diff options
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/10_io_f330 | 15 | ||||
| -rw-r--r-- | src/drivers/boards/px4fmuv2/px4fmu2_init.c | 4 | ||||
| -rw-r--r-- | src/drivers/boards/px4fmuv2/px4fmu2_led.c | 4 |
3 files changed, 11 insertions, 12 deletions
diff --git a/ROMFS/px4fmu_common/init.d/10_io_f330 b/ROMFS/px4fmu_common/init.d/10_io_f330 index 4107fab4f..07e70993d 100644 --- a/ROMFS/px4fmu_common/init.d/10_io_f330 +++ b/ROMFS/px4fmu_common/init.d/10_io_f330 @@ -15,20 +15,19 @@ then # Set all params here, then disable autoconfig param set SYS_AUTOCONFIG 0 - param set MC_ATTRATE_D 0.007 + param set MC_ATTRATE_D 0.005 param set MC_ATTRATE_I 0.0 - param set MC_ATTRATE_P 0.13 + param set MC_ATTRATE_P 0.1 param set MC_ATT_D 0.0 param set MC_ATT_I 0.0 - param set MC_ATT_P 7.0 - param set MC_POS_P 0.1 + param set MC_ATT_P 4.5 param set MC_RCLOSS_THR 0.0 param set MC_YAWPOS_D 0.0 - param set MC_YAWPOS_I 0.5 - param set MC_YAWPOS_P 1.0 + param set MC_YAWPOS_I 0.3 + param set MC_YAWPOS_P 0.6 param set MC_YAWRATE_D 0.0 param set MC_YAWRATE_I 0.0 - param set MC_YAWRATE_P 0.2 + param set MC_YAWRATE_P 0.1 param save /fs/microsd/params fi @@ -128,7 +127,7 @@ multirotor_att_control start # # Start logging # -sdlog2 start -r 20 -a -b 14 +sdlog2 start -r 20 -a -b 16 # # Start system state diff --git a/src/drivers/boards/px4fmuv2/px4fmu2_init.c b/src/drivers/boards/px4fmuv2/px4fmu2_init.c index 535e075b2..13829d5c4 100644 --- a/src/drivers/boards/px4fmuv2/px4fmu2_init.c +++ b/src/drivers/boards/px4fmuv2/px4fmu2_init.c @@ -193,8 +193,8 @@ __EXPORT int nsh_archinitialize(void) NULL); /* initial LED state */ - //drv_led_start(); - up_ledoff(LED_AMBER); + drv_led_start(); + led_off(LED_AMBER); /* Configure SPI-based devices */ diff --git a/src/drivers/boards/px4fmuv2/px4fmu2_led.c b/src/drivers/boards/px4fmuv2/px4fmu2_led.c index 85177df56..11a5c7211 100644 --- a/src/drivers/boards/px4fmuv2/px4fmu2_led.c +++ b/src/drivers/boards/px4fmuv2/px4fmu2_led.c @@ -68,7 +68,7 @@ __EXPORT void led_init() __EXPORT void led_on(int led) { - if (led == 0) + if (led == 1) { /* Pull down to switch on */ stm32_gpiowrite(GPIO_LED1, false); @@ -77,7 +77,7 @@ __EXPORT void led_on(int led) __EXPORT void led_off(int led) { - if (led == 0) + if (led == 1) { /* Pull up to switch off */ stm32_gpiowrite(GPIO_LED1, true); |