diff options
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/666_fmu_q_x550')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/666_fmu_q_x550 | 64 |
1 files changed, 64 insertions, 0 deletions
diff --git a/ROMFS/px4fmu_common/init.d/666_fmu_q_x550 b/ROMFS/px4fmu_common/init.d/666_fmu_q_x550 new file mode 100644 index 000000000..2c8218013 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/666_fmu_q_x550 @@ -0,0 +1,64 @@ +#!nsh + +echo "[init] 666_fmu_q_x550: PX4FMU Quad X550 with PWM outputs" + +# +# Load default params for this platform +# +if param compare SYS_AUTOCONFIG 1 +then + # Set all params here, then disable autoconfig + param set MC_ATTRATE_P 0.14 + param set MC_ATTRATE_I 0 + param set MC_ATTRATE_D 0.006 + param set MC_ATT_P 5.5 + param set MC_ATT_I 0 + param set MC_ATT_D 0 + param set MC_YAWPOS_D 0 + param set MC_YAWPOS_I 0 + param set MC_YAWPOS_P 0.6 + param set MC_YAWRATE_D 0 + param set MC_YAWRATE_I 0 + param set MC_YAWRATE_P 0.08 + param set RC_SCALE_PITCH 1 + param set RC_SCALE_ROLL 1 + param set RC_SCALE_YAW 3 + + param set SYS_AUTOCONFIG 0 + param save /fs/microsd/params +fi + +# +# Force some key parameters to sane values +# MAV_TYPE 2 = quadrotor +# +param set MAV_TYPE 2 + +# +# Start MAVLink +# +mavlink start -d /dev/ttyS0 -b 57600 +usleep 5000 + +# +# Start PWM output +# +fmu mode_pwm + +# +# Load mixer +# +mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix + +# +# Set PWM output frequency +# +pwm -u 400 -m 0xff + +# +# Start common for all multirotors apps +# +sh /etc/init.d/rc.multirotor + +# Exit, because /dev/ttyS0 is needed for MAVLink +exit |