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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-04-12 16:13:34 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-04-12 16:13:34 +0200 |
| commit | 0594343b9ccbb964808469041a1356414e281cbf (patch) | |
| tree | 8f291cd2e68dda41c7d7b24fd704b5a68c74d818 /ROMFS/px4fmu_common | |
| parent | f183ddad8c62b47bbed6116d07d4b1ac50871557 (diff) | |
| download | px4-firmware-0594343b9ccbb964808469041a1356414e281cbf.tar.gz px4-firmware-0594343b9ccbb964808469041a1356414e281cbf.tar.bz2 px4-firmware-0594343b9ccbb964808469041a1356414e281cbf.zip | |
QU4D startup script
Diffstat (limited to 'ROMFS/px4fmu_common')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d | 35 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.autostart | 5 |
2 files changed, 40 insertions, 0 deletions
diff --git a/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d b/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d new file mode 100644 index 000000000..5728a0920 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d @@ -0,0 +1,35 @@ +#!nsh +# +# Steadidrone QU4D +# +# Thomas Gubler <thomasgubler@gmail.com> +# Lorenz Meier <lm@inf.ethz.ch> +# + +sh /etc/init.d/rc.mc_defaults + +if [ $DO_AUTOCONFIG == yes ] +then + # TODO tune roll/pitch separately + param set MC_ROLL_P 7.0 + param set MC_ROLLRATE_P 0.13 + param set MC_ROLLRATE_I 0.0 + param set MC_ROLLRATE_D 0.004 + param set MC_PITCH_P 7.0 + param set MC_PITCHRATE_P 0.13 + param set MC_PITCHRATE_I 0.0 + param set MC_PITCHRATE_D 0.004 + param set MC_YAW_P 0.5 + param set MC_YAWRATE_P 0.2 + param set MC_YAWRATE_I 0.0 + param set MC_YAWRATE_D 0.0 + + param set BAT_N_CELLS 4 +fi + +set MIXER FMU_quad_w + +set PWM_MIN 1210 +set PWM_MAX 1900 + +set PWM_OUTPUTS 1234 diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart index 5ec735d39..b365bd642 100644 --- a/ROMFS/px4fmu_common/init.d/rc.autostart +++ b/ROMFS/px4fmu_common/init.d/rc.autostart @@ -195,6 +195,11 @@ then sh /etc/init.d/10016_3dr_iris fi +if param compare SYS_AUTOSTART 10017 +then + sh /etc/init.d/10017_steadidrone_qu4d +fi + # # Hexa Coaxial # |