autostart scripts: default MPC parameters updated

5 files changed, 55 insertions, 40 deletions

diff --git a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery
index 49a50e130..3a8f14a9e 100644
--- a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery
+++ b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery
@@ -22,6 +22,24 @@ then
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.0
 	param set MC_YAWRATE_D 0.0
+
+	param set MPC_THR_MAX 1.0
+	param set MPC_THR_MIN 0.1
+	param set MPC_XY_P 1.0
+	param set MPC_XY_VEL_P 0.1
+	param set MPC_XY_VEL_I 0.02
+	param set MPC_XY_VEL_D 0.01
+	param set MPC_XY_VEL_MAX 5
+	param set MPC_XY_FF 0.5
+	param set MPC_Z_P 1.0
+	param set MPC_Z_VEL_P 0.1
+	param set MPC_Z_VEL_I 0.02
+	param set MPC_Z_VEL_D 0.0
+	param set MPC_Z_VEL_MAX 3
+	param set MPC_Z_FF 0.5
+	param set MPC_TILT_MAX 1.0
+	param set MPC_LAND_SPEED 1.0
+	param set MPC_LAND_TILT 0.3
 fi
 
 set VEHICLE_TYPE mc
diff --git a/ROMFS/px4fmu_common/init.d/10016_3dr_iris b/ROMFS/px4fmu_common/init.d/10016_3dr_iris
index 6c9cb6983..2ce0334b4 100644
--- a/ROMFS/px4fmu_common/init.d/10016_3dr_iris
+++ b/ROMFS/px4fmu_common/init.d/10016_3dr_iris
@@ -23,19 +23,23 @@ then
 	param set MC_YAWRATE_I 0.0
 	param set MC_YAWRATE_D 0.0
 	
-	param set MPC_TILT_MAX 1.0
 	param set MPC_THR_MAX 1.0
 	param set MPC_THR_MIN 0.1
 	param set MPC_XY_P 1.0
-	param set MPC_XY_VEL_D 0.01
+	param set MPC_XY_VEL_P 0.1
 	param set MPC_XY_VEL_I 0.02
+	param set MPC_XY_VEL_D 0.01
 	param set MPC_XY_VEL_MAX 5
-	param set MPC_XY_VEL_P 0.1
+	param set MPC_XY_FF 0.5
 	param set MPC_Z_P 1.0
-	param set MPC_Z_VEL_D 0.0
+	param set MPC_Z_VEL_P 0.1
 	param set MPC_Z_VEL_I 0.02
+	param set MPC_Z_VEL_D 0.0
 	param set MPC_Z_VEL_MAX 3
-	param set MPC_Z_VEL_P 0.1
+	param set MPC_Z_FF 0.5
+	param set MPC_TILT_MAX 1.0
+	param set MPC_LAND_SPEED 1.0
+	param set MPC_LAND_TILT 0.3
 
 	param set BAT_V_SCALING 0.00989
 	param set BAT_C_SCALING 0.0124
diff --git a/ROMFS/px4fmu_common/init.d/12001_octo_cox b/ROMFS/px4fmu_common/init.d/12001_octo_cox
index 2bea6d489..77813268a 100644
--- a/ROMFS/px4fmu_common/init.d/12001_octo_cox
+++ b/ROMFS/px4fmu_common/init.d/12001_octo_cox
@@ -2,36 +2,9 @@
 #
 # Generic 10” Octo coaxial geometry
 #
-# Maintainers: Lorenz Meier <lm@inf.ethz.ch>
+# Maintainers: Lorenz Meier <lm@inf.ethz.ch>, Anton Babushkin <anton.babushkin@me.com>
 #
 
-if [ $DO_AUTOCONFIG == yes ]
-then
-	#
-	# Default parameters for this platform
-	#
-	param set MC_ROLL_P 7.0
-	param set MC_ROLLRATE_P 0.12
-	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 0.12
-	param set MC_PITCHRATE_I 0.0
-	param set MC_PITCHRATE_D 0.004
-	param set MC_YAW_P 2.0
-	param set MC_YAWRATE_P 0.3
-	param set MC_YAWRATE_I 0.2
-	param set MC_YAWRATE_D 0.005
-	
-	# TODO add default MPC parameters
-fi
+sh /etc/init.d/8001_octo_x
 
-set VEHICLE_TYPE mc
 set MIXER FMU_octo_cox
-
-set PWM_OUTPUTS 1234
-set PWM_RATE 400
-# DJI ESC range
-set PWM_DISARMED 900
-set PWM_MIN 1200
-set PWM_MAX 1900
diff --git a/ROMFS/px4fmu_common/init.d/4010_dji_f330 b/ROMFS/px4fmu_common/init.d/4010_dji_f330
index 6acdc9f81..c78da2d6c 100644
--- a/ROMFS/px4fmu_common/init.d/4010_dji_f330
+++ b/ROMFS/px4fmu_common/init.d/4010_dji_f330
@@ -23,19 +23,23 @@ then
 	param set MC_YAWRATE_I 0.05
 	param set MC_YAWRATE_D 0.0
 	
-	param set MPC_TILT_MAX 1.0
 	param set MPC_THR_MAX 1.0
 	param set MPC_THR_MIN 0.1
 	param set MPC_XY_P 1.0
-	param set MPC_XY_VEL_D 0.01
+	param set MPC_XY_VEL_P 0.1
 	param set MPC_XY_VEL_I 0.02
+	param set MPC_XY_VEL_D 0.01
 	param set MPC_XY_VEL_MAX 5
-	param set MPC_XY_VEL_P 0.1
+	param set MPC_XY_FF 0.5
 	param set MPC_Z_P 1.0
-	param set MPC_Z_VEL_D 0.0
+	param set MPC_Z_VEL_P 0.1
 	param set MPC_Z_VEL_I 0.02
+	param set MPC_Z_VEL_D 0.0
 	param set MPC_Z_VEL_MAX 3
-	param set MPC_Z_VEL_P 0.1
+	param set MPC_Z_FF 0.5
+	param set MPC_TILT_MAX 1.0
+	param set MPC_LAND_SPEED 1.0
+	param set MPC_LAND_TILT 0.3
 fi
 
 set VEHICLE_TYPE mc
diff --git a/ROMFS/px4fmu_common/init.d/4011_dji_f450 b/ROMFS/px4fmu_common/init.d/4011_dji_f450
index cca635e66..8027b9d42 100644
--- a/ROMFS/px4fmu_common/init.d/4011_dji_f450
+++ b/ROMFS/px4fmu_common/init.d/4011_dji_f450
@@ -23,7 +23,23 @@ then
 	param set MC_YAWRATE_I 0.2
 	param set MC_YAWRATE_D 0.005
 	
-	# TODO add default MPC parameters
+	param set MPC_THR_MAX 1.0
+	param set MPC_THR_MIN 0.1
+	param set MPC_XY_P 1.0
+	param set MPC_XY_VEL_P 0.1
+	param set MPC_XY_VEL_I 0.02
+	param set MPC_XY_VEL_D 0.01
+	param set MPC_XY_VEL_MAX 5
+	param set MPC_XY_FF 0.5
+	param set MPC_Z_P 1.0
+	param set MPC_Z_VEL_P 0.1
+	param set MPC_Z_VEL_I 0.02
+	param set MPC_Z_VEL_D 0.0
+	param set MPC_Z_VEL_MAX 3
+	param set MPC_Z_FF 0.5
+	param set MPC_TILT_MAX 1.0
+	param set MPC_LAND_SPEED 1.0
+	param set MPC_LAND_TILT 0.3
 fi
 
 set VEHICLE_TYPE mc