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| author | Marcel Stuettgen <stuettgen@fh-aachen.de> | 2015-03-03 18:48:01 +0100 |
|---|---|---|
| committer | Marcel Stuettgen <stuettgen@fh-aachen.de> | 2015-03-03 18:48:01 +0100 |
| commit | 62c22582b2a79c20348cb4eb9905e82304e9f104 (patch) | |
| tree | d3f01a9ce34f69f148c6db6d09b2bb5722f91f19 /ROMFS | |
| parent | d0c6636b7ff0d1e83a973a32e67d7ed1bd75a28c (diff) | |
| parent | cf7f59e1f32977e49be9367b6441076ef77fa884 (diff) | |
| download | px4-firmware-62c22582b2a79c20348cb4eb9905e82304e9f104.tar.gz px4-firmware-62c22582b2a79c20348cb4eb9905e82304e9f104.tar.bz2 px4-firmware-62c22582b2a79c20348cb4eb9905e82304e9f104.zip | |
Merge branch 'master' of https://github.com/mstuettgen/Firmware
Diffstat (limited to 'ROMFS')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.mc_apps | 12 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.rover_defaults | 19 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rcS | 10 |
3 files changed, 28 insertions, 13 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_apps b/ROMFS/px4fmu_common/init.d/rc.mc_apps index 2ecc104df..6517e026a 100644 --- a/ROMFS/px4fmu_common/init.d/rc.mc_apps +++ b/ROMFS/px4fmu_common/init.d/rc.mc_apps @@ -4,9 +4,15 @@ # att & pos estimator, att & pos control. # -attitude_estimator_ekf start -#ekf_att_pos_estimator start -position_estimator_inav start +# previously (2014) the system was relying on +# INAV, which defaults to 0 now. +if param compare INAV_ENABLED 1 +then + attitude_estimator_ekf start + position_estimator_inav start +else + ekf_att_pos_estimator start +fi if mc_att_control start then diff --git a/ROMFS/px4fmu_common/init.d/rc.rover_defaults b/ROMFS/px4fmu_common/init.d/rc.rover_defaults index bda3a9a66..23bf47df1 100644 --- a/ROMFS/px4fmu_common/init.d/rc.rover_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.rover_defaults @@ -2,22 +2,27 @@ set VEHICLE_TYPE rover -# i dont think AUTOCNF is needed here, can it be removed? - +# This section can be enabled once tuning parameters for this particular +# rover model are known. It allows to configure default gains via the GUI #if [ $AUTOCNF == yes ] #then # # param set MC_ROLL_P 7.0 #fi -#PWM Hz +# PWM Hz - 50 Hz is the normal rate in RC cars, higher rates +# may damage analog servos. set PWM_RATE 50 -#PWW default value for "disarmed" mode +# PWM default value for "disarmed" mode +# this centers the steering and throttle, which means no motion +# for a rover set PWM_DISARMED 1500 -#PWM range +# PWM range set PWM_MIN 1200 set PWM_MAX 1800 -#enable servo output on pins 3 and 4 (steering and thrust) -set PWM_OUT 34 +# Enable servo output on pins 3 and 4 (steering and thrust) +# but also include 1+2 as they form together one output group +# and need to be set together. +set PWM_OUT 1234 diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 580043a1d..9118f2601 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -198,8 +198,12 @@ then tone_alarm MLL32CP8MB - px4io start - px4io safety_on + if px4io start + then + if px4io safety_on + then + fi + fi if px4io forceupdate 14662 ${IO_FILE} then @@ -432,7 +436,7 @@ then then if param compare SYS_COMPANION 921600 then - mavlink start -d /dev/ttyS2 -b 921600 -m onboard + mavlink start -d /dev/ttyS2 -b 921600 -m onboard -r 20000 fi fi |