Merge pull request #1481 from PX4/vtol_merge

VTOL architecture working with caipirinha

6 files changed, 136 insertions, 0 deletions

diff --git a/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol b/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol
new file mode 100644
index 000000000..bff971c0f
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol
@@ -0,0 +1,16 @@
+#!nsh
+#
+# Generic configuration file for caipirinha VTOL version
+#
+# Roman Bapst <bapstr@ethz.ch>
+#
+
+sh /etc/init.d/rc.vtol_defaults
+
+set MIXER FMU_caipirinha_vtol
+
+set PWM_OUTPUTS 12
+set PWM_MAX 2000
+set PWM_RATE 400
+param set VTOL_MOT_COUNT 2
+param set IDLE_PWM_MC  1080
diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart
index 496a52c5f..8388da1dd 100644
--- a/ROMFS/px4fmu_common/init.d/rc.autostart
+++ b/ROMFS/px4fmu_common/init.d/rc.autostart
@@ -15,6 +15,7 @@
 # 10000	..	10999		Wide arm / H frame
 # 11000	..	11999		Hexa Cox
 # 12000	..	12999		Octo Cox
+# 13000 ..  13999		VTOL
 
 #
 # Simulation
@@ -237,3 +238,13 @@ if param compare SYS_AUTOSTART 12001
 then
 	sh /etc/init.d/12001_octo_cox
 fi
+
+# 13000 is historically reserved for the quadshot
+
+#
+# VTOL caipririnha
+#
+ if param compare SYS_AUTOSTART 13001
+ then
+	 sh /etc/init.d/13001_caipirinha_vtol
+ fi
diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_apps b/ROMFS/px4fmu_common/init.d/rc.vtol_apps
new file mode 100644
index 000000000..23ade6d78
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/rc.vtol_apps
@@ -0,0 +1,15 @@
+#!nsh
+#
+# Standard apps for vtol:
+# att & pos estimator, att & pos control.
+#
+
+attitude_estimator_ekf start
+#ekf_att_pos_estimator start
+position_estimator_inav start
+
+vtol_att_control start
+mc_att_control start
+mc_pos_control start
+fw_att_control start
+fw_pos_control_l1 start
diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
new file mode 100644
index 000000000..10ee5db9b
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
@@ -0,0 +1,39 @@
+#!nsh
+
+set VEHICLE_TYPE vtol
+
+if [ $DO_AUTOCONFIG == yes ]
+then
+	#
+	#Default controller parameters for MC
+	#
+	param set MC_ROLL_P 6.0
+	param set MC_ROLLRATE_P 0.1
+	param set MC_ROLLRATE_I 0.0
+	param set MC_ROLLRATE_D 0.003
+	param set MC_PITCH_P 6.0
+	param set MC_PITCHRATE_P 0.2
+	param set MC_PITCHRATE_I 0.0
+	param set MC_PITCHRATE_D 0.003
+	param set MC_YAW_P 4
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.0
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAW_FF 0.3
+
+	#
+	# Default parameters for FW
+	#
+	param set FW_PR_FF 0.3
+	param set FW_PR_I 0.000
+	param set FW_PR_IMAX 0.2
+	param set FW_PR_P 0.02
+	param set FW_RR_FF 0.3
+	param set FW_RR_I 0.00
+	param set FW_RR_IMAX 0.2
+	param set FW_RR_P 0.02
+fi
+
+set PWM_DISARMED 900
+set PWM_MIN 1000
+set PWM_MAX 2000
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index b027107c8..5748fe2b5 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -552,6 +552,45 @@ then
 	fi
 
 	#
+	# VTOL setup
+	#
+	if [ $VEHICLE_TYPE == vtol ]
+	then
+		echo "[init] Vehicle type: VTOL"
+
+		if [ $MIXER == none ]
+		then
+			echo "Default mixer for vtol not defined"
+		fi
+
+		if [ $MAV_TYPE == none ]
+		then
+			# Use mixer to detect vehicle type
+			if [ $MIXER == FMU_caipirinha_vtol ]
+			then
+				set MAV_TYPE 19
+			fi
+		fi
+
+		# Still no MAV_TYPE found
+		if [ $MAV_TYPE == none ]
+		then
+			echo "Unknown MAV_TYPE"
+		else
+			param set MAV_TYPE $MAV_TYPE
+		fi
+
+		# Load mixer and configure outputs
+		sh /etc/init.d/rc.interface
+
+		# Start standard vtol apps
+		if [ $LOAD_DEFAULT_APPS == yes ]
+		then
+			sh /etc/init.d/rc.vtol_apps
+		fi
+	fi
+
+	#
 	# Start the navigator
 	#
 	navigator start
diff --git a/ROMFS/px4fmu_common/mixers/FMU_caipirinha_vtol.mix b/ROMFS/px4fmu_common/mixers/FMU_caipirinha_vtol.mix
new file mode 100644
index 000000000..5ae0f5588
--- /dev/null
+++ b/ROMFS/px4fmu_common/mixers/FMU_caipirinha_vtol.mix
@@ -0,0 +1,16 @@
+#!nsh
+# Caipirinha vtol mixer for PX4FMU
+#
+#===========================
+R: 2- 10000 10000 10000 0
+
+#mixer for the elevons
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 1 0  10000  10000      0 -10000  10000
+S: 1 1  10000  10000      0 -10000  10000
+
+M: 2
+O:       10000   10000    0 -10000  10000
+S: 1 0   10000   10000    0 -10000  10000
+S: 1 1  -10000  -10000    0 -10000  10000