diff options
29 files changed, 133 insertions, 563 deletions
diff --git a/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil b/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil index d7e524b41..36194ad68 100644 --- a/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil +++ b/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil @@ -5,36 +5,10 @@ # Lorenz Meier <lm@inf.ethz.ch> # -echo "HIL Rascal 110 starting.." +sh /etc/init.d/rc.fw_defaults -if [ $DO_AUTOCONFIG == yes ] -then - # Set all params here, then disable autoconfig - - param set FW_P_D 0 - param set FW_P_I 0 - param set FW_P_IMAX 15 - param set FW_P_LIM_MAX 50 - param set FW_P_LIM_MIN -50 - param set FW_P_P 60 - param set FW_P_RMAX_NEG 0 - param set FW_P_RMAX_POS 0 - param set FW_P_ROLLFF 1.1 - param set FW_R_D 0 - param set FW_R_I 5 - param set FW_R_IMAX 20 - param set FW_R_P 100 - param set FW_R_RMAX 100 - param set FW_THR_CRUISE 0.65 - param set FW_T_SINK_MAX 5.0 - param set FW_T_SINK_MIN 4.0 - param set FW_Y_ROLLFF 1.1 - param set FW_L1_PERIOD 16 - param set RC_SCALE_ROLL 1.0 - param set RC_SCALE_PITCH 1.0 -fi +echo "HIL Rascal 110 starting.." set HIL yes -set VEHICLE_TYPE fw set MIXER FMU_AERT diff --git a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery index a3d7c3d97..b09765e8e 100644 --- a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery +++ b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery @@ -5,45 +5,8 @@ # Simon Wilks <sjwilks@gmail.com> # -if [ $DO_AUTOCONFIG == yes ] -then - # - # Default parameters for this platform - # - param set MC_ROLL_P 5.0 - param set MC_ROLLRATE_P 0.17 - param set MC_ROLLRATE_I 0.0 - param set MC_ROLLRATE_D 0.006 - param set MC_PITCH_P 5.0 - param set MC_PITCHRATE_P 0.17 - param set MC_PITCHRATE_I 0.0 - param set MC_PITCHRATE_D 0.006 - param set MC_YAW_P 0.5 - param set MC_YAWRATE_P 0.2 - param set MC_YAWRATE_I 0.0 - param set MC_YAWRATE_D 0.0 +sh /etc/init.d/rc.mc_defaults - param set MPC_THR_MAX 1.0 - param set MPC_THR_MIN 0.1 - param set MPC_XY_P 1.0 - param set MPC_XY_VEL_P 0.1 - param set MPC_XY_VEL_I 0.02 - param set MPC_XY_VEL_D 0.01 - param set MPC_XY_VEL_MAX 5 - param set MPC_XY_FF 0.5 - param set MPC_Z_P 1.0 - param set MPC_Z_VEL_P 0.1 - param set MPC_Z_VEL_I 0.02 - param set MPC_Z_VEL_D 0.0 - param set MPC_Z_VEL_MAX 3 - param set MPC_Z_FF 0.5 - param set MPC_TILT_MAX 1.0 - param set MPC_LAND_SPEED 1.0 - param set MPC_LAND_TILT 0.3 -fi - -set VEHICLE_TYPE mc set MIXER FMU_quad_w -set PWM_OUTPUTS 1234 -set PWM_RATE 400 +set PWM_OUTPUTS 1234
\ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/10016_3dr_iris b/ROMFS/px4fmu_common/init.d/10016_3dr_iris index 1c7ecb712..42d516993 100644 --- a/ROMFS/px4fmu_common/init.d/10016_3dr_iris +++ b/ROMFS/px4fmu_common/init.d/10016_3dr_iris @@ -5,51 +5,17 @@ # Anton Babushkin <anton.babushkin@me.com> # +sh /etc/init.d/rc.mc_defaults + if [ $DO_AUTOCONFIG == yes ] then # # Default parameters for this platform # - param set MC_ROLL_P 9.0 - 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_PITCHRATE_P 0.13 - param set MC_PITCHRATE_I 0.0 - param set MC_PITCHRATE_D 0.004 - param set MC_YAW_P 0.5 - param set MC_YAWRATE_P 0.2 - param set MC_YAWRATE_I 0.0 - param set MC_YAWRATE_D 0.0 - - param set MPC_THR_MAX 1.0 - param set MPC_THR_MIN 0.1 - param set MPC_XY_P 1.0 - param set MPC_XY_VEL_P 