diff options
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/901_bottle_drop_test.hil')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/901_bottle_drop_test.hil | 91 |
1 files changed, 0 insertions, 91 deletions
diff --git a/ROMFS/px4fmu_common/init.d/901_bottle_drop_test.hil b/ROMFS/px4fmu_common/init.d/901_bottle_drop_test.hil deleted file mode 100644 index 472351e9e..000000000 --- a/ROMFS/px4fmu_common/init.d/901_bottle_drop_test.hil +++ /dev/null @@ -1,91 +0,0 @@ -#!nsh -# -# USB HIL start -# - -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/ -# -param set MAV_TYPE 1 - -# -# Start the sensors (depends on orb, px4io) -# -sh /etc/init.d/rc.sensors - -# -# 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 - -# -# Start IO -# -px4io start - - -mixer load /dev/px4io /etc/mixers/FMU_pass.mix - -pwm min -d /dev/px4io -c 123 -p 900 -pwm max -d /dev/px4io -c 123 -p 2100 - -pwm arm -d /dev/px4io - -bottle_drop start - -echo "[HIL] setup done, running" - |