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| author | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-15 12:42:28 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-15 12:42:28 +0100 |
| commit | 96db9e81883ab0e3438e8ffdce8e8dce47d204ce (patch) | |
| tree | 2d41d99f2837630219cc56699b27d2a2190374aa /ROMFS/px4fmu_common/init.d | |
| parent | e60c1a842c856e1a19fcdc1b169dfdbc813e9ce2 (diff) | |
| parent | e62bd37e73139c77f0d60cd91fe3443ed23df074 (diff) | |
| download | px4-firmware-96db9e81883ab0e3438e8ffdce8e8dce47d204ce.tar.gz px4-firmware-96db9e81883ab0e3438e8ffdce8e8dce47d204ce.tar.bz2 px4-firmware-96db9e81883ab0e3438e8ffdce8e8dce47d204ce.zip | |
Merge remote-tracking branch 'upstream/master' into ros
Conflicts:
src/platforms/px4_middleware.h
Diffstat (limited to 'ROMFS/px4fmu_common/init.d')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/10018_tbs_endurance | 22 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol | 1 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.autostart | 18 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rcS | 1 |
4 files changed, 28 insertions, 14 deletions
diff --git a/ROMFS/px4fmu_common/init.d/10018_tbs_endurance b/ROMFS/px4fmu_common/init.d/10018_tbs_endurance index eeb9b48b2..e83a864d8 100644 --- a/ROMFS/px4fmu_common/init.d/10018_tbs_endurance +++ b/ROMFS/px4fmu_common/init.d/10018_tbs_endurance @@ -2,7 +2,7 @@ # # Team Blacksheep Discovery Long Range Quadcopter # -# Setup: 15 x 6.5" Props, 6S 4000mAh TBS LiPo, TBS 30A ESCs, TBS 400kV Motors +# Setup: 15 x 5" Props, 6S 4000mAh TBS LiPo, TBS 30A ESCs, TBS 400kV Motors # # Simon Wilks <simon@px4.io> # @@ -11,21 +11,27 @@ sh /etc/init.d/rc.mc_defaults if [ $AUTOCNF == yes ] then + param set BAT_N_CELLS 6 + param set BAT_V_EMPTY 3.5 + param set MC_ROLL_P 7.0 - param set MC_ROLLRATE_P 0.07 + param set MC_ROLLRATE_P 0.08 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_PITCHRATE_P 0.13 + param set MC_PITCHRATE_I 0.02 + param set MC_PITCHRATE_D 0.005 param set MC_YAW_P 2.8 - param set MC_YAWRATE_P 0.4 + param set MC_YAWRATE_P 0.2 param set MC_YAWRATE_I 0.1 param set MC_YAWRATE_D 0.0 + + param set MPC_XY_FF 0.2 + param set MPC_XY_VEL_MAX 2 fi set MIXER quad_w -set PWM_OUTPUTS 1234 -set PWM_MIN 1200 +set PWM_OUT 1234 +set PWM_MIN 1080 diff --git a/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol b/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol index 87b98a02b..5c0004149 100644 --- a/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol +++ b/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol @@ -1,4 +1,3 @@ -#!nsh # # Generic configuration file for caipirinha VTOL version # diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart index b83687fbd..0d6e0564a 100644 --- a/ROMFS/px4fmu_common/init.d/rc.autostart +++ b/ROMFS/px4fmu_common/init.d/rc.autostart @@ -252,9 +252,17 @@ fi # 13000 is historically reserved for the quadshot # -# VTOL caipririnha +# VTOL Caipririnha (Tailsitter) # - if param compare SYS_AUTOSTART 13001 - then - sh /etc/init.d/13001_caipirinha_vtol - fi +if param compare SYS_AUTOSTART 13001 +then + sh /etc/init.d/13001_caipirinha_vtol +fi + +# +# VTOL BirdsEyeView FireFly x6 (Tilt-Rotor) +# +if param compare SYS_AUTOSTART 13002 +then + sh /etc/init.d/13002_firefly6 +fi diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 36a512441..2c9387ff0 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -230,6 +230,7 @@ then tone_alarm $TUNE_ERR fi fi + unset IO_FILE if [ $IO_PRESENT == no ] then |