diff options
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/rc.hexa')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.hexa | 94 |
1 files changed, 94 insertions, 0 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.hexa b/ROMFS/px4fmu_common/init.d/rc.hexa new file mode 100644 index 000000000..097db28e4 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.hexa @@ -0,0 +1,94 @@ +#!nsh + +echo "[init] PX4FMU v1, v2 with or without IO on Hex" + +# +# 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 0.004 + param set MC_ATTRATE_I 0.0 + param set MC_ATTRATE_P 0.12 + param set MC_ATT_D 0.0 + param set MC_ATT_I 0.0 + param set MC_ATT_P 7.0 + 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 + +# +# Force some key parameters to sane values +# MAV_TYPE list: https://pixhawk.ethz.ch/mavlink/ +# 13 = hexarotor +# +param set MAV_TYPE 13 + +set EXIT_ON_END no + +# +# Start and configure PX4IO interface +# +if px4io detect +then + # Start MAVLink (depends on orb) + mavlink start + usleep 5000 + + sh /etc/init.d/rc.io +else + # This is not possible on a hexa + tone_alarm error +fi + +# +# Load mixer +# +mixer load /dev/pwm_output $MIXER + +# +# Set PWM output frequency to 400 Hz +# +pwm rate -a -r 400 + +# +# Set disarmed, min and max PWM signals +# +pwm disarmed -c 123456 -p 900 +pwm min -c 123456 -p 1100 +pwm max -c 123456 -p 1900 + +# +# Start common for all multirotors apps +# +sh /etc/init.d/rc.multirotor + +if [ $EXIT_ON_END == yes ] +then + exit +fi |