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author | Julian Oes <julian@oes.ch> | 2014-03-29 11:16:15 +0100 |
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committer | Julian Oes <julian@oes.ch> | 2014-03-29 11:16:15 +0100 |
commit | 33d65eae97994ab5b47188853029965b18a819a2 (patch) | |
tree | 8054384373de19db243a4a8289ff4c837da7d4ea /ROMFS | |
parent | 873fa4cb40a8ac5b57f3212bb233027f422b92a3 (diff) | |
parent | 9b1de5004c673ebe8bdf68f1b518565cccd6b05b (diff) | |
download | px4-firmware-33d65eae97994ab5b47188853029965b18a819a2.tar.gz px4-firmware-33d65eae97994ab5b47188853029965b18a819a2.tar.bz2 px4-firmware-33d65eae97994ab5b47188853029965b18a819a2.zip |
Merge remote-tracking branch 'px4/master' into bottle_drop
Diffstat (limited to 'ROMFS')
-rw-r--r-- | ROMFS/px4fmu_common/init.d/10016_3dr_iris | 4 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/11001_hexa_cox | 2 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/12001_octo_cox | 2 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/2103_skyhunter_1800 | 5 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/3031_phantom | 31 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/3033_wingwing | 25 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha | 42 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/4001_quad_x | 2 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/4008_ardrone | 4 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/5001_quad_+ | 2 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/6001_hexa_x | 2 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/7001_hexa_+ | 2 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/8001_octo_x | 2 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/9001_octo_+ | 2 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.autostart | 11 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.fw_defaults | 2 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.usb | 40 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rcS | 61 |
18 files changed, 178 insertions, 63 deletions
diff --git a/ROMFS/px4fmu_common/init.d/10016_3dr_iris b/ROMFS/px4fmu_common/init.d/10016_3dr_iris index d691a6f2e..f11aa704e 100644 --- a/ROMFS/px4fmu_common/init.d/10016_3dr_iris +++ b/ROMFS/px4fmu_common/init.d/10016_3dr_iris @@ -10,11 +10,11 @@ sh /etc/init.d/rc.mc_defaults if [ $DO_AUTOCONFIG == yes ] then # TODO tune roll/pitch separately - param set MC_ROLL_P 9.0 + param set MC_ROLL_P 7.0 param set MC_ROLLRATE_P 0.13 param set MC_ROLLRATE_I 0.0 param set MC_ROLLRATE_D 0.004 - param set MC_PITCH_P 9.0 + param set MC_PITCH_P 7.0 param set MC_PITCHRATE_P 0.13 param set MC_PITCHRATE_I 0.0 param set MC_PITCHRATE_D 0.004 diff --git a/ROMFS/px4fmu_common/init.d/11001_hexa_cox b/ROMFS/px4fmu_common/init.d/11001_hexa_cox index b98ab4774..38e65435b 100644 --- a/ROMFS/px4fmu_common/init.d/11001_hexa_cox +++ b/ROMFS/px4fmu_common/init.d/11001_hexa_cox @@ -2,7 +2,7 @@ # # UNTESTED UNTESTED! # -# Generic 10” Hexa coaxial geometry +# Generic 10" Hexa coaxial geometry # # Lorenz Meier <lm@inf.ethz.ch> # diff --git a/ROMFS/px4fmu_common/init.d/12001_octo_cox