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| author | Anton Matosov <anton.matosov@gmail.com> | 2015-01-06 00:57:54 +0200 |
|---|---|---|
| committer | Anton Matosov <anton.matosov@gmail.com> | 2015-01-08 13:58:46 +0200 |
| commit | 7d528330d570fa4900b1a24c2a1f851c3a7dcba0 (patch) | |
| tree | d2b68ae8cce39e5c47227c7d26b6f8dd92c018c7 /ROMFS | |
| parent | aa2a00b56a0be0e20abfa54c311575f9e055f212 (diff) | |
| download | px4-firmware-7d528330d570fa4900b1a24c2a1f851c3a7dcba0.tar.gz px4-firmware-7d528330d570fa4900b1a24c2a1f851c3a7dcba0.tar.bz2 px4-firmware-7d528330d570fa4900b1a24c2a1f851c3a7dcba0.zip | |
Implemented SK450 DeadCat frame support
Implemented the way to specify motor output scale which is required for SK450 DeadCat as it has asymetrical arms (front arms are longer than back ones)
Diffstat (limited to 'ROMFS')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/10019_sk450_deadcat | 32 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.autostart | 5 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_quad_deadcat.mix | 25 |
3 files changed, 62 insertions, 0 deletions
diff --git a/ROMFS/px4fmu_common/init.d/10019_sk450_deadcat b/ROMFS/px4fmu_common/init.d/10019_sk450_deadcat new file mode 100644 index 000000000..96463d5ef --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/10019_sk450_deadcat @@ -0,0 +1,32 @@ +#!nsh +# +# HobbyKing SK450 DeadCat modification +# +# Anton Matosov <anton.matosov@gmail.com> +# + +sh /etc/init.d/rc.mc_defaults + +if [ $AUTOCNF == yes ] +then + param set MC_ROLL_P 6.0 + param set MC_ROLLRATE_P 0.04 + param set MC_ROLLRATE_I 0.1 + param set MC_ROLLRATE_D 0.0015 + + param set MC_PITCH_P 6.0 + param set MC_PITCHRATE_P 0.08 + param set MC_PITCHRATE_I 0.2 + param set MC_PITCHRATE_D 0.0015 + + param set MC_YAW_P 2.8 + param set MC_YAWRATE_P 0.1 + param set MC_YAWRATE_I 0.07 + param set MC_YAWRATE_D 0.0 +fi + +set VEHICLE_TYPE mc +set MIXER FMU_quad_deadcat + +set PWM_OUTPUTS 1234 +set PWM_MIN 1075 diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart index 20f2be0d9..b83687fbd 100644 --- a/ROMFS/px4fmu_common/init.d/rc.autostart +++ b/ROMFS/px4fmu_common/init.d/rc.autostart @@ -226,6 +226,11 @@ then sh /etc/init.d/10018_tbs_endurance fi +if param compare SYS_AUTOSTART 10019 +then + sh /etc/init.d/10019_sk450_deadcat +fi + # # Hexa Coaxial # diff --git a/ROMFS/px4fmu_common/mixers/FMU_quad_deadcat.mix b/ROMFS/px4fmu_common/mixers/FMU_quad_deadcat.mix new file mode 100644 index 000000000..a8c5b716d --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_quad_deadcat.mix @@ -0,0 +1,25 @@ +Multirotor mixer for PX4FMU +=========================== + +This file defines a single mixer for a quadrotor in SK450 DeadCat configuration. All controls are mixed 100%. + +R: 4dc 10000 10000 10000 0 + +Gimbal / payload mixer for last four channels +----------------------------------------------------- + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 4 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 5 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 6 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 7 10000 10000 0 -10000 10000 |