diff options
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/3031_io_phantom')
-rw-r--r-- | ROMFS/px4fmu_common/init.d/3031_io_phantom | 85 |
1 files changed, 85 insertions, 0 deletions
diff --git a/ROMFS/px4fmu_common/init.d/3031_io_phantom b/ROMFS/px4fmu_common/init.d/3031_io_phantom new file mode 100644 index 000000000..0cf6ee39a --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/3031_io_phantom @@ -0,0 +1,85 @@ +#!nsh + +echo "[init] PX4FMU v1, v2 with or without IO on Phantom FPV" + +# +# Load default params for this platform +# +if param compare SYS_AUTOCONFIG 1 +then + # Set all params here, then disable autoconfig + param set FW_AIRSPD_MIN 11.4 + param set FW_AIRSPD_TRIM 14 + param set FW_AIRSPD_MAX 22 + param set FW_L1_PERIOD 15 + param set FW_P_D 0 + param set FW_P_I 0 + param set FW_P_IMAX 15 + param set FW_P_LIM_MAX 45 + param set FW_P_LIM_MIN -45 + 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 2 + param set FW_R_D 0 + param set FW_R_I 5 + param set FW_R_IMAX 15 + param set FW_R_P 80 + param set FW_R_RMAX 60 + param set FW_THR_CRUISE 0.8 + param set FW_THR_LND_MAX 0 + param set FW_THR_MAX 1 + param set FW_THR_MIN 0.5 + param set FW_T_SINK_MAX 5.0 + param set FW_T_SINK_MIN 2.0 + param set FW_Y_ROLLFF 1.0 + param set RC_SCALE_ROLL 0.6 + param set RC_SCALE_PITCH 0.6 + param set TRIM_PITCH 0.1 + + param set SYS_AUTOCONFIG 0 + param save +fi + +# +# Force some key parameters to sane values +# MAV_TYPE 1 = fixed wing +# +param set MAV_TYPE 1 + +# +# Start and configure PX4IO or FMU interface +# +if px4io detect +then + # Start MAVLink (depends on orb) + mavlink 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 + + fmu mode_pwm + param set BAT_V_SCALING 0.004593 + set EXIT_ON_END yes +fi + +# +# Load mixer and start controllers (depends on px4io) +# +if [ -f /fs/microsd/etc/mixers/FMU_Q.mix ] +then + echo "Using /fs/microsd/etc/mixers/FMU_Q.mix" + mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_Q.mix +else + echo "Using /etc/mixers/FMU_Q.mix" + mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix +fi + +# +# Start common fixedwing apps +# +sh /etc/init.d/rc.fixedwing |