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author | Anton Babushkin <anton.babushkin@me.com> | 2014-07-25 18:41:25 +0200 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-07-25 18:41:25 +0200 |
commit | a2ac45f4e0b0b2a1f0acef4f116fa3e0ad99483d (patch) | |
tree | 0198318c108f3e93ea9b40b16607385885619273 /ROMFS/px4fmu_common/init.d | |
parent | c5a623e15892d63eb3571bc450edea368b2894db (diff) | |
parent | bd808ccf3a825ac1304a72dcede12478fda76857 (diff) | |
download | px4-firmware-a2ac45f4e0b0b2a1f0acef4f116fa3e0ad99483d.tar.gz px4-firmware-a2ac45f4e0b0b2a1f0acef4f116fa3e0ad99483d.tar.bz2 px4-firmware-a2ac45f4e0b0b2a1f0acef4f116fa3e0ad99483d.zip |
Merge commit 'bd808ccf3a825ac1304a72dcede12478fda76857' into mavlinkrates2
Diffstat (limited to 'ROMFS/px4fmu_common/init.d')
-rw-r--r-- | ROMFS/px4fmu_common/init.d/4012_quad_x_can | 27 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.autostart | 5 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.interface | 5 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rcS | 12 |
4 files changed, 48 insertions, 1 deletions
diff --git a/ROMFS/px4fmu_common/init.d/4012_quad_x_can b/ROMFS/px4fmu_common/init.d/4012_quad_x_can new file mode 100644 index 000000000..8c5a4fbf2 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/4012_quad_x_can @@ -0,0 +1,27 @@ +#!nsh +# +# F450-sized quadrotor with CAN +# +# Lorenz Meier <lm@inf.ethz.ch> +# + +sh /etc/init.d/4001_quad_x + +if [ $DO_AUTOCONFIG == yes ] +then + # TODO REVIEW + param set MC_ROLL_P 7.0 + 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 7.0 + param set MC_PITCHRATE_P 0.1 + param set MC_PITCHRATE_I 0.0 + param set MC_PITCHRATE_D 0.003 + param set MC_YAW_P 2.8 + param set MC_YAWRATE_P 0.2 + param set MC_YAWRATE_I 0.0 + param set MC_YAWRATE_D 0.0 +fi + +set OUTPUT_MODE uavcan_esc diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart index 5d9e9502c..17541e680 100644 --- a/ROMFS/px4fmu_common/init.d/rc.autostart +++ b/ROMFS/px4fmu_common/init.d/rc.autostart @@ -136,6 +136,11 @@ then sh /etc/init.d/4011_dji_f450 fi +if param compare SYS_AUTOSTART 4012 +then + sh /etc/init.d/4012_quad_x_can +fi + if param compare SYS_AUTOSTART 4020 then sh /etc/init.d/4020_hk_micro_pcb diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface index 7f793b219..1de0abb58 100644 --- a/ROMFS/px4fmu_common/init.d/rc.interface +++ b/ROMFS/px4fmu_common/init.d/rc.interface @@ -24,6 +24,11 @@ then else set OUTPUT_DEV /dev/pwm_output fi + + if [ $OUTPUT_MODE == uavcan_esc ] + then + set OUTPUT_DEV /dev/uavcan/esc + fi if mixer load $OUTPUT_DEV $MIXER_FILE then diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 8855539fe..24b2a299a 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -297,7 +297,17 @@ then # If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output if [ $OUTPUT_MODE != none ] then - if [ $OUTPUT_MODE == io ] + if [ $OUTPUT_MODE == uavcan_esc ] + then + if uavcan start 1 + then + echo "CAN UP" + else + echo "CAN ERR" + fi + fi + + if [ $OUTPUT_MODE == io -o $OUTPUT_MODE == uavcan_esc ] then echo "[init] Use PX4IO PWM as primary output" if px4io start |