0.1 - param set MPC_XY_VEL_I 0.02 - param set MPC_XY_VEL_D 0.01 - param set MPC_XY_VEL_MAX 5 - param set MPC_XY_FF 0.5 - param set MPC_Z_P 1.0 - param set MPC_Z_VEL_P 0.1 - param set MPC_Z_VEL_I 0.02 - param set MPC_Z_VEL_D 0.0 - param set MPC_Z_VEL_MAX 3 - param set MPC_Z_FF 0.5 - param set MPC_TILT_MAX 1.0 - param set MPC_LAND_SPEED 1.0 - param set MPC_LAND_TILT 0.3 - param set BAT_V_SCALING 0.00989 param set BAT_C_SCALING 0.0124 fi -set VEHICLE_TYPE mc set MIXER FMU_quad_w set PWM_OUTPUTS 1234 -set PWM_RATE 400 -set PWM_DISARMED 900 -set PWM_MIN 1000 -set PWM_MAX 2000 diff --git a/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil b/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil index 45880f44b..7a7a9542c 100644 --- a/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil +++ b/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil @@ -5,6 +5,8 @@ # Anton Babushkin <anton.babushkin@me.com> # -sh /etc/init.d/4001_quad_x +sh /etc/init.d/rc.mc_defaults + +set MIXER FMU_quad_x set HIL yes diff --git a/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil b/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil index 2b26810e7..c47500c7a 100644 --- a/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil +++ b/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil @@ -5,6 +5,8 @@ # Anton Babushkin <anton.babushkin@me.com> # -sh /etc/init.d/1001_rc_quad_x.hil +sh /etc/init.d/rc.mc_defaults set MIXER FMU_quad_+ + +set HIL yes
\ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil b/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil index c639bfc25..4e3e18326 100644 --- a/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil +++ b/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil @@ -5,38 +5,10 @@ # Thomas Gubler <thomasgubler@gmail.com> # -echo "HIL Rascal 110 starting.." +sh /etc/init.d/rc.fw_defaults -if [ $DO_AUTOCONFIG == yes ] -then - # Set all params here, then disable autoconfig - - param set FW_P_D 0 - param set FW_P_I 0 - param set FW_P_IMAX 15 - param set FW_P_LIM_MAX 50 - param set FW_P_LIM_MIN -50 - param set FW_P_P 60 - param set FW_P_RMAX_NEG 0 - param set FW_P_RMAX_POS 0 - param set FW_P_ROLLFF 1.1 - param set FW_R_D 0 - param set FW_R_I 5 - param set FW_R_IMAX 20 - param set FW_R_P 100 - param set FW_R_RMAX 100 - param set FW_THR_CRUISE 0.65 - param set FW_THR_MAX 1 - param set FW_THR_MIN 0 - param set FW_T_SINK_MAX 5.0 - param set FW_T_SINK_MIN 4.0 - param set FW_Y_ROLLFF 1.1 - param set FW_L1_PERIOD 16 - param set RC_SCALE_ROLL 1.0 - param set RC_SCALE_PITCH 1.0 -fi +echo "HIL Rascal 110 starting.." set HIL yes -set VEHICLE_TYPE fw set MIXER FMU_AERT diff --git a/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil b/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil index 124bf63ab..c753ded23 100644 --- a/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil +++ b/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil @@ -5,14 +5,13 @@ # Thomas Gubler <thomasgubler@gmail.com> # -echo "HIL Malolo 1 starting.." +sh /etc/init.d/rc.fw_defaults if [ $DO_AUTOCONFIG == yes ] then - # Set all params here, then disable autoconfig - param set FW_AIRSPD_MIN 12 param set FW_AIRSPD_TRIM 25 + 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 @@ -20,10 +19,6 @@ then param set FW_PR_I 0.05 param set FW_PR_IMAX 0.2 