diff options
Diffstat (limited to 'ROMFS/px4fmu_common/init.d')
-rw-r--r-- | ROMFS/px4fmu_common/init.d/10_dji_f330 | 14 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/11_dji_f450 | 15 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/15_tbs_discovery | 15 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/16_3dr_iris | 15 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/666_fmu_q_x550 | 2 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.custom_dji_f330_mkblctrl | 10 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.custom_io_esc | 30 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.multirotor | 5 | ||||
-rwxr-xr-x | ROMFS/px4fmu_common/init.d/rcS | 14 |
9 files changed, 68 insertions, 52 deletions
diff --git a/ROMFS/px4fmu_common/init.d/10_dji_f330 b/ROMFS/px4fmu_common/init.d/10_dji_f330 index b8fe5fc31..81ea292aa 100644 --- a/ROMFS/px4fmu_common/init.d/10_dji_f330 +++ b/ROMFS/px4fmu_common/init.d/10_dji_f330 @@ -59,11 +59,10 @@ then mavlink start usleep 5000 + commander start + sh /etc/init.d/rc.io # Set PWM values for DJI ESCs - px4io idle 900 900 900 900 - px4io min 1200 1200 1200 1200 - px4io max 1800 1800 1800 1800 else # Start MAVLink (on UART1 / ttyS0) mavlink start -d /dev/ttyS0 @@ -81,7 +80,14 @@ mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix # # Set PWM output frequency # -pwm -u 400 -m 0xff +pwm rate -c 1234 -r 400 + +# +# Set disarmed, min and max PWM signals +# +pwm disarmed -c 1234 -p 900 +pwm min -c 1234 -p 1200 +pwm max -c 1234 -p 1800 # # Start common for all multirotors apps diff --git a/ROMFS/px4fmu_common/init.d/11_dji_f450 b/ROMFS/px4fmu_common/init.d/11_dji_f450 index 388f40a47..4dbf76cee 100644 --- a/ROMFS/px4fmu_common/init.d/11_dji_f450 +++ b/ROMFS/px4fmu_common/init.d/11_dji_f450 @@ -43,11 +43,9 @@ then mavlink start usleep 5000 + commander start + sh /etc/init.d/rc.io - # Set PWM values for DJI ESCs - px4io idle 900 900 900 900 - px4io min 1200 1200 1200 1200 - px4io max 1800 1800 1800 1800 else # Start MAVLink (on UART1 / ttyS0) mavlink start -d /dev/ttyS0 @@ -65,7 +63,14 @@ mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix # # Set PWM output frequency # -pwm -u 400 -m 0xff +pwm rate -c 1234 -r 400 + +# +# Set disarmed, min and max PWM signals (for DJI ESCs) +# +pwm disarmed -c 1234 -p 900 +pwm min -c 1234 -p 1200 +pwm max -c 1234 -p 1800 # # Start common for all multirotors apps diff --git a/ROMFS/px4fmu_common/init.d/15_tbs_discovery b/ROMFS/px4fmu_common/init.d/15_tbs_discovery index cbfde6d3c..bd6189a6d 100644 --- a/ROMFS/px4fmu_common/init.d/15_tbs_discovery +++ b/ROMFS/px4fmu_common/init.d/15_tbs_discovery @@ -43,11 +43,9 @@ then mavlink start usleep 5000 + commander start + sh /etc/init.d/rc.io - # Set PWM values for DJI ESCs - px4io idle 900 900 900 900 - px4io min 1200 1200 1200 1200 - px4io max 1800 1800 1800 1800 else # Start MAVLink (on UART1 / ttyS0) mavlink start -d /dev/ttyS0 @@ -65,7 +63,14 @@ mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix # # Set PWM output frequency # -pwm -u 400 -m 0xff +pwm rate -c 1234 -r 400 + +# +# Set disarmed, min and max PWM signals (for DJI ESCs) +# +pwm disarmed -c 1234 -p 900 +pwm min -c 1234 -p 1200 +pwm max -c 1234 -p 1800 # # Start common for all multirotors apps diff --git a/ROMFS/px4fmu_common/init.d/16_3dr_iris b/ROMFS/px4fmu_common/init.d/16_3dr_iris index 3ac086b91..d8cc0e913 100644 --- a/ROMFS/px4fmu_common/init.d/16_3dr_iris +++ b/ROMFS/px4fmu_common/init.d/16_3dr_iris @@ -43,11 +43,9 @@ then mavlink start usleep 5000 + commander start + sh /etc/init.d/rc.io - # Set PWM values for DJI ESCs - px4io