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| author | Thomas Gubler <thomasgubler@student.ethz.ch> | 2013-09-19 11:10:37 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@student.ethz.ch> | 2013-09-20 09:44:48 +0200 |
| commit | d542735b2a945ed874fab8b004f9c31e87bc1346 (patch) | |
| tree | c9aaa65d412e4c43fa0ff63ca44243decc8995aa /ROMFS/px4fmu_common | |
| parent | 2fb58f9990f06f5c34ec9c2e8f36f6a27e465b46 (diff) | |
| download | px4-firmware-d542735b2a945ed874fab8b004f9c31e87bc1346.tar.gz px4-firmware-d542735b2a945ed874fab8b004f9c31e87bc1346.tar.bz2 px4-firmware-d542735b2a945ed874fab8b004f9c31e87bc1346.zip | |
re-enable state hil
Diffstat (limited to 'ROMFS/px4fmu_common')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/1000_rc_fw.hil (renamed from ROMFS/px4fmu_common/init.d/1000_rc.hil) | 0 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/1002_rc_fw_state.hil | 84 | ||||
| -rwxr-xr-x | ROMFS/px4fmu_common/init.d/rcS | 13 |
3 files changed, 94 insertions, 3 deletions
diff --git a/ROMFS/px4fmu_common/init.d/1000_rc.hil b/ROMFS/px4fmu_common/init.d/1000_rc_fw.hil index 11318023c..11318023c 100644 --- a/ROMFS/px4fmu_common/init.d/1000_rc.hil +++ b/ROMFS/px4fmu_common/init.d/1000_rc_fw.hil diff --git a/ROMFS/px4fmu_common/init.d/1002_rc_fw_state.hil b/ROMFS/px4fmu_common/init.d/1002_rc_fw_state.hil new file mode 100644 index 000000000..d5782a89b --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/1002_rc_fw_state.hil @@ -0,0 +1,84 @@ +#!nsh +# +# USB HIL start +# + +echo "[HIL] HILStar starting in state-HIL mode.." + +# +# Load default params for this platform +# +if param compare SYS_AUTOCONFIG 1 +then + # Set all params here, then disable autoconfig + + param set FW_P_D 0 + param set FW_P_I 0 + param set FW_P_IMAX 15 + param set FW_P_LIM_MAX 50 + param set FW_P_LIM_MIN -50 + param set FW_P_P 60 + param set FW_P_RMAX_NEG 0 + param set FW_P_RMAX_POS 0 + param set FW_P_ROLLFF 1.1 + param set FW_R_D 0 + param set FW_R_I 5 + param set FW_R_IMAX 20 + param set FW_R_P 100 + param set FW_R_RMAX 100 + param set FW_THR_CRUISE 0.65 + param set FW_THR_MAX 1 + param set FW_THR_MIN 0 + param set FW_T_SINK_MAX 5.0 + param set FW_T_SINK_MIN 4.0 + param set FW_Y_ROLLFF 1.1 + + param set SYS_AUTOCONFIG 0 + param save +fi + +# Allow USB some time to come up +sleep 1 +# Tell MAVLink that this link is "fast" +mavlink start -b 230400 -d /dev/ttyACM0 + +# Create a fake HIL /dev/pwm_output interface +hil mode_pwm + +# +# Force some key parameters to sane values +# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor +# see https://pixhawk.ethz.ch/mavlink/ +# +param set MAV_TYPE 1 + +# +# Start the commander (depends on orb, mavlink) +# +commander start + +# +# Check if we got an IO +# +if px4io start +then + echo "IO started" +else + fmu mode_serial + echo "FMU started" +fi + +# +# Start the sensors (depends on orb, px4io) +# +sh /etc/init.d/rc.sensors + +# +# Load mixer and start controllers (depends on px4io) +# +mixer load /dev/pwm_output /etc/mixers/FMU_AET.mix +fw_pos_control_l1 start +fw_att_control start + +echo "[HIL] setup done, running" + diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index c2a8c0c6a..9ec346465 100755 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -108,15 +108,22 @@ then if param compare SYS_AUTOSTART 1000 then - sh /etc/init.d/1000_rc.hil + sh /etc/init.d/1000_rc_fw.hil set MODE custom else if param compare SYS_AUTOSTART 1001 then sh /etc/init.d/1001_rc_quad.hil + set MODE custom else - # Try to get an USB console - nshterm /dev/ttyACM0 & + if param compare SYS_AUTOSTART 1002 + then + sh /etc/init.d/1002_rc_fw_state.hil + set MODE custom + else + # Try to get an USB console + nshterm /dev/ttyACM0 & + fi fi fi |