param set FW_PR_P 0.1 - 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 0.6 param set FW_RR_I 0.02 @@ -31,9 +26,6 @@ then param set FW_RR_P 0.1 param set FW_R_LIM 45 param set FW_R_RMAX 0 - param set FW_THR_CRUISE 0.6 - param set FW_THR_MAX 1 - param set FW_THR_MIN 0 param set FW_T_CLMB_MAX 5 param set FW_T_HRATE_P 0.02 param set FW_T_PTCH_DAMP 0 @@ -43,22 +35,13 @@ then param set FW_T_SRATE_P 0.01 param set FW_T_TIME_CONST 3 param set FW_T_VERT_ACC 7 - param set FW_YCO_VMIN 1000 param set FW_YR_FF 0.0 param set FW_YR_I 0 param set FW_YR_IMAX 0.2 - param set FW_YR_P 0.0 - param set FW_Y_RMAX 0 - param set NAV_LAND_ALT 90 - param set NAV_RTL_ALT 100 - param set NAV_RTL_LAND_T -1 - - param set SYS_AUTOCONFIG 0 - param save + param set FW_YR_P 0.0 fi set HIL yes -set VEHICLE_TYPE fw # Set the AERT mixer for HIL (even if the malolo is a flying wing) set MIXER FMU_AERT diff --git a/ROMFS/px4fmu_common/init.d/12001_octo_cox b/ROMFS/px4fmu_common/init.d/12001_octo_cox index 8a813595e..c5d3e7807 100644 --- a/ROMFS/px4fmu_common/init.d/12001_octo_cox +++ b/ROMFS/px4fmu_common/init.d/12001_octo_cox @@ -5,6 +5,8 @@ # Lorenz Meier <lm@inf.ethz.ch>, Anton Babushkin <anton.babushkin@me.com> # -sh /etc/init.d/8001_octo_x +sh /etc/init.d/rc.mc_defaults set MIXER FMU_octo_cox + +set PWM_OUTPUTS 12345678
\ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/2100_mpx_easystar b/ROMFS/px4fmu_common/init.d/2100_mpx_easystar index 0e5bf60d6..465a22c53 100644 --- a/ROMFS/px4fmu_common/init.d/2100_mpx_easystar +++ b/ROMFS/px4fmu_common/init.d/2100_mpx_easystar @@ -2,38 +2,7 @@ # # MPX EasyStar Plane # -# Maintainers: ??? -# -if [ $DO_AUTOCONFIG == yes ] -then - # - # Default parameters for this platform - # - param set FW_P_D 0 - param set FW_P_I 0 - param set FW_P_IMAX 15 - param set FW_P_LIM_MAX 50 - param set FW_P_LIM_MIN -50 - param set FW_P_P 60 - param set FW_P_RMAX_NEG 0 - param set FW_P_RMAX_POS 0 - param set FW_P_ROLLFF 1.1 - param set FW_R_D 0 - param set FW_R_I 5 - param set FW_R_IMAX 20 - param set FW_R_P 100 - param set FW_R_RMAX 100 - param set FW_THR_CRUISE 0.65 - param set FW_THR_MAX 1 - param set FW_THR_MIN 0 - param set FW_T_SINK_MAX 5.0 - param set FW_T_SINK_MIN 4.0 - param set FW_Y_ROLLFF 1.1 - param set FW_L1_PERIOD 16 - param set RC_SCALE_ROLL 1.0 - param set RC_SCALE_PITCH 1.0 -fi +sh /etc/init.d/rc.fw_defaults -set VEHICLE_TYPE fw set MIXER FMU_RET diff --git a/ROMFS/px4fmu_common/init.d/2101_hk_bixler b/ROMFS/px4fmu_common/init.d/2101_hk_bixler index de5e5a8d3..dcc5db824 100644 --- a/ROMFS/px4fmu_common/init.d/2101_hk_bixler +++ b/ROMFS/px4fmu_common/init.d/2101_hk_bixler @@ -1,35 +1,5 @@ #!nsh -if [ $DO_AUTOCONFIG == yes ] -then - # Set all params here, then disable autoconfig - param set FW_P_D 0 - param set FW_P_I 0 - param set FW_P_IMAX 15 - param set FW_P_LIM_MAX 50 - param set FW_P_LIM_MIN -50 - param set FW_P_P 60 - param set FW_P_RMAX_NEG 0 - param set FW_P_RMAX_POS 0 - param set FW_P_ROLLFF 1.1 - param set FW_R_D 0 - param set FW_R_I 5 - param set FW_R_IMAX 20 - param set FW_R_P 100 - param set FW_R_RMAX 100 - param set FW_THR_CRUISE 0.65 - param set FW_THR_MAX 1 - param set FW_THR_MIN 0 - param set FW_T_SINK_MAX 5.0 - param set FW_T_SINK_MIN 4.0 - param set FW_Y_ROLLFF 1.1 - param set FW_L1_PERIOD 16 - param set RC_SCALE_ROLL 1.0 - param set RC_SCALE_PITCH 1.0 - - param set SYS_AUTOCONFIG 0 - param save -fi +sh /etc/init.d/rc.fw_defaults -set VEHICLE_TYPE fw set MIXER FMU_AERT
\ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/2102_3dr_skywalker b/ROMFS/px4fmu_common/init.d/2102_3dr_skywalker index 07f215f6c..dcc5db824 100644 --- a/ROMFS/px4fmu_common/init.d/2102_3dr_skywalker +++ b/ROMFS/px4fmu_common/init.d/2102_3dr_skywalker @@ -1,33 +1,5 @@ #!nsh -if [ $DO_AUTOCONFIG == yes ] -then - # Set all params here, then disable autoconfig - param set FW_P_D 0 - param set FW_P_I 0 - param set FW_P_IMAX 15 - param set FW_P_LIM_MAX 50 - param set FW_P_LIM_MIN -50 - param set FW_P_P 60 - param set FW_P_RMAX_NEG 0 - param set FW_P_RMAX_POS 0 - param set FW_P_ROLLFF 1.1 - param set FW_R_D 0 - param set FW_R_I 5 - param set FW_R_IMAX 20 - param set FW_R_P 100 - param set FW_R_RMAX 100 - param set FW_THR_CRUISE 0.65 - param set FW_T_SINK_MAX 5.0 - param set FW_T_SINK_MIN 4.0 - param set FW_Y_ROLLFF 1.1 - param set FW_L1_PERIOD 16 - param set RC_SCALE_ROLL 1.0 - param set RC_SCALE_PITCH 1.0 - - param set SYS_AUTOCONFIG 0 - param save -fi +sh /etc/init.d/rc.fw_defaults -set VEHICLE_TYPE fw set MIXER FMU_AERT
\ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/3030_io_camflyer b/ROMFS/px4fmu_common/init.d/3030_io_camflyer index 3b7323ac4..83c470234 100644 --- a/ROMFS/px4fmu_common/init.d/3030_io_camflyer +++ b/ROMFS/px4fmu_common/init.d/3030_io_camflyer @@ -1,38 +1,5 @@ #!nsh -if [ $DO_AUTOCONFIG == yes ] -then - # - # Default parameters for this platform - # - param set FW_AIRSPD_MIN 7 - param set FW_AIRSPD_TRIM 9 - param set FW_AIRSPD_MAX 14 - param set FW_L1_PERIOD 10 - param set FW_P_D 0 - param set FW_P_I 0 - param set FW_P_IMAX 20 - param set FW_P_LIM_MAX 30 - param set FW_P_LIM_MIN -20 - param set FW_P_P 30 - param set FW_P_RMAX_NEG 0 - param set FW_P_RMAX_POS 0 - param set FW_P_ROLLFF 2 - param set FW_R_D 0 - param set FW_R_I 5 - param set FW_R_IMAX 20 - param set FW_R_P 60 - param set FW_R_RMAX 60 - param set FW_THR_CRUISE 0.65 - param set FW_THR_MAX 1.0 - param set FW_THR_MIN 0 - param set FW_T_SINK_MAX 5 - param set FW_T_SINK_MIN 2 - param set FW_T_TIME_CONST 9 - param set FW_Y_ROLLFF 2.0 - param set RC_SCALE_ROLL 1.0 - param set RC_SCALE_PITCH 1.0 -fi +sh /etc/init.d/rc.fw_defaults -set VEHICLE_TYPE fw set MIXER FMU_Q diff --git a/ROMFS/px4fmu_common/init.d/3031_phantom b/ROMFS/px4fmu_common/init.d/3031_phantom index a4ff61d93..2e2434bb8 100644 --- a/ROMFS/px4fmu_common/init.d/3031_phantom +++ b/ROMFS/px4fmu_common/init.d/3031_phantom @@ -5,40 +5,4 @@ # Simon Wilks <sjwilks@gmail.com> # -if [ $DO_AUTOCONFIG == yes ] -then - # - # Default parameters for this platform - # - param set FW_AIRSPD_MIN 11.4 - param set FW_AIRSPD_TRIM 14 - param set FW_AIRSPD_MAX 22 - param set FW_L1_PERIOD 15 - param set FW_P_D 0 - param set FW_P_I 0 - param set FW_P_IMAX 15 - param set FW_P_LIM_MAX 45 - param set FW_P_LIM_MIN -45 - param set FW_P_P 60 - param set FW_P_RMAX_NEG 0 - param set FW_P_RMAX_POS 0 - param set FW_P_ROLLFF 2 - param set FW_R_D 0 - param set FW_R_I 5 - param set FW_R_IMAX 15 - param set FW_R_P 80 - param set FW_R_RMAX 60 - param set FW_THR_CRUISE 0.8 - param set FW_THR_LND_MAX 0 - param set FW_THR_MAX 1 - param set FW_THR_MIN 0.5 - param set FW_T_SINK_MAX 5.0 - param set FW_T_SINK_MIN 2.0 - param set FW_Y_ROLLFF 