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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-03-16 21:52:27 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-03-16 21:52:27 +0100 |
| commit | ae35733381bf16c102d109424b1ee3823c064048 (patch) | |
| tree | bc847101418c57669570eb25022a0e3d36a31bc5 /ROMFS | |
| parent | ab7f07da75869e5cca448ae64e236817d155fffc (diff) | |
| parent | c1ee1abf274749900a39279f2fed57ad890c2865 (diff) | |
| download | px4-firmware-ae35733381bf16c102d109424b1ee3823c064048.tar.gz px4-firmware-ae35733381bf16c102d109424b1ee3823c064048.tar.bz2 px4-firmware-ae35733381bf16c102d109424b1ee3823c064048.zip | |
Merge pull request #745 from thomasgubler/caipirinha
introduce TBS caipirinha autostart script
Diffstat (limited to 'ROMFS')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha | 42 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.autostart | 5 |
2 files changed, 47 insertions, 0 deletions
diff --git a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha new file mode 100644 index 000000000..7dbda54d3 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha @@ -0,0 +1,42 @@ +#!nsh +# +# TBS Caipirinha Flying Wing +# +# Thomas Gubler <thomasgubler@gmail.com> +# + +sh /etc/init.d/rc.fw_defaults + +if [ $DO_AUTOCONFIG == yes ] +then + + # TODO: these are the X5 default parameters, update them to the caipi + + param set FW_AIRSPD_MIN 15 + param set FW_AIRSPD_TRIM 20 + param set FW_AIRSPD_MAX 40 + 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 0.3 + param set FW_PR_I 0 + param set FW_PR_IMAX 0.2 + param set FW_PR_P 0.03 + 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 0.3 + param set FW_RR_I 0 + param set FW_RR_IMAX 0.2 + param set FW_RR_P 0.03 + param set FW_R_LIM 60 + param set FW_R_RMAX 0 + param set FW_T_HRATE_P 0.01 + param set FW_T_RLL2THR 15 + param set FW_T_SRATE_P 0.01 + param set FW_T_TIME_CONST 5 +fi + +set MIXER FMU_Q diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart index 7aaf7133e..4ae6a2794 100644 --- a/ROMFS/px4fmu_common/init.d/rc.autostart +++ b/ROMFS/px4fmu_common/init.d/rc.autostart @@ -97,6 +97,11 @@ then sh /etc/init.d/3034_fx79 fi +if param compare SYS_AUTOSTART 3100 +then + sh /etc/init.d/3100_tbs_caipirinha +fi + # # Quad X # |