diff options
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/rc.custom_io_esc')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.custom_io_esc | 120 |
1 files changed, 120 insertions, 0 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.custom_io_esc b/ROMFS/px4fmu_common/init.d/rc.custom_io_esc new file mode 100644 index 000000000..e645d9d54 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.custom_io_esc @@ -0,0 +1,120 @@ +#!nsh + +# +# 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 0.002 + param set MC_ATTRATE_I 0.0 + param set MC_ATTRATE_P 0.09 + param set MC_ATT_D 0.0 + param set MC_ATT_I 0.0 + param set MC_ATT_P 6.8 + param set MC_YAWPOS_D 0.0 + param set MC_YAWPOS_I 0.0 + param set MC_YAWPOS_P 2.0 + param set MC_YAWRATE_D 0.005 + param set MC_YAWRATE_I 0.2 + param set MC_YAWRATE_P 0.3 + param set NAV_TAKEOFF_ALT 3.0 + param set MPC_TILT_MAX 0.5 + param set MPC_THR_MAX 0.7 + param set MPC_THR_MIN 0.3 + param set MPC_XY_D 0 + param set MPC_XY_P 0.5 + param set MPC_XY_VEL_D 0 + param set MPC_XY_VEL_I 0 + param set MPC_XY_VEL_MAX 3 + param set MPC_XY_VEL_P 0.2 + param set MPC_Z_D 0 + param set MPC_Z_P 1 + param set MPC_Z_VEL_D 0 + param set MPC_Z_VEL_I 0.1 + param set MPC_Z_VEL_MAX 2 + param set MPC_Z_VEL_P 0.20 + + param save +fi + +echo "RC script for PX4FMU + PX4IO + PPM-ESCs running" + +# +# Force some key parameters to sane values +# MAV_TYPE 2 = quadrotor +# +param set MAV_TYPE 2 + +set EXIT_ON_END no + +usleep 10000 + +# +# Start and configure PX4IO or FMU interface +# +if px4io detect +then + # Start MAVLink (depends on orb) + mavlink start -d /dev/ttyS1 -b 115200 + usleep 5000 + + sh /etc/init.d/rc.io + + if [ $ESC_MAKER = afro ] + then + # Set PWM values for Afro ESCs + px4io idle 1050 1050 1050 1050 + px4io min 1080 1080 1080 1080 + px4io max 1860 1860 1860 1860 + else + # Set PWM values for typical ESCs + px4io idle 900 900 900 900 + px4io min 1110 1100 1100 1100 + px4io max 1800 1800 1800 1800 + fi +else + fmu mode_pwm + # Start MAVLink (on UART1 / ttyS0) + mavlink start -d /dev/ttyS1 -b 115200 + usleep 5000 + param set BAT_V_SCALING 0.004593 + set EXIT_ON_END yes +fi + +# +# Load mixer +# +if [ $FRAME_GEOMETRY == x ] +then + echo "Frame geometry X" + mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix +else + if [ $FRAME_GEOMETRY == w ] + then + echo "Frame geometry W" + mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix + else + echo "Frame geometry +" + mixer load /dev/pwm_output /etc/mixers/FMU_quad_+.mix + fi +fi + +# +# Set PWM output frequency +# +pwm -u 400 -m 0xff + +# +# Start common for all multirotors apps +# +sh /etc/init.d/rc.multirotor + +if [ $EXIT_ON_END == yes ] +then + exit +fi + +echo "Script end" |