1.0 - param set RC_SCALE_ROLL 0.6 - param set RC_SCALE_PITCH 0.6 - param set TRIM_PITCH 0.1 -fi - -set VEHICLE_TYPE fw set MIXER FMU_Q diff --git a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 index c1e78b6f1..bf5a87068 100644 --- a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 +++ b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 @@ -5,39 +5,35 @@ # Thomas Gubler <thomasgubler@gmail.com>, Julian Oes <joes@student.ethz.ch> # +sh /etc/init.d/rc.fw_defaults + if [ $DO_AUTOCONFIG == yes ] then - # - # Default parameters for this platform - # - param set FW_AIRSPD_MIN 7 - param set FW_AIRSPD_TRIM 9 - param set FW_AIRSPD_MAX 14 - param set FW_L1_PERIOD 10 - param set FW_P_D 0 - param set FW_P_I 0 - param set FW_P_IMAX 20 - param set FW_P_LIM_MAX 30 - param set FW_P_LIM_MIN -20 - param set FW_P_P 30 + 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 2 - param set FW_R_D 0 - param set FW_R_I 5 - param set FW_R_IMAX 20 - param set FW_R_P 60 - param set FW_R_RMAX 60 - param set FW_THR_CRUISE 0.65 - param set FW_THR_MAX 0.7 - param set FW_THR_MIN 0 - param set FW_T_SINK_MAX 5 - param set FW_T_SINK_MIN 2 - param set FW_T_TIME_CONST 9 - param set FW_Y_ROLLFF 2.0 - param set RC_SCALE_ROLL 1.0 - param set RC_SCALE_PITCH 1.0 + 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 VEHICLE_TYPE fw set MIXER FMU_X5 diff --git a/ROMFS/px4fmu_common/init.d/3033_wingwing b/ROMFS/px4fmu_common/init.d/3033_wingwing index 2f6879799..2af3618d9 100644 --- a/ROMFS/px4fmu_common/init.d/3033_wingwing +++ b/ROMFS/px4fmu_common/init.d/3033_wingwing @@ -5,39 +5,6 @@ # Simon Wilks <sjwilks@gmail.com> # -if [ $DO_AUTOCONFIG == yes ] -then - # - # Default parameters for this platform - # - param set FW_AIRSPD_MIN 7 - param set FW_AIRSPD_TRIM 9 - param set FW_AIRSPD_MAX 14 - param set FW_L1_PERIOD 10 - param set FW_P_D 0 - param set FW_P_I 0 - param set FW_P_IMAX 20 - param set FW_P_LIM_MAX 30 - param set FW_P_LIM_MIN -20 - param set FW_P_P 30 - param set FW_P_RMAX_NEG 0 - param set FW_P_RMAX_POS 0 - param set FW_P_ROLLFF 2 - param set FW_R_D 0 - param set FW_R_I 5 - param set FW_R_IMAX 20 - param set FW_R_P 60 - param set FW_R_RMAX 60 - param set FW_THR_CRUISE 0.65 - param set FW_THR_MAX 0.7 - param set FW_THR_MIN 0 - param set FW_T_SINK_MAX 5 - param set FW_T_SINK_MIN 2 - param set FW_T_TIME_CONST 9 - param set FW_Y_ROLLFF 2.0 - param set RC_SCALE_ROLL 1.0 - param set RC_SCALE_PITCH 1.0 -fi +sh /etc/init.d/rc.fw_defaults -set VEHICLE_TYPE fw set MIXER FMU_Q diff --git a/ROMFS/px4fmu_common/init.d/3034_fx79 b/ROMFS/px4fmu_common/init.d/3034_fx79 index bc02d87f3..f4bd18269 100644 --- a/ROMFS/px4fmu_common/init.d/3034_fx79 +++ b/ROMFS/px4fmu_common/init.d/3034_fx79 @@ -5,39 +5,6 @@ # Simon Wilks <sjwilks@gmail.com> # -if [ $DO_AUTOCONFIG == yes ] -then - # - # Default parameters for this platform - # - param set FW_AIRSPD_MAX 20 - param set FW_AIRSPD_TRIM 12 - param set FW_AIRSPD_MIN 15 - param set FW_L1_PERIOD 12 - param set FW_P_D 0 - param set FW_P_I 0 - param set FW_P_IMAX 15 - param set FW_P_LIM_MAX 50 - param set FW_P_LIM_MIN -50 - param set FW_P_P 60 - param set FW_P_RMAX_NEG 0 - param set FW_P_RMAX_POS 0 - param set FW_P_ROLLFF 1.1 - param set FW_R_D 0 - param set FW_R_I 5 - param set FW_R_IMAX 20 - param set FW_R_P 80 - param set FW_R_RMAX 100 - param set FW_THR_CRUISE 0.75 - param set FW_THR_MAX 1 - param set FW_THR_MIN 0 - param set FW_T_SINK_MAX 5.0 - param set FW_T_SINK_MIN 4.0 - param set FW_T_TIME_CONST 9 - param set FW_Y_ROLLFF 1.1 - param set RC_SCALE_ROLL 1.0 - param set RC_SCALE_PITCH 1.0 -fi +sh /etc/init.d/rc.fw_defaults -set VEHICLE_TYPE fw set MIXER FMU_FX79 diff --git a/ROMFS/px4fmu_common/init.d/4001_quad_x b/ROMFS/px4fmu_common/init.d/4001_quad_x index 0f1288dec..fa751f1e3 100644 --- a/ROMFS/px4fmu_common/init.d/4001_quad_x +++ b/ROMFS/px4fmu_common/init.d/4001_quad_x @@ -5,48 +5,8 @@ # Lorenz Meier <lm@inf.ethz.ch> # -if [ $DO_AUTOCONFIG == yes ] -then - # - # Default parameters for this platform - # - param set MC_ROLL_P 7.0 - param set MC_ROLLRATE_P 0.12 - param set MC_ROLLRATE_I 0.0 - param set MC_ROLLRATE_D 0.004 - param set MC_PITCH_P 7.0 - param set MC_PITCHRATE_P 0.12 - param set MC_PITCHRATE_I 0.0 - param set MC_PITCHRATE_D 0.004 - param set MC_YAW_P 2.0 - param set MC_YAWRATE_P 0.3 - param set MC_YAWRATE_I 0.2 - param set MC_YAWRATE_D 0.005 - - param set MPC_THR_MAX 1.0 - param set MPC_THR_MIN 0.1 - param set MPC_XY_P 1.0 - param set MPC_XY_VEL_P 0.1 - param set MPC_XY_VEL_I 0.02 - param set MPC_XY_VEL_D 0.01 - param set MPC_XY_VEL_MAX 5 - param set MPC_XY_FF 0.5 - param set MPC_Z_P 1.0 - param set MPC_Z_VEL_P 0.1 - param set MPC_Z_VEL_I 0.02 - param set MPC_Z_VEL_D 0.0 - param set MPC_Z_VEL_MAX 3 - param set MPC_Z_FF 0.5 - param set MPC_TILT_MAX 1.0 - param set MPC_LAND_SPEED 1.0 - param set MPC_LAND_TILT 0.3 -fi +sh /etc/init.d/rc.mc_defaults -set VEHICLE_TYPE mc set MIXER FMU_quad_x -set PWM_OUTPUTS 1234 -set PWM_RATE 400 -set PWM_DISARMED 900 -set PWM_MIN 1100 -set PWM_MAX 2000 +set PWM_OUTPUTS 1234
\ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/4010_dji_f330 b/ROMFS/px4fmu_common/init.d/4010_dji_f330 index 782946033..232af57b4 100644 --- a/ROMFS/px4fmu_common/init.d/4010_dji_f330 +++ b/ROMFS/px4fmu_common/init.d/4010_dji_f330 @@ -5,49 +5,6 @@ # Anton Babushkin <anton.babushkin@me.com> # -if [ $DO_AUTOCONFIG == yes ] -then - # - # Default parameters for this platform - # - param set MC_ROLL_P 7.0 - param set MC_ROLLRATE_P 0.12 - param set MC_ROLLRATE_I 0.0 - param set MC_ROLLRATE_D 0.004 - param set MC_PITCH_P 7.0 - param set MC_PITCHRATE_P 0.12 - param set MC_PITCHRATE_I 0.0 - param set MC_PITCHRATE_D 0.004 - param set MC_YAW_P 2.8 - param set MC_YAWRATE_P 0.2 - param set MC_YAWRATE_I 0.05 - param set MC_YAWRATE_D 0.0 - - param set MPC_THR_MAX 1.0 - param set MPC_THR_MIN 0.1 - param set MPC_XY_P 1.0 - param set MPC_XY_VEL_P 0.1 - param set MPC_XY_VEL_I 0.02 - param set MPC_XY_VEL_D 0.01 - param set MPC_XY_VEL_MAX 5 - param set MPC_XY_FF 0.5 - param set MPC_Z_P 1.0 - param set MPC_Z_VEL_P 0.1 - param set MPC_Z_VEL_I 0.02 - param set MPC_Z_VEL_D 0.0 - param set MPC_Z_VEL_MAX 3 - param set MPC_Z_FF 0.5 - param set MPC_TILT_MAX 1.0 - param set MPC_LAND_SPEED 1.0 - param set MPC_LAND_TILT 0.3 -fi +sh /etc/init.d/4001_quad_x -set VEHICLE_TYPE mc -set MIXER FMU_quad_x - -set PWM_OUTPUTS 1234 -set PWM_RATE 400 -# DJI ESC range -set PWM_DISARMED 900 -set PWM_MIN 1200 -set PWM_MAX 1900 +set PWM_MIN 1175
\ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/4011_dji_f450 b/ROMFS/px4fmu_common/init.d/4011_dji_f450 index 8eb53d172..259636acc 100644 --- a/ROMFS/px4fmu_common/init.d/4011_dji_f450 +++ b/ROMFS/px4fmu_common/init.d/4011_dji_f450 @@ -5,49 +5,6 @@ # Lorenz Meier <lm@inf.ethz.ch> # -if [ $DO_AUTOCONFIG == yes ] -then - # - # Default parameters for this platform - # - param set MC_ROLL_P 7.0 - param set MC_ROLLRATE_P 0.12 - param set MC_ROLLRATE_I 0.0 - param set MC_ROLLRATE_D 0.004 - param set MC_PITCH_P 7.0 - param set MC_PITCHRATE_P 0.12 - param set MC_PITCHRATE_I 0.0 - param set MC_PITCHRATE_D 0.004 - param set MC_YAW_P 2.0 - param set MC_YAWRATE_P 0.3 - param set MC_YAWRATE_I 0.2 - param set MC_YAWRATE_D 0.005 - - param set MPC_THR_MAX 1.0 - param set MPC_THR_MIN 0.1 - param set MPC_XY_P 1.0 - param set MPC_XY_VEL_P 0.1 - param set MPC_XY_VEL_I 0.02 - param set MPC_XY_VEL_D 0.01 - param set MPC_XY_VEL_MAX 5 - param set MPC_XY_FF 0.5 - param set MPC_Z_P 1.0 - param set MPC_Z_VEL_P 0.1 - param set MPC_Z_VEL_I 0.02 - param set MPC_Z_VEL_D 0.0 - param set MPC_Z_VEL_MAX 3 - param set MPC_Z_FF 0.5 - param set MPC_TILT_MAX 1.0 - param set MPC_LAND_SPEED 1.0 - param set MPC_LAND_TILT 0.3 -fi +sh /etc/init.d/4001_quad_x -set VEHICLE_TYPE mc -set MIXER FMU_quad_x - -set PWM_OUTPUTS 1234 -set PWM_RATE 400 -# DJI ESC range -set PWM_DISARMED 900 -set PWM_MIN 1200 -set PWM_MAX 1900 +set PWM_MIN 1175
\ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/4012_hk_x550 b/ROMFS/px4fmu_common/init.d/4012_hk_x550 index 3d8e9fcf7..a5c4a8690 100644 --- a/ROMFS/px4fmu_common/init.d/4012_hk_x550 +++ b/ROMFS/px4fmu_common/init.d/4012_hk_x550 @@ -6,9 +6,3 @@ # sh /etc/init.d/4001_quad_x - -set PWM_OUTPUTS 1234 -set PWM_RATE 400 -set PWM_DISARMED 900 -set PWM_MIN 1000 -set PWM_MAX 2000 diff --git a/ROMFS/px4fmu_common/init.d/5001_quad_+ b/ROMFS/px4fmu_common/init.d/5001_quad_+ index ff11bccfe..2f5ab44d7 100644 --- a/ROMFS/px4fmu_common/init.d/5001_quad_+ +++ b/ROMFS/px4fmu_common/init.d/5001_quad_+ @@ -5,6 +5,8 @@ # Anton Babushkin <anton.babushkin@me.com> # -sh /etc/init.d/4001_quad_x +sh /etc/init.d/rc.mc_defaults set MIXER FMU_quad_+ + +set PWM_OUTPUTS 1234
\ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/6001_hexa_x b/ROMFS/px4fmu_common/init.d/6001_hexa_x index fd5756586..73ef12569 100644 --- a/ROMFS/px4fmu_common/init.d/6001_hexa_x +++ b/ROMFS/px4fmu_common/init.d/6001_hexa_x @@ -5,10 +5,10 @@ # Anton Babushkin <anton.babushkin@me.com> # -sh /etc/init.d/4001_quad_x +sh /etc/init.d/rc.mc_defaults set MIXER FMU_hexa_x # We only can run one channel group with one rate, # so all 8 at 400 Hz -set PWM_OUTPUTS 12345678 +set PWM_OUTPUTS 12345678
\ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/7001_hexa_+ b/ROMFS/px4fmu_common/init.d/7001_hexa_+ index 45279ec39..ef4b6297d 100644 --- a/ROMFS/px4fmu_common/init.d/7001_hexa_+ +++ b/ROMFS/px4fmu_common/init.d/7001_hexa_+ @@ -5,6 +5,10 @@ # Anton Babushkin <anton.babushkin@me.com> # -sh /etc/init.d/6001_hexa_x +sh /etc/init.d/rc.mc_defaults set MIXER FMU_hexa_+ + +# We only can run one channel group with one rate, +# so all 8 at 400 Hz +set PWM_OUTPUTS 12345678
\ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/8001_octo_x b/ROMFS/px4fmu_common/init.d/8001_octo_x index 6fa962668..bb87f89fe 100644 --- a/ROMFS/px4fmu_common/init.d/8001_octo_x +++ b/ROMFS/px4fmu_common/init.d/8001_octo_x @@ -5,8 +5,8 @@ # Anton Babushkin <anton.babushkin@me.com> # -sh /etc/init.d/4001_quad_x +sh /etc/init.d/rc.mc_defaults set MIXER FMU_octo_x -set PWM_OUTPUTS 12345678 +set PWM_OUTPUTS 12345678
\ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/9001_octo_+ b/ROMFS/px4fmu_common/init.d/9001_octo_+ index fa3869f9f..81132fd3e 100644 --- a/ROMFS/px4fmu_common/init.d/9001_octo_+ +++ b/ROMFS/px4fmu_common/init.d/9001_octo_+ @@ -5,6 +5,8 @@ # Anton Babushkin <anton.babushkin@me.com> # -sh /etc/init.d/8001_octo_x +sh /etc/init.d/rc.mc_defaults set MIXER FMU_octo_+ + +set PWM_OUTPUTS 12345678
\ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_defaults b/ROMFS/px4fmu_common/init.d/rc.fw_defaults new file mode 100644 index 000000000..3e340699f --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults @@ -0,0 +1,13 @@ +#!nsh + +set VEHICLE_TYPE fw + +if [ $DO_AUTOCONFIG == yes ] +then +# +# Default parameters for FW +# + param set NAV_LAND_ALT 90 + param set NAV_RTL_ALT 100 + param set NAV_RTL_LAND_T -1 +fi
\ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults new file mode 100644 index 000000000..50d02d9e4 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults @@ -0,0 +1,45 @@ +#!nsh + +set VEHICLE_TYPE fw + +if [ $DO_AUTOCONFIG == yes ] +then + # + # Default parameters for MC + # + param set MC_ROLL_P 7.0 + param set MC_ROLLRATE_P 0.12 + param set MC_ROLLRATE_I 0.0 + param set MC_ROLLRATE_D 0.004 + param set MC_PITCH_P 7.0 + param set MC_PITCHRATE_P 0.12 + param set MC_PITCHRATE_I 0.0 + param set MC_PITCHRATE_D 0.004 + param set MC_YAW_P 2.0 + param set MC_YAWRATE_P 0.3 + param set MC_YAWRATE_I 0.2 + param set MC_YAWRATE_D 0.005 + + param set MPC_THR_MAX 1.0 + param set MPC_THR_MIN 0.1 + param set MPC_XY_P 1.0 + param set MPC_XY_VEL_P 0.1 + param set MPC_XY_VEL_I 0.02 + param set MPC_XY_VEL_D 0.01 + param set MPC_XY_VEL_MAX 5 + param set MPC_XY_FF 0.5 + param set MPC_Z_P 1.0 + param set MPC_Z_VEL_P 0.1 + param set MPC_Z_VEL_I 0.02 + param set MPC_Z_VEL_D 0.0 + param set MPC_Z_VEL_MAX 3 + param set MPC_Z_FF 0.5 + param set MPC_TILT_MAX 1.0 + param set MPC_LAND_SPEED 1.0 + param set MPC_LAND_TILT 0.3 +fi + +set PWM_RATE 400 +set PWM_DISARMED 900 +set PWM_MIN 1075 +set PWM_MAX 2000
\ No newline at end of file diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c index ee8721ff9..a0447d90d 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c @@ -168,9 +168,9 @@ PARAM_DEFINE_FLOAT(FW_T_SINK_MAX, 5.0f); PARAM_DEFINE_FLOAT(FW_T_HRATE_P, 0.05f); PARAM_DEFINE_FLOAT(FW_T_SRATE_P, 0.05f); -PARAM_DEFINE_FLOAT(FW_LND_ANG, 10.0f); +PARAM_DEFINE_FLOAT(FW_LND_ANG, 5.0f); PARAM_DEFINE_FLOAT(FW_LND_SLLR, 0.9f); PARAM_DEFINE_FLOAT(FW_LND_HVIRT, 10.0f); -PARAM_DEFINE_FLOAT(FW_LND_FLALT, 15.0f); +PARAM_DEFINE_FLOAT(FW_LND_FLALT, 10.0f); PARAM_DEFINE_FLOAT(FW_LND_TLALT, 5.0f); PARAM_DEFINE_FLOAT(FW_LND_HHDIST, 15.0f); diff --git a/src/modules/navigator/navigator_params.c b/src/modules/navigator/navigator_params.c index d5e00e35d..1ba159a8e 100644 --- a/src/modules/navigator/navigator_params.c +++ b/src/modules/navigator/navigator_params.c @@ -55,7 +55,7 @@ PARAM_DEFINE_FLOAT(NAV_MIN_ALT, 50.0f); PARAM_DEFINE_FLOAT(NAV_ACCEPT_RAD, 10.0f); -PARAM_DEFINE_FLOAT(NAV_LOITER_RAD, 100.0f); +PARAM_DEFINE_FLOAT(NAV_LOITER_RAD, 50.0f); PARAM_DEFINE_INT32(NAV_ONB_MIS_EN, 0); PARAM_DEFINE_FLOAT(NAV_TAKEOFF_ALT, 10.0f); // default TAKEOFF altitude PARAM_DEFINE_FLOAT(NAV_LAND_ALT, 5.0f); // slow descend from this altitude when landing |