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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-23 08:34:00 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-23 08:34:00 +0200 |
| commit | ccf0916f16a530b9c544d28d83f58636ce1938bb (patch) | |
| tree | b8af41228567221abcea7bb5bcb39b3914f49803 /ROMFS | |
| parent | 29b926db1bbbb86b4c384d15788a6f9bf8962cb7 (diff) | |
| parent | 379a9fc24f919acda48f2a6fe205bca59b8cc674 (diff) | |
| download | px4-firmware-ccf0916f16a530b9c544d28d83f58636ce1938bb.tar.gz px4-firmware-ccf0916f16a530b9c544d28d83f58636ce1938bb.tar.bz2 px4-firmware-ccf0916f16a530b9c544d28d83f58636ce1938bb.zip | |
Merge branch 'fmuv2_bringup_new_state_machine_drton' of github.com:cvg/Firmware_Private into multirotor
Diffstat (limited to 'ROMFS')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/666_fmu_quad_x550 | 116 |
1 files changed, 116 insertions, 0 deletions
diff --git a/ROMFS/px4fmu_common/init.d/666_fmu_quad_x550 b/ROMFS/px4fmu_common/init.d/666_fmu_quad_x550 new file mode 100644 index 000000000..a7ffffaee --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/666_fmu_quad_x550 @@ -0,0 +1,116 @@ +#!nsh +# +# Flight startup script for PX4FMU with PWM outputs. +# + +# disable USB and autostart +set USB no +set MODE custom + +echo "[init] doing PX4FMU Quad startup 666_fmu_quad_X550..." + +# +# Start the ORB +# +uorb start + +# +# Load microSD params +# +echo "[init] loading microSD params" +param select /fs/microsd/params +if [ -f /fs/microsd/params ] +then + param load /fs/microsd/params +fi + +# +# Load default params for this platform +# +if param compare SYS_AUTOCONFIG 1 +then + # Set all params here, then disable autoconfig + param set MC_ATTRATE_P 0.14 + param set MC_ATTRATE_I 0 + param set MC_ATTRATE_D 0.006 + param set MC_ATT_P 5.5 + param set MC_ATT_I 0 + param set MC_ATT_D 0 + param set MC_YAWPOS_D 0 + param set MC_YAWPOS_I 0 + param set MC_YAWPOS_P 0.6 + param set MC_YAWRATE_D 0 + param set MC_YAWRATE_I 0 + param set MC_YAWRATE_P 0.08 + param set RC_SCALE_PITCH 1 + param set RC_SCALE_ROLL 1 + param set RC_SCALE_YAW 3 + + param set SYS_AUTOCONFIG 0 + param save /fs/microsd/params +fi + +# +# 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 MAVLink +# +mavlink start -d /dev/ttyS0 -b 57600 +usleep 5000 + +# +# Start the sensors and test them. +# +sh /etc/init.d/rc.sensors + +# +# Start the commander. +# +commander start + +# +# Start GPS interface (depends on orb) +# +gps start + +# +# Start the attitude estimator +# +attitude_estimator_ekf start +# +# Start the position estimator +# +position_estimator_inav start + +echo "[init] starting PWM output" +fmu mode_pwm +mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix +pwm -u 400 -m 0xff + +# +# Start attitude control +# +multirotor_att_control start + +# +# Start position control +# +multirotor_pos_control start + +# +# Start logging +# +sdlog2 start -r 50 -a -b 14 + +# +# Start system state +# +if blinkm start +then + blinkm systemstate +fi |