b/ROMFS/px4fmu_common/init.d/12001_octo_cox index 655cb6226..99f902a6d 100644 --- a/ROMFS/px4fmu_common/init.d/12001_octo_cox +++ b/ROMFS/px4fmu_common/init.d/12001_octo_cox @@ -1,6 +1,6 @@ #!nsh # -# Generic 10” Octo coaxial geometry +# Generic 10" Octo coaxial geometry # # Lorenz Meier <lm@inf.ethz.ch> # diff --git a/ROMFS/px4fmu_common/init.d/2103_skyhunter_1800 b/ROMFS/px4fmu_common/init.d/2103_skyhunter_1800 new file mode 100644 index 000000000..9bc0262d8 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/2103_skyhunter_1800 @@ -0,0 +1,5 @@ +#!nsh + +sh /etc/init.d/rc.fw_defaults + +set MIXER FMU_AET diff --git a/ROMFS/px4fmu_common/init.d/3031_phantom b/ROMFS/px4fmu_common/init.d/3031_phantom index a3004d1e1..6cbd23643 100644 --- a/ROMFS/px4fmu_common/init.d/3031_phantom +++ b/ROMFS/px4fmu_common/init.d/3031_phantom @@ -2,9 +2,38 @@ # # Phantom FPV Flying Wing # -# Simon Wilks <sjwilks@gmail.com> +# Simon Wilks <sjwilks@gmail.com>, Thomas Gubler <thomasgubler@gmail.com> # sh /etc/init.d/rc.fw_defaults +if [ $DO_AUTOCONFIG == yes ] +then + param set FW_AIRSPD_MIN 13 + param set FW_AIRSPD_TRIM 18 + param set FW_AIRSPD_MAX 40 + param set FW_ATT_TC 0.3 + param set FW_L1_DAMPING 0.75 + param set FW_L1_PERIOD 15 + param set FW_PR_FF 0.2 + param set FW_PR_I 0.005 + param set FW_PR_IMAX 0.2 + param set FW_PR_P 0.03 + param set FW_P_LIM_MAX 50 + param set FW_P_LIM_MIN -50 + 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 0.5 + param set FW_RR_I 0.02 + param set FW_RR_IMAX 0.2 + param set FW_RR_P 0.08 + param set FW_R_LIM 70 + 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/3033_wingwing b/ROMFS/px4fmu_common/init.d/3033_wingwing index 2af3618d9..6e1a531cf 100644 --- a/ROMFS/px4fmu_common/init.d/3033_wingwing +++ b/ROMFS/px4fmu_common/init.d/3033_wingwing @@ -7,4 +7,29 @@ sh /etc/init.d/rc.fw_defaults +if [ $DO_AUTOCONFIG == yes ] +then + param set BAT_N_CELLS 2 + param set FW_AIRSPD_MAX 15 + param set FW_AIRSPD_MIN 7 + param set FW_AIRSPD_TRIM 11 + param set FW_ATT_TC 0.3 + param set FW_L1_DAMPING 0.74 + param set FW_L1_PERIOD 12 + param set FW_LND_ANG 15 + param set FW_LND_FLALT 5 + param set FW_LND_HHDIST 15 + param set FW_LND_HVIRT 13 + param set FW_LND_TLALT 5 + param set FW_THR_LND_MAX 0 + param set FW_P_ROLLFF 2 + param set FW_PR_FF 0.6 + param set FW_PR_IMAX 0.2 + param set FW_PR_P 0.06 + param set FW_RR_FF 0.6 + param set FW_RR_IMAX 0.2 + param set FW_RR_P 0.09 + param set FW_THR_CRUISE 0.65 +fi + set MIXER FMU_Q 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/4001_quad_x b/ROMFS/px4fmu_common/init.d/4001_quad_x index 345b0e3e4..06c54a41d 100644 --- a/ROMFS/px4fmu_common/init.d/4001_quad_x +++ b/ROMFS/px4fmu_common/init.d/4001_quad_x @@ -1,6 +1,6 @@ #!nsh # -# Generic 10” Quad X geometry +# Generic 10" Quad X geometry # # Lorenz Meier <lm@inf.ethz.ch> # diff --git a/ROMFS/px4fmu_common/init.d/4008_ardrone b/ROMFS/px4fmu_common/init.d/4008_ardrone index 0f98f7b6c..14786f210 100644 --- a/ROMFS/px4fmu_common/init.d/4008_ardrone +++ b/ROMFS/px4fmu_common/init.d/4008_ardrone @@ -23,13 +23,15 @@ then param set MC_PITCHRATE_I 0.0 param set