diff options
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/100_mpx_easystar')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/100_mpx_easystar | 84 |
1 files changed, 62 insertions, 22 deletions
diff --git a/ROMFS/px4fmu_common/init.d/100_mpx_easystar b/ROMFS/px4fmu_common/init.d/100_mpx_easystar index e1cefdb99..4f843e9aa 100644 --- a/ROMFS/px4fmu_common/init.d/100_mpx_easystar +++ b/ROMFS/px4fmu_common/init.d/100_mpx_easystar @@ -1,6 +1,6 @@ #!nsh -echo "[init] Multiplex Easystar" +echo "[init] PX4FMU v1, v2 with or without IO on EasyStar" # # Load default params for this platform @@ -8,7 +8,29 @@ echo "[init] Multiplex Easystar" if param compare SYS_AUTOCONFIG 1 then # Set all params here, then disable autoconfig - # TODO + 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 @@ -20,28 +42,34 @@ fi # param set MAV_TYPE 1 -# -# Start MAVLink (depends on orb) -# -mavlink start -d /dev/ttyS1 -b 57600 -usleep 5000 +set EXIT_ON_END no # -# Start and configure PX4IO interface +# Start and configure PX4IO or FMU interface # -sh /etc/init.d/rc.io +if px4io detect +then + # Start MAVLink (depends on orb) + mavlink start + + commander start + + sh /etc/init.d/rc.io + # Limit to 100 Hz updates and (implicit) 50 Hz PWM + px4io limit 100 +else + # Start MAVLink (on UART1 / ttyS0) + mavlink start -d /dev/ttyS0 + + commander start + + fmu mode_pwm + param set BAT_V_SCALING 0.004593 + set EXIT_ON_END yes +fi # -# Set actuator limit to 100 Hz update (50 Hz PWM) -px4io limit 100 - -# -# Start the commander -# -commander start - -# -# Start the sensors +# Start the sensors and test them. # sh /etc/init.d/rc.sensors @@ -49,9 +77,9 @@ sh /etc/init.d/rc.sensors # Start logging (depends on sensors) # sh /etc/init.d/rc.logging - + # -# Start GPS interface +# Start GPS interface (depends on orb) # gps start @@ -63,6 +91,18 @@ att_pos_estimator_ekf start # # Load mixer and start controllers (depends on px4io) # -mixer load /dev/pwm_output /etc/mixers/FMU_RET.mix +if [ -f /fs/microsd/etc/mixers/FMU_RET.mix ] +then + echo "Using FMU_RET mixer from sd card" + mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_RET.mix +else + echo "Using standard FMU_RET mixer" + mixer load /dev/pwm_output /etc/mixers/FMU_RET.mix +fi fw_att_control start fw_pos_control_l1 start + +if [ $EXIT_ON_END == yes ] +then + exit +fi |