3 +243,13 @@ if param compare SYS_AUTOSTART 12001 then sh /etc/init.d/12001_octo_cox fi + +# 13000 is historically reserved for the quadshot + +# +# VTOL caipririnha +# + if param compare SYS_AUTOSTART 13001 + then + sh /etc/init.d/13001_caipirinha_vtol + fi diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_defaults b/ROMFS/px4fmu_common/init.d/rc.fw_defaults index 3c336f295..fab2a7f18 100644 --- a/ROMFS/px4fmu_common/init.d/rc.fw_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults @@ -2,7 +2,7 @@ set VEHICLE_TYPE fw -if [ $DO_AUTOCONFIG == yes ] +if [ $AUTOCNF == yes ] then # # Default parameters for FW @@ -15,4 +15,4 @@ then param set FW_T_RLL2THR 15 param set FW_T_SRATE_P 0.01 param set FW_T_TIME_CONST 5 -fi
\ No newline at end of file +fi diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface index e44cd0953..bab71be93 100644 --- a/ROMFS/px4fmu_common/init.d/rc.interface +++ b/ROMFS/px4fmu_common/init.d/rc.interface @@ -8,12 +8,11 @@ then # # Load mixer # - set MIXERSD /fs/microsd/etc/mixers/$MIXER.mix #Use the mixer file from the SD-card if it exists - if [ -f $MIXERSD ] + if [ -f /fs/microsd/etc/mixers/$MIXER.mix ] then - set MIXER_FILE $MIXERSD + set MIXER_FILE /fs/microsd/etc/mixers/$MIXER.mix else set MIXER_FILE /etc/mixers/$MIXER.mix fi @@ -32,30 +31,31 @@ then if mixer load $OUTPUT_DEV $MIXER_FILE then - echo "[init] Mixer loaded: $MIXER_FILE" + echo "[i] Mixer: $MIXER_FILE" else - echo "[init] Error loading mixer: $MIXER_FILE" - tone_alarm $TUNE_OUT_ERROR + echo "[i] Error loading mixer: $MIXER_FILE" + tone_alarm $TUNE_ERR fi + + unset MIXER_FILE else if [ $MIXER != skip ] then - echo "[init] Mixer not defined" - tone_alarm $TUNE_OUT_ERROR + echo "[i] Mixer not defined" + tone_alarm $TUNE_ERR fi fi if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == io ] then - if [ $PWM_OUTPUTS != none ] + if [ $PWM_OUT != none ] then # # Set PWM output frequency # if [ $PWM_RATE != none ] then - echo "[init] Set PWM rate: $PWM_RATE" - pwm rate -c $PWM_OUTPUTS -r $PWM_RATE + pwm rate -c $PWM_OUT -r $PWM_RATE fi # @@ -63,18 +63,15 @@ then # if [ $PWM_DISARMED != none ] then - echo "[init] Set PWM disarmed: $PWM_DISARMED" - pwm disarmed -c $PWM_OUTPUTS -p $PWM_DISARMED + pwm disarmed -c $PWM_OUT -p $PWM_DISARMED fi if [ $PWM_MIN != none ] then - echo "[init] Set PWM min: $PWM_MIN" - pwm min -c $PWM_OUTPUTS -p $PWM_MIN + pwm min -c $PWM_OUT -p $PWM_MIN fi if [ $PWM_MAX != none ] then - echo "[init] Set PWM max: $PWM_MAX" - pwm max -c $PWM_OUTPUTS -p $PWM_MAX + pwm max -c $PWM_OUT -p $PWM_MAX fi fi diff --git a/ROMFS/px4fmu_common/init.d/rc.io b/ROMFS/px4fmu_common/init.d/rc.io index e23aebd87..e957626ce 100644 --- a/ROMFS/px4fmu_common/init.d/rc.io +++ b/ROMFS/px4fmu_common/init.d/rc.io @@ -16,5 +16,5 @@ then set PX4IO_LIMIT 200 fi -echo "[init] Set PX4IO update rate limit: $PX4IO_LIMIT Hz" +echo "[i] Set PX4IO update rate limit: $PX4IO_LIMIT Hz" px4io limit $PX4IO_LIMIT diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults index 0df320f49..307a64c4d 100644 --- a/ROMFS/px4fmu_common/init.d/rc.mc_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults @@ -2,7 +2,7 @@ set VEHICLE_TYPE mc -if [ $DO_AUTOCONFIG == yes ] +if [ $AUTOCNF == yes ] then param set MC_ROLL_P 7.0 param set MC_ROLLRATE_P 0.1 diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors index 858df4f28..973db9017 100644 --- a/ROMFS/px4fmu_common/init.d/rc.sensors +++ b/ROMFS/px4fmu_common/init.d/rc.sensors @@ -71,6 +71,10 @@ if px4flow start then fi +if ll40ls start +then +fi + # # Start sensors -> preflight_check # diff --git a/ROMFS/px4fmu_common/init.d/rc.uavcan b/ROMFS/px4fmu_common/init.d/rc.uavcan index 9a470a6b8..08ba86d78 100644 --- a/ROMFS/px4fmu_common/init.d/rc.uavcan +++ b/ROMFS/px4fmu_common/init.d/rc.uavcan @@ -10,9 +10,9 @@ then # First sensor publisher to initialize takes lowest instance ID # This delay ensures that UAVCAN-interfaced sensors would be allocated on lowest instance IDs sleep 1 - echo "[init] UAVCAN started" + echo "[i] UAVCAN started" else - echo "[init] ERROR: Could not start UAVCAN" - tone_alarm $TUNE_OUT_ERROR + echo "[i] ERROR: Could not start UAVCAN" + tone_alarm $TUNE_ERR fi fi diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_apps b/ROMFS/px4fmu_common/init.d/rc.vtol_apps new file mode 100644 index 000000000..23ade6d78 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.vtol_apps @@ -0,0 +1,15 @@ +#!nsh +# +# Standard apps for vtol: +# att & pos estimator, att & pos control. +# + +attitude_estimator_ekf start +#ekf_att_pos_estimator start +position_estimator_inav start + +vtol_att_control start +mc_att_control start +mc_pos_control start +fw_att_control start +fw_pos_control_l1 start diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults new file mode 100644 index 000000000..6dc5a65db --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults @@ -0,0 +1,39 @@ +#!nsh + +set VEHICLE_TYPE vtol + +if [ $AUTOCNF == yes ] +then + # + #Default controller parameters for MC + # + param set MC_ROLL_P 6.0 + param set MC_ROLLRATE_P 0.1 + param set MC_ROLLRATE_I 0.0 + param set MC_ROLLRATE_D 0.003 + param set MC_PITCH_P 6.0 + param set MC_PITCHRATE_P 0.2 + param set MC_PITCHRATE_I 0.0 + param set MC_PITCHRATE_D 0.003 + param set MC_YAW_P 4 + param set MC_YAWRATE_P 0.2 + param set MC_YAWRATE_I 0.0 + param set MC_YAWRATE_D 0.0 + param set MC_YAW_FF 0.3 + + # + # Default parameters for FW + # + param set FW_PR_FF 0.3 + param set FW_PR_I 0.000 + param set FW_PR_IMAX 0.2 + param set FW_PR_P 0.02 + param set FW_RR_FF 0.3 + param set FW_RR_I 0.00 + param set FW_RR_IMAX 0.2 + param set FW_RR_P 0.02 +fi + +set PWM_DISARMED 900 +set PWM_MIN 1000 +set PWM_MAX 2000 diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index e2691ab58..b0e0c2674 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -1,46 +1,46 @@ #!nsh # # PX4FMU startup script. +# +# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS. +# # # Default to auto-start mode. # set MODE autostart -set RC_FILE /fs/microsd/etc/rc.txt -set CONFIG_FILE /fs/microsd/etc/config.txt -set EXTRAS_FILE /fs/microsd/etc/extras.txt +set FRC /fs/microsd/etc/rc.txt +set FCONFIG /fs/microsd/etc/config.txt +set FEXTRAS /fs/microsd/etc/extras.txt -set TUNE_OUT_ERROR ML<<CP4CP4CP4CP4CP4 +set TUNE_ERR ML<<CP4CP4CP4CP4CP4 # # Try to mount the microSD card. # -echo "[init] Looking for microSD..." +echo "[i] Looking for microSD..." if mount -t vfat /dev/mmcsd0 /fs/microsd then set LOG_FILE /fs/microsd/bootlog.txt - echo "[init] microSD mounted: /fs/microsd" + echo "[i] microSD mounted: /fs/microsd" # Start playing the startup tune tone_alarm start else set LOG_FILE /dev/null - echo "[init] No microSD card found" - # Play SOS - tone_alarm error fi # # Look for an init script on the microSD card. # Disable autostart if the script found. # -if [ -f $RC_FILE ] +if [ -f $FRC ] then - echo "[init] Executing init script: $RC_FILE" - sh $RC_FILE + echo "[i] Executing init script: $FRC" + sh $FRC set MODE custom else - echo "[init] Init script not found: $RC_FILE" + echo "[i] Init script not found: $FRC" fi # if this is an APM build then there will be a rc.APM script @@ -49,17 +49,17 @@ if [ -f /etc/init.d/rc.APM ] then if sercon then - echo "[init] USB interface connected" + echo "[i] USB interface connected" fi - echo "[init] Running rc.APM" + echo "[i] Running rc.APM" # if APM startup is successful then nsh will exit sh /etc/init.d/rc.APM fi if [ $MODE == autostart ] then - echo "[init] AUTOSTART mode" + echo "[i] AUTOSTART mode" # # Start CDC/ACM serial driver @@ -117,31 +117,31 @@ then set VEHICLE_TYPE none set MIXER none set OUTPUT_MODE none - set PWM_OUTPUTS none + set PWM_OUT none set PWM_RATE none set PWM_DISARMED none set PWM_MIN none set PWM_MAX none - set MKBLCTRL_MODE none + set MK_MODE none set FMU_MODE pwm - set MAVLINK_FLAGS default + set MAVLINK_F default set EXIT_ON_END no set MAV_TYPE none - set LOAD_DEFAULT_APPS yes + set LOAD_DAPPS yes set GPS yes set GPS_FAKE no set FAILSAFE none # - # Set DO_AUTOCONFIG flag to use it in AUTOSTART scripts + # Set AUTOCNF flag to use it in AUTOSTART scripts # if param compare SYS_AUTOCONFIG 1 then # Wipe out params param reset_nostart - set DO_AUTOCONFIG yes + set AUTOCNF yes else - set DO_AUTOCONFIG no + set AUTOCNF no fi # @@ -159,7 +159,7 @@ then # if param compare SYS_AUTOSTART 0 then - echo "[init] No autostart" + echo "[i] No autostart" else sh /etc/init.d/rc.autostart fi @@ -167,18 +167,19 @@ then # # Override parameters from user configuration file # - if [ -f $CONFIG_FILE ] + if [ -f $FCONFIG ] then - echo "[init] Config: $CONFIG_FILE" - sh $CONFIG_FILE + echo "[i] Config: $FCONFIG" + sh $FCONFIG else - echo "[init] Config not found: $CONFIG_FILE" + echo "[i] Config not found: $FCONFIG" fi + unset FCONFIG # # If autoconfig parameter was set, reset it and save parameters # - if [ $DO_AUTOCONFIG == yes ] + if [ $AUTOCNF == yes ] then param set SYS_AUTOCONFIG 0 param save @@ -219,18 +220,18 @@ then set IO_PRESENT yes else echo "PX4IO update failed" >> $LOG_FILE - tone_alarm $TUNE_OUT_ERROR + tone_alarm $TUNE_ERR fi else echo "PX4IO update failed" >> $LOG_FILE - tone_alarm $TUNE_OUT_ERROR + tone_alarm $TUNE_ERR fi fi if [ $IO_PRESENT == no ] then - echo "[init] ERROR: PX4IO not found" - tone_alarm $TUNE_OUT_ERROR + echo "[i] ERROR: PX4IO not found" + tone_alarm $TUNE_ERR fi fi @@ -251,7 +252,7 @@ then then # Need IO for output but it not present, disable output set OUTPUT_MODE none - echo "[init] ERROR: PX4IO not found, disabling output" + echo "[i] ERROR: PX4IO not found, disabling output" # Avoid using ttyS0 for MAVLink on FMUv1 if ver hwcmp PX4FMU_V1 @@ -294,33 +295,31 @@ then then if param compare UAVCAN_ENABLE 0 then - echo "[init] OVERRIDING UAVCAN_ENABLE = 1" + echo "[i] OVERRIDING UAVCAN_ENABLE = 1" param set UAVCAN_ENABLE 1 fi fi if [ $OUTPUT_MODE == io -o $OUTPUT_MODE == uavcan_esc ] then - echo "[init] Use PX4IO PWM as primary output" if px4io start then - echo "[init] PX4IO started" + echo "[i] PX4IO started" sh /etc/init.d/rc.io else - echo "[init] ERROR: PX4IO start failed" - tone_alarm $TUNE_OUT_ERROR + echo "[i] ERROR: PX4IO start failed" + tone_alarm $TUNE_ERR fi fi if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == ardrone ] then - echo "[init] Use FMU as primary output" if fmu mode_$FMU_MODE then - echo "[init] FMU mode_$FMU_MODE started" + echo "[i] FMU mode_$FMU_MODE started" else - echo "[init] ERROR: FMU mode_$FMU_MODE start failed" - tone_alarm $TUNE_OUT_ERROR + echo "[i] ERROR: FMU mode_$FMU_MODE start failed" + tone_alarm $TUNE_ERR fi if ver hwcmp PX4FMU_V1 @@ -338,36 +337,34 @@ then if [ $OUTPUT_MODE == mkblctrl ] then - echo "[init] Use MKBLCTRL as primary output" set MKBLCTRL_ARG "" - if [ $MKBLCTRL_MODE == x ] + if [ $MK_MODE == x ] then set MKBLCTRL_ARG "-mkmode x" fi - if [ $MKBLCTRL_MODE == + ] + if [ $MK_MODE == + ] then set MKBLCTRL_ARG "-mkmode +" fi if mkblctrl $MKBLCTRL_ARG then - echo "[init] MKBLCTRL started" + echo "[i] MK started" else - echo "[init] ERROR: MKBLCTRL start failed" - tone_alarm $TUNE_OUT_ERROR + echo "[i] ERROR: MK start failed" + tone_alarm $TUNE_ERR fi fi if [ $OUTPUT_MODE == hil ] then - echo "[init] Use HIL as primary output" if hil mode_port2_pwm8 then - echo "[init] HIL output started" + echo "[i] HIL output started" else - echo "[init] ERROR: HIL output start failed" - tone_alarm $TUNE_OUT_ERROR + echo "[i] ERROR: HIL output start failed" + tone_alarm $TUNE_ERR fi fi @@ -380,11 +377,11 @@ then then if px4io start then - echo "[init] PX4IO started" + echo "[i] PX4IO started" sh /etc/init.d/rc.io else - echo "[init] ERROR: PX4IO start failed" - tone_alarm $TUNE_OUT_ERROR + echo "[i] ERROR: PX4IO start failed" + tone_alarm $TUNE_ERR fi fi else @@ -392,10 +389,10 @@ then then if fmu mode_$FMU_MODE then - echo "[init] FMU mode_$FMU_MODE started" + echo "[i] FMU mode_$FMU_MODE started" else - echo "[init] ERROR: FMU mode_$FMU_MODE start failed" - tone_alarm $TUNE_OUT_ERROR + echo "[i] ERROR: FMU mode_$FMU_MODE start failed" + tone_alarm $TUNE_ERR fi if ver hwcmp PX4FMU_V1 @@ -413,23 +410,24 @@ then fi fi - if [ $MAVLINK_FLAGS == default ] + if [ $MAVLINK_F == default ] then # Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s