MC_PITCHRATE_D 0.0 param set MC_YAW_P 1.0 - param set MC_YAW_D 0.1 param set MC_YAWRATE_P 0.15 param set MC_YAWRATE_I 0.0 param set MC_YAWRATE_D 0.0 param set MC_YAW_FF 0.15 + param set BAT_V_SCALING 0.00838095238 fi set OUTPUT_MODE ardrone set USE_IO no set MIXER skip +# set MAV_TYPE because no specific mixer is set +set MAV_TYPE 2 diff --git a/ROMFS/px4fmu_common/init.d/5001_quad_+ b/ROMFS/px4fmu_common/init.d/5001_quad_+ index 55b31067d..1fb25e5d8 100644 --- a/ROMFS/px4fmu_common/init.d/5001_quad_+ +++ b/ROMFS/px4fmu_common/init.d/5001_quad_+ @@ -1,6 +1,6 @@ #!nsh # -# Generic 10” Quad + geometry +# Generic 10" Quad + geometry # # Anton Babushkin <anton.babushkin@me.com> # diff --git a/ROMFS/px4fmu_common/init.d/6001_hexa_x b/ROMFS/px4fmu_common/init.d/6001_hexa_x index 7714a508c..34fc6523f 100644 --- a/ROMFS/px4fmu_common/init.d/6001_hexa_x +++ b/ROMFS/px4fmu_common/init.d/6001_hexa_x @@ -1,6 +1,6 @@ #!nsh # -# Generic 10” Hexa X geometry +# Generic 10" Hexa X geometry # # Anton Babushkin <anton.babushkin@me.com> # diff --git a/ROMFS/px4fmu_common/init.d/7001_hexa_+ b/ROMFS/px4fmu_common/init.d/7001_hexa_+ index 60db8c069..235e376a6 100644 --- a/ROMFS/px4fmu_common/init.d/7001_hexa_+ +++ b/ROMFS/px4fmu_common/init.d/7001_hexa_+ @@ -1,6 +1,6 @@ #!nsh # -# Generic 10” Hexa + geometry +# Generic 10" Hexa + geometry # # Anton Babushkin <anton.babushkin@me.com> # diff --git a/ROMFS/px4fmu_common/init.d/8001_octo_x b/ROMFS/px4fmu_common/init.d/8001_octo_x index 411aee114..769217dc7 100644 --- a/ROMFS/px4fmu_common/init.d/8001_octo_x +++ b/ROMFS/px4fmu_common/init.d/8001_octo_x @@ -1,6 +1,6 @@ #!nsh # -# Generic 10” Octo X geometry +# Generic 10" Octo X geometry # # Anton Babushkin <anton.babushkin@me.com> # diff --git a/ROMFS/px4fmu_common/init.d/9001_octo_+ b/ROMFS/px4fmu_common/init.d/9001_octo_+ index 81132fd3e..28b074a54 100644 --- a/ROMFS/px4fmu_common/init.d/9001_octo_+ +++ b/ROMFS/px4fmu_common/init.d/9001_octo_+ @@ -1,6 +1,6 @@ #!nsh # -# Generic 10” Octo + geometry +# Generic 10" Octo + geometry # # Anton Babushkin <anton.babushkin@me.com> # diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart index 7aaf7133e..5ec735d39 100644 --- a/ROMFS/px4fmu_common/init.d/rc.autostart +++ b/ROMFS/px4fmu_common/init.d/rc.autostart @@ -68,6 +68,12 @@ then set MODE custom fi +if param compare SYS_AUTOSTART 2103 103 +then + sh /etc/init.d/2103_skyhunter_1800 + set MODE custom +fi + # # Flying wing # @@ -97,6 +103,11 @@ 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 # diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_defaults b/ROMFS/px4fmu_common/init.d/rc.fw_defaults index 3a50fcf56..4cd73e23f 100644 --- a/ROMFS/px4fmu_common/init.d/rc.fw_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults @@ -11,4 +11,6 @@ then param set NAV_RTL_ALT 100 param set NAV_RTL_LAND_T -1 param set NAV_ACCEPT_RAD 50 + param set RC_SCALE_ROLL 1 + param set RC_SCALE_PITCH 1 fi
\ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb index 0cd8a0e04..9f80219b1 100644 --- a/ROMFS/px4fmu_common/init.d/rc.usb +++ b/ROMFS/px4fmu_common/init.d/rc.usb @@ -5,38 +5,12 @@ echo "Starting MAVLink on this USB console" -# Stop tone alarm -tone_alarm stop - -# -# Check for UORB -# -if uorb start -then - echo "uORB started" -fi - -# Tell MAVLink that this link is "fast" -if mavlink stop -then - echo "stopped other MAVLink instance" -fi -mavlink start -b 230400 -d /dev/ttyACM0 - -# Stop commander -if commander stop -then - echo "Commander stopped" -fi -sleep 1 - -# Start the commander -if commander start -then - echo "Commander started" -fi - -echo "MAVLink started, exiting shell.." +mavlink start -r 10000 -d /dev/ttyACM0 +# Enable a number of interesting streams we want via USB +mavlink stream -d /dev/ttyACM0 -s NAMED_VALUE_FLOAT -r 10 +mavlink stream -d /dev/ttyACM0 -s OPTICAL_FLOW -r 10 +mavlink stream -d /dev/ttyACM0 -s ATTITUDE_CONTROLS -r 30 +mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 10 # Exit shell to make it available to MAVLink -exit +exit diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 763f9be60..c8272a59e 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -108,7 +108,6 @@ then set HIL no set VEHICLE_TYPE none set MIXER none - set USE_IO yes set OUTPUT_MODE none set PWM_OUTPUTS none set PWM_RATE none @@ -117,7 +116,10 @@ then set PWM_MAX none set MKBLCTRL_MODE none set FMU_MODE pwm + set MAVLINK_FLAGS default + set EXIT_ON_END no set MAV_TYPE none + set LOAD_DEFAULT_APPS yes # # Set DO_AUTOCONFIG flag to use it in AUTOSTART scripts @@ -128,6 +130,16 @@ then else set DO_AUTOCONFIG no fi + + # + # Set USE_IO flag + # + if param compare SYS_USE_IO 1 + then + set USE_IO yes + else + set USE_IO no + fi # # Set parameters and env variables for selected AUTOSTART @@ -390,28 +402,34 @@ then # # MAVLink # - set EXIT_ON_END no - if [ $HIL == yes ] + if [ $MAVLINK_FLAGS == default ] then - sleep 1 - mavlink start -b 230400 -d /dev/ttyACM0 - usleep 5000 - else - if [ $TTYS1_BUSY == yes ] + if [ $HIL == yes ] then - # Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else - mavlink start -d /dev/ttyS0 + sleep 1 + set MAVLINK_FLAGS "-r 10000 -d /dev/ttyACM0" usleep 5000 - - # Exit from nsh to free port for mavlink - set EXIT_ON_END yes else - # Start MAVLink on default port: ttyS1 - mavlink start - usleep 5000 + # Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s + if [ $TTYS1_BUSY == yes ] + then + # Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else + set MAVLINK_FLAGS "-r 1000 -d /dev/ttyS0" + usleep 5000 + + # Exit from nsh to free port for mavlink + set EXIT_ON_END yes + else + # Start MAVLink on default port: ttyS1 + set MAVLINK_FLAGS "-r 1000" + usleep 5000 + fi fi fi + + mavlink start $MAVLINK_FLAGS + usleep 5000 # # Start the datamanager @@ -471,7 +489,10 @@ then sh /etc/init.d/rc.interface # Start standard fixedwing apps - sh /etc/init.d/rc.fw_apps + if [ $LOAD_DEFAULT_APPS == yes ] + then + sh /etc/init.d/rc.fw_apps + fi fi # @@ -527,7 +548,10 @@ then sh /etc/init.d/rc.interface # Start standard multicopter apps - sh /etc/init.d/rc.mc_apps + if [ $LOAD_DEFAULT_APPS == yes ] + then + sh /etc/init.d/rc.mc_apps + fi fi # @@ -550,6 +574,7 @@ then if [ $EXIT_ON_END == yes ] then + echo "[init] Exit from nsh" exit fi |