idle 900 900 900 900 - px4io min 1200 1200 1200 1200 - px4io max 1800 1800 1800 1800 else # Start MAVLink (on UART1 / ttyS0) mavlink start -d /dev/ttyS0 @@ -65,7 +63,14 @@ mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix # # Set PWM output frequency # -pwm -u 400 -m 0xff +pwm rate -c 1234 -r 400 + +# +# Set disarmed, min and max PWM signals +# +pwm disarmed -c 1234 -p 900 +pwm min -c 1234 -p 1200 +pwm max -c 1234 -p 1800 # # Start common for all multirotors apps diff --git a/ROMFS/px4fmu_common/init.d/666_fmu_q_x550 b/ROMFS/px4fmu_common/init.d/666_fmu_q_x550 index ae41f2a01..eae37098b 100644 --- a/ROMFS/px4fmu_common/init.d/666_fmu_q_x550 +++ b/ROMFS/px4fmu_common/init.d/666_fmu_q_x550 @@ -53,7 +53,7 @@ mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix # # Set PWM output frequency # -pwm -u 400 -m 0xff +pwm rate -c 1234 -r 400 # # Start common for all multirotors apps diff --git a/ROMFS/px4fmu_common/init.d/rc.custom_dji_f330_mkblctrl b/ROMFS/px4fmu_common/init.d/rc.custom_dji_f330_mkblctrl index 51bc61c9e..a63d0e5f1 100644 --- a/ROMFS/px4fmu_common/init.d/rc.custom_dji_f330_mkblctrl +++ b/ROMFS/px4fmu_common/init.d/rc.custom_dji_f330_mkblctrl @@ -83,10 +83,6 @@ then usleep 5000 sh /etc/init.d/rc.io - # Set PWM values for DJI ESCs - px4io idle 900 900 900 900 - px4io min 1200 1200 1200 1200 - px4io max 1800 1800 1800 1800 else fmu mode_pwm # Start MAVLink (on UART1 / ttyS0) @@ -107,9 +103,11 @@ else fi # -# Set PWM output frequency +# Set disarmed, min and max PWM signals # -#pwm -u 400 -m 0xff +pwm disarmed -c 1234 -p 900 +pwm min -c 1234 -p 1200 +pwm max -c 1234 -p 1800 # # Start common for all multirotors apps diff --git a/ROMFS/px4fmu_common/init.d/rc.custom_io_esc b/ROMFS/px4fmu_common/init.d/rc.custom_io_esc index 2bfaed76c..0c0cfa53d 100644 --- a/ROMFS/px4fmu_common/init.d/rc.custom_io_esc +++ b/ROMFS/px4fmu_common/init.d/rc.custom_io_esc @@ -61,20 +61,9 @@ then mavlink start -d /dev/ttyS1 -b 57600 usleep 5000 - sh /etc/init.d/rc.io + commander start - 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 + sh /etc/init.d/rc.io else fmu mode_pwm # Start MAVLink (on UART1 / ttyS0) @@ -84,6 +73,19 @@ else set EXIT_ON_END yes fi +if [ $ESC_MAKER = afro ] +then + # Set PWM values for Afro ESCs + pwm disarmed -c 1234 -p 1050 + pwm min -c 1234 -p 1080 + pwm max -c 1234 -p 1860 +else + # Set PWM values for typical ESCs + pwm disarmed -c 1234 -p 900 + pwm min -c 1234 -p 980 + pwm max -c 1234 -p 1800 +fi + # # Load mixer # @@ -105,7 +107,7 @@ fi # # Set PWM output frequency # -pwm -u 400 -m 0xff +pwm rate -r 400 -c 1234 # # Start common for all multirotors apps diff --git a/ROMFS/px4fmu_common/init.d/rc.multirotor b/ROMFS/px4fmu_common/init.d/rc.multirotor index e3638e3d1..dfff07198 100644 --- a/ROMFS/px4fmu_common/init.d/rc.multirotor +++ b/ROMFS/px4fmu_common/init.d/rc.multirotor @@ -14,11 +14,6 @@ sh /etc/init.d/rc.sensors sh /etc/init.d/rc.logging # -# Start the commander. -# -commander start - -# # Start GPS interface (depends on orb) # gps start diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 9d0800eb1..cff8446a6 100755 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -265,13 +265,13 @@ then set MODE custom fi - # PX4FMU v1 with IO + PPM-based ESCs on Quad X-shape frame - if param compare SYS_AUTOSTART 22 - then - set FRAME_GEOMETRY w - sh /etc/init.d/rc.custom_io_esc - set MODE custom - fi + # PX4FMU v1 with IO + PPM-based ESCs on Quad X-shape frame + if param compare SYS_AUTOSTART 22 + then + set FRAME_GEOMETRY w + sh /etc/init.d/rc.custom_io_esc + set MODE custom + fi if param compare SYS_AUTOSTART 30 then |