diff options
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/15_tbs_discovery')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/15_tbs_discovery | 81 |
1 files changed, 81 insertions, 0 deletions
diff --git a/ROMFS/px4fmu_common/init.d/15_tbs_discovery b/ROMFS/px4fmu_common/init.d/15_tbs_discovery new file mode 100644 index 000000000..c79e9d283 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/15_tbs_discovery @@ -0,0 +1,81 @@ +#!nsh + +echo "[init] Team Blacksheep Discovery Quad" + +# +# Load default params for this platform +# +if param compare SYS_AUTOCONFIG 1 +then + # Set all params here, then disable autoconfig + param set SYS_AUTOCONFIG 0 + + param set MC_ATTRATE_D 0.006 + param set MC_ATTRATE_I 0.0 + param set MC_ATTRATE_P 0.17 + param set MC_ATT_D 0.0 + param set MC_ATT_I 0.0 + param set MC_ATT_P 5.0 + param set MC_YAWPOS_D 0.0 + param set MC_YAWPOS_I 0.15 + param set MC_YAWPOS_P 0.5 + param set MC_YAWRATE_D 0.0 + param set MC_YAWRATE_I 0.0 + param set MC_YAWRATE_P 0.2 + + param save +fi + +# +# Force some key parameters to sane values +# MAV_TYPE 2 = quadrotor +# +param set MAV_TYPE 2 + +set EXIT_ON_END no + +# +# Start and configure PX4IO or FMU interface +# +if px4io detect +then + # Start MAVLink (depends on orb) + mavlink start + usleep 5000 + + sh /etc/init.d/rc.io +else + # Start MAVLink (on UART1 / ttyS0) + mavlink start -d /dev/ttyS0 + usleep 5000 + fmu mode_pwm + param set BAT_V_SCALING 0.004593 + set EXIT_ON_END yes +fi + +# +# Load the mixer for a quad with wide arms +# +mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix + +# +# Set PWM output frequency +# +pwm rate -c 1234 -r 400 + +# +# Set disarmed, min and max PWM signals +# +pwm disarmed -c 1234 -p 900 +pwm min -c 1234 -p 1100 +pwm max -c 1234 -p 1900 + +# +# Start common for all multirotors apps +# +sh /etc/init.d/rc.multirotor + +if [ $EXIT_ON_END == yes ] +then + exit +fi |