diff options
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/09_ardrone_flow')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/09_ardrone_flow | 74 |
1 files changed, 34 insertions, 40 deletions
diff --git a/ROMFS/px4fmu_common/init.d/09_ardrone_flow b/ROMFS/px4fmu_common/init.d/09_ardrone_flow index e7173f6e6..9b739f245 100644 --- a/ROMFS/px4fmu_common/init.d/09_ardrone_flow +++ b/ROMFS/px4fmu_common/init.d/09_ardrone_flow @@ -1,42 +1,53 @@ #!nsh -# -# Flight startup script for PX4FMU on PX4IOAR carrier board. -# -# Disable the USB interface -set USB no +echo "[init] 09_ardrone_flow: PX4FMU on PX4IOAR carrier board with PX4FLOW" -# Disable autostarting other apps -set MODE ardrone - -echo "[init] doing PX4IOAR startup..." - # -# Start the ORB +# Load default params for this platform # -uorb start - -# -# Load microSD params -# -echo "[init] loading microSD params" -param select /fs/microsd/params -if [ -f /fs/microsd/params ] +if param compare SYS_AUTOCONFIG 1 then - param load /fs/microsd/params + # Set all params here, then disable autoconfig + param set MC_ATTRATE_D 0 + param set MC_ATTRATE_I 0 + param set MC_ATTRATE_P 0.13 + param set MC_ATT_D 0 + param set MC_ATT_I 0.3 + param set MC_ATT_P 5 + param set MC_YAWPOS_D 0.1 + param set MC_YAWPOS_I 0.15 + param set MC_YAWPOS_P 1 + param set MC_YAWRATE_D 0 + param set MC_YAWRATE_I 0 + param set MC_YAWRATE_P 0.15 + + param set SYS_AUTOCONFIG 0 + param save fi # # Force some key parameters to sane values -# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor -# see https://pixhawk.ethz.ch/mavlink/ +# MAV_TYPE 2 = quadrotor # param set MAV_TYPE 2 +param set BAT_V_SCALING 0.008381 + +# +# Start MAVLink and MAVLink Onboard (PX4FLOW Sensor) +# +mavlink start -d /dev/ttyS0 -b 57600 +mavlink_onboard start -d /dev/ttyS3 -b 115200 +usleep 5000 # # Configure PX4FMU for operation with PX4IOAR # fmu mode_gpio_serial + +# +# Fire up the AR.Drone interface. +# +ardrone_interface start -d /dev/ttyS1 # # Start the sensors. @@ -44,13 +55,6 @@ fmu mode_gpio_serial sh /etc/init.d/rc.sensors # -# Start MAVLink and MAVLink Onboard (Flow Sensor) -# -mavlink start -d /dev/ttyS0 -b 57600 -mavlink_onboard start -d /dev/ttyS3 -b 115200 -usleep 5000 - -# # Start the commander. # commander start @@ -79,16 +83,6 @@ flow_position_control start # Fire up the flow speed controller # flow_speed_control start - -# -# Fire up the AR.Drone interface. -# -ardrone_interface start -d /dev/ttyS1 -# -# startup is done; we don't want the shell because we -# use the same UART for telemetry -# -echo "[init] startup done" - +# Exit, because /dev/ttyS0 is needed for MAVLink exit |