diff options
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil | 85 |
1 files changed, 6 insertions, 79 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 40a13b5d1..36194ad68 100644 --- a/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil +++ b/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil @@ -1,87 +1,14 @@ #!nsh # -# USB HIL start +# HILStar / X-Plane # - -echo "[HIL] HILStar starting.." - -# -# Load default params for this platform -# -if param compare SYS_AUTOCONFIG 1 -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 - -# Allow USB some time to come up -sleep 1 -# Tell MAVLink that this link is "fast" -mavlink start -b 230400 -d /dev/ttyACM0 - -# Create a fake HIL /dev/pwm_output interface -hil mode_pwm - -# -# Force some key parameters to sane values -# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor -# see https://pixhawk.ethz.ch/mavlink/ +# Lorenz Meier <lm@inf.ethz.ch> # -param set MAV_TYPE 1 -# -# Check if we got an IO -# -if px4io start -then - echo "IO started" -else - fmu mode_serial - echo "FMU started" -fi - -# -# Start the sensors (depends on orb, px4io) -# -sh /etc/init.d/rc.sensors +sh /etc/init.d/rc.fw_defaults -# -# Start the attitude estimator (depends on orb) -# -att_pos_estimator_ekf start - -# -# Load mixer and start controllers (depends on px4io) -# -mixer load /dev/pwm_output /etc/mixers/FMU_AET.mix -fw_pos_control_l1 start -fw_att_control start +echo "HIL Rascal 110 starting.." -echo "[HIL] setup done, running" +set HIL yes +set MIXER FMU_AERT |