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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-02-01 12:32:03 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-02-01 12:32:03 +0100 |
| commit | c2911cbecf06b18d581fd3e5407a1f525bd63d4b (patch) | |
| tree | c9faa0eaf9e3f078efab013d4a7551d9c6c8c6b4 /ROMFS | |
| parent | 7bb3197871a90abd47a69706e80aaa9974a7556f (diff) | |
| download | px4-firmware-c2911cbecf06b18d581fd3e5407a1f525bd63d4b.tar.gz px4-firmware-c2911cbecf06b18d581fd3e5407a1f525bd63d4b.tar.bz2 px4-firmware-c2911cbecf06b18d581fd3e5407a1f525bd63d4b.zip | |
add malolo (flightgear HIL flying wing) autostart config
Diffstat (limited to 'ROMFS')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil | 61 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.autostart | 5 |
2 files changed, 66 insertions, 0 deletions
diff --git a/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil b/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil new file mode 100644 index 000000000..cc13110e4 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil @@ -0,0 +1,61 @@ +#!nsh +# +# HIL Malolo 1 (Flightgear) +# +# Maintainers: Thomas Gubler <thomasgubler@gmail.com> +# + +echo "HIL Malolo 1 starting.." + +if [ $DO_AUTOCONFIG == yes ] +then + # Set all params here, then disable autoconfig + + param set FW_AIRSPD_MIN 12 + param set FW_AIRSPD_TRIM 25 + param set FW_ATT_TC 0.3 + param set FW_L1_DAMPING 0.74 + param set FW_L1_PERIOD 15 + param set FW_PR_FF 0.8 + param set FW_PR_I 0.05 + param set FW_PR_IMAX 0.2 + param set FW_PR_P 0.1 + param set FW_P_LIM_MAX 45 + param set FW_P_LIM_MIN -45 + param set FW_P_RMAX_NEG 0 + param set FW_P_RMAX_POS 0 + param set FW_P_ROLLFF 0 + param set FW_RR_FF 0.6 + param set FW_RR_I 0.02 + param set FW_RR_IMAX 0.2 + param set FW_RR_P 0.1 + param set FW_R_LIM 45 + param set FW_R_RMAX 0 + param set FW_THR_CRUISE 0.6 + param set FW_THR_MAX 1 + param set FW_THR_MIN 0 + param set FW_T_CLMB_MAX 5 + param set FW_T_HRATE_P 0.02 + param set FW_T_PTCH_DAMP 0 + param set FW_T_RLL2THR 15 + param set FW_T_SINK_MAX 5 + param set FW_T_SINK_MIN 2 + param set FW_T_SRATE_P 0.01 + param set FW_T_TIME_CONST 3 + param set FW_T_VERT_ACC 7 + param set FW_YCO_VMIN 1000 + param set FW_YR_FF 0.0 + param set FW_YR_I 0 + param set FW_YR_IMAX 0.2 + param set FW_YR_P 0.0 + param set FW_Y_RMAX 0 + + param set SYS_AUTOCONFIG 0 + param save +fi + +set HIL yes + +set VEHICLE_TYPE fw +# Set the AERT mixer for HIL (even if the malolo is a flying wing) +set MIXER FMU_AERT diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart index 030806fd7..7fa2afbc8 100644 --- a/ROMFS/px4fmu_common/init.d/rc.autostart +++ b/ROMFS/px4fmu_common/init.d/rc.autostart @@ -46,6 +46,11 @@ then sh /etc/init.d/1004_rc_fw_Rascal110.hil fi +if param compare SYS_AUTOSTART 1005 +then + sh /etc/init.d/1005_rc_fw_Malolo1.hil +fi + # # Standard plane # |