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| author | Lorenz Meier <lorenz@px4.io> | 2015-01-08 17:55:12 +0100 |
|---|---|---|
| committer | Lorenz Meier <lorenz@px4.io> | 2015-01-08 17:55:12 +0100 |
| commit | e4a3c3f76d57282da1e4db7644a35bc83ad77e26 (patch) | |
| tree | 5a9e8f097a7a5b1e4cd90fbaa46cf53db2abc696 /ROMFS | |
| parent | 28ddd729875697af28197a32bc84c9ab94805f20 (diff) | |
| parent | ba89c9eae26ba990317ff0b66d42e114b8c7dffa (diff) | |
| download | px4-firmware-e4a3c3f76d57282da1e4db7644a35bc83ad77e26.tar.gz px4-firmware-e4a3c3f76d57282da1e4db7644a35bc83ad77e26.tar.bz2 px4-firmware-e4a3c3f76d57282da1e4db7644a35bc83ad77e26.zip | |
Merge pull request #1600 from anton-matosov/SK450DeadCat.v2
Implemented SK450 DeadCat frame support
Diffstat (limited to 'ROMFS')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/10019_sk450_deadcat | 31 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.autostart | 5 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rcS | 2 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/mixers/sk450_deadcat.main.mix | 25 |
4 files changed, 62 insertions, 1 deletions
diff --git a/ROMFS/px4fmu_common/init.d/10019_sk450_deadcat b/ROMFS/px4fmu_common/init.d/10019_sk450_deadcat new file mode 100644 index 000000000..e68f57f25 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/10019_sk450_deadcat @@ -0,0 +1,31 @@ +#!nsh +# +# HobbyKing SK450 DeadCat modification +# +# Anton Matosov <anton.matosov@gmail.com> +# + +sh /etc/init.d/rc.mc_defaults + +if [ $AUTOCNF == yes ] +then + param set MC_ROLL_P 6.0 + param set MC_ROLLRATE_P 0.04 + param set MC_ROLLRATE_I 0.1 + param set MC_ROLLRATE_D 0.0015 + + param set MC_PITCH_P 6.0 + param set MC_PITCHRATE_P 0.08 + param set MC_PITCHRATE_I 0.2 + param set MC_PITCHRATE_D 0.0015 + + param set MC_YAW_P 2.8 + param set MC_YAWRATE_P 0.1 + param set MC_YAWRATE_I 0.07 + param set MC_YAWRATE_D 0.0 +fi + +set MIXER sk450_deadcat + +set PWM_OUT 1234 +set PWM_MIN 1050 diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart index 20f2be0d9..b83687fbd 100644 --- a/ROMFS/px4fmu_common/init.d/rc.autostart +++ b/ROMFS/px4fmu_common/init.d/rc.autostart @@ -226,6 +226,11 @@ then sh /etc/init.d/10018_tbs_endurance fi +if param compare SYS_AUTOSTART 10019 +then + sh /etc/init.d/10019_sk450_deadcat +fi + # # Hexa Coaxial # diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 84c7e096d..ac740181a 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -524,7 +524,7 @@ then then set MAV_TYPE 2 fi - if [ $MIXER == quad_w ] + if [ $MIXER == quad_w -o $MIXER == sk450_deadcat ] then set MAV_TYPE 2 fi diff --git a/ROMFS/px4fmu_common/mixers/sk450_deadcat.main.mix b/ROMFS/px4fmu_common/mixers/sk450_deadcat.main.mix new file mode 100644 index 000000000..a8c5b716d --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/sk450_deadcat.main.mix @@ -0,0 +1,25 @@ +Multirotor mixer for PX4FMU +=========================== + +This file defines a single mixer for a quadrotor in SK450 DeadCat configuration. All controls are mixed 100%. + +R: 4dc 10000 10000 10000 0 + +Gimbal / payload mixer for last four channels +----------------------------------------------------- + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 4 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 5 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 6 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 7 10000 10000 0 -10000 10000 |