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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-09-18 22:59:47 -0700 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-09-18 22:59:47 -0700 |
| commit | d289467dadd1adec4984ac987c0a8f779795d9dd (patch) | |
| tree | 2baac553f6fde0a855bcdc513d9eff8f9e64bd5b /ROMFS | |
| parent | 3a49ec9eb1c5daa8b2c9cd3e9f88d18f19ef66a8 (diff) | |
| parent | a32b25eb52fd9575873fc3b9c78e24736749a004 (diff) | |
| download | px4-firmware-d289467dadd1adec4984ac987c0a8f779795d9dd.tar.gz px4-firmware-d289467dadd1adec4984ac987c0a8f779795d9dd.tar.bz2 px4-firmware-d289467dadd1adec4984ac987c0a8f779795d9dd.zip | |
Merge pull request #405 from limhyon/master
Quadrotor HILS Update
Diffstat (limited to 'ROMFS')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/1001_rc_quad.hil | 110 | ||||
| -rwxr-xr-x | ROMFS/px4fmu_common/init.d/rcS | 9 |
2 files changed, 117 insertions, 2 deletions
diff --git a/ROMFS/px4fmu_common/init.d/1001_rc_quad.hil b/ROMFS/px4fmu_common/init.d/1001_rc_quad.hil new file mode 100644 index 000000000..bbe3b7e28 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/1001_rc_quad.hil @@ -0,0 +1,110 @@ +#!nsh +# +# USB HIL start +# + +echo "[HIL] HILS quadrotor starting.." + +# +# Load default params for this platform +# +if param compare SYS_AUTOCONFIG 1 +then + # Set all params here, then disable autoconfig + param set SYS_AUTOCONFIG 0 + + param set MC_ATTRATE_D 0.0 + param set MC_ATTRATE_I 0.0 + param set MC_ATTRATE_P 0.05 + param set MC_ATT_D 0.0 + param set MC_ATT_I 0.0 + param set MC_ATT_P 3.0 + param set MC_YAWPOS_D 0.0 + param set MC_YAWPOS_I 0.0 + param set MC_YAWPOS_P 2.1 + param set MC_YAWRATE_D 0.0 + param set MC_YAWRATE_I 0.0 + param set MC_YAWRATE_P 0.05 + param set NAV_TAKEOFF_ALT 3.0 + param set MPC_TILT_MAX 0.5 + param set MPC_THR_MAX 0.5 + param set MPC_THR_MIN 0.1 + param set MPC_XY_D 0 + param set MPC_XY_P 0.5 + param set MPC_XY_VEL_D 0 + param set MPC_XY_VEL_I 0 + param set MPC_XY_VEL_MAX 3 + param set MPC_XY_VEL_P 0.2 + param set MPC_Z_D 0 + param set MPC_Z_P 1 + param set MPC_Z_VEL_D 0 + param set MPC_Z_VEL_I 0.1 + param set MPC_Z_VEL_MAX 2 + param set MPC_Z_VEL_P 0.20 + + 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 2 + +# +# 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 + +# +# Start the attitude estimator (depends on orb) +# +att_pos_estimator_ekf start + +# +# Load mixer and start controllers (depends on px4io) +# +mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix + +# +# Start position estimator +# +position_estimator_inav start + +# +# Start attitude control +# +multirotor_att_control start + +# +# Start position control +# +multirotor_pos_control start + +echo "[HIL] setup done, running" + diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 07ccbb3f4..7e2af418e 100755 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -111,8 +111,13 @@ then sh /etc/init.d/1000_rc.hil set MODE custom else - # Try to get an USB console - nshterm /dev/ttyACM0 & + if param compare SYS_AUTOSTART 1001 + then + sh /etc/init.d/1001_rc_quad.hil + else + # Try to get an USB console + nshterm /dev/ttyACM0 & + fi fi # |