if [ $TTYS1_BUSY == yes ] then # Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else - set MAVLINK_FLAGS "-r 1000 -d /dev/ttyS0" + set MAVLINK_F "-r 1000 -d /dev/ttyS0" # Exit from nsh to free port for mavlink set EXIT_ON_END yes else # Start MAVLink on default port: ttyS1 - set MAVLINK_FLAGS "-r 1000" + set MAVLINK_F "-r 1000" fi fi - mavlink start $MAVLINK_FLAGS + mavlink start $MAVLINK_F + unset MAVLINK_F # # MAVLink onboard / TELEM2 @@ -451,15 +449,16 @@ then if [ $GPS == yes ] then - echo "[init] Start GPS" + echo "[i] Start GPS" if [ $GPS_FAKE == yes ] then - echo "[init] Faking GPS" + echo "[i] Faking GPS" gps start -f else gps start fi fi + unset GPS_FAKE # # Start up ARDrone Motor interface @@ -474,7 +473,7 @@ then # if [ $VEHICLE_TYPE == fw ] then - echo "[init] Vehicle type: FIXED WING" + echo "[i] FIXED WING" if [ $MIXER == none ] then @@ -494,7 +493,7 @@ then sh /etc/init.d/rc.interface # Start standard fixedwing apps - if [ $LOAD_DEFAULT_APPS == yes ] + if [ $LOAD_DAPPS == yes ] then sh /etc/init.d/rc.fw_apps fi @@ -505,11 +504,11 @@ then # if [ $VEHICLE_TYPE == mc ] then - echo "[init] Vehicle type: MULTICOPTER" + echo "[i] MULTICOPTER" if [ $MIXER == none ] then - echo "Default mixer for multicopter not defined" + echo "Mixer undefined" fi if [ $MAV_TYPE == none ] @@ -553,13 +552,52 @@ then sh /etc/init.d/rc.interface # Start standard multicopter apps - if [ $LOAD_DEFAULT_APPS == yes ] + if [ $LOAD_DAPPS == yes ] then sh /etc/init.d/rc.mc_apps fi fi # + # VTOL setup + # + if [ $VEHICLE_TYPE == vtol ] + then + echo "[init] Vehicle type: VTOL" + + if [ $MIXER == none ] + then + echo "Default mixer for vtol not defined" + fi + + if [ $MAV_TYPE == none ] + then + # Use mixer to detect vehicle type + if [ $MIXER == FMU_caipirinha_vtol ] + then + set MAV_TYPE 19 + fi + fi + + # Still no MAV_TYPE found + if [ $MAV_TYPE == none ] + then + echo "Unknown MAV_TYPE" + else + param set MAV_TYPE $MAV_TYPE + fi + + # Load mixer and configure outputs + sh /etc/init.d/rc.interface + + # Start standard vtol apps + if [ $LOAD_DAPPS == yes ] + then + sh /etc/init.d/rc.vtol_apps + fi + fi + + # # Start the navigator # navigator start @@ -569,24 +607,38 @@ then # if [ $VEHICLE_TYPE == none ] then - echo "[init] Vehicle type: No autostart ID found" + echo "[i] No autostart ID found" fi # Start any custom addons - if [ -f $EXTRAS_FILE ] + if [ -f $FEXTRAS ] then - echo "[init] Starting addons script: $EXTRAS_FILE" - sh $EXTRAS_FILE + echo "[i] Addons script: $FEXTRAS" + sh $FEXTRAS else - echo "[init] No addons script: $EXTRAS_FILE" + echo "[i] No addons script: $FEXTRAS" fi + unset FEXTRAS if [ $EXIT_ON_END == yes ] then - echo "[init] Exit from nsh" + echo "Exit from nsh" exit fi + unset EXIT_ON_END + + # Run no SD alarm last + if [ $LOG_FILE == /dev/null ] + then + echo "[i] No microSD card found" + # Play SOS + tone_alarm error + fi # End of autostart fi + +# There is no further processing, so we can free some RAM +# XXX potentially unset all script variables. +unset TUNE_ERR |