diff options
Diffstat (limited to 'ROMFS/px4fmu_common/init.d')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil | 110 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/12-13_hex | 95 | ||||
| -rwxr-xr-x | ROMFS/px4fmu_common/init.d/rcS | 54 |
3 files changed, 244 insertions, 15 deletions
diff --git a/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil b/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil new file mode 100644 index 000000000..1c85e04f2 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil @@ -0,0 +1,110 @@ +#!nsh +# +# USB HIL start +# + +echo "[HIL] HILS quadrotor + starting.." + +# +# 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 0.0 + param set MC_ATTRATE_I 0.0 + param set MC_ATTRATE_P 0.05 + param set MC_ATT_D 0.0 + param set MC_ATT_I 0.0 + param set MC_ATT_P 3.0 + param set MC_YAWPOS_D 0.0 + param set MC_YAWPOS_I 0.0 + param set MC_YAWPOS_P 2.1 + param set MC_YAWRATE_D 0.0 + param set MC_YAWRATE_I 0.0 + param set MC_YAWRATE_P 0.05 + param set NAV_TAKEOFF_ALT 3.0 + param set MPC_TILT_MAX 0.5 + param set MPC_THR_MAX 0.5 + param set MPC_THR_MIN 0.1 + 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 + +# 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 2 + +# +# Start the commander (depends on orb, mavlink) +# +commander start + +# +# Check if we got an IO +# +if px4io start +then + echo "IO started" +else + fmu mode_serial + echo "FMU started" +fi + +# +# 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_quad_+.mix + +# +# Start position estimator +# +position_estimator_inav start + +# +# Start attitude control +# +multirotor_att_control start + +# +# Start position control +# +multirotor_pos_control start + +echo "[HIL] setup done, running" + diff --git a/ROMFS/px4fmu_common/init.d/12-13_hex b/ROMFS/px4fmu_common/init.d/12-13_hex new file mode 100644 index 000000000..0f0bb05ce --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/12-13_hex @@ -0,0 +1,95 @@ +#!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 or FMU interface +# +if px4io detect +then + # Start MAVLink (depends on orb) + mavlink start + usleep 5000 + + sh /etc/init.d/rc.io + # Set PWM values for DJI ESCs + px4io idle 900 900 900 900 900 900 + px4io min 1200 1200 1200 1200 1200 1200 + px4io max 1900 1900 1900 1900 1900 1900 +else + # Start MAVLink (on UART1 / ttyS0) + mavlink start -d /dev/ttyS0 + usleep 5000 + fmu mode_pwm + param set BAT_V_SCALING 0.004593 + set EXIT_ON_END yes +fi + +# +# Load mixer +# +mixer load /dev/pwm_output $MIXER + +# +# Set PWM output frequency to 400 Hz +# +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 diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 93e76184d..fd588017f 100755 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -110,23 +110,33 @@ then then sh /etc/init.d/1000_rc_fw.hil set MODE custom - else - if param compare SYS_AUTOSTART 1001 - then - sh /etc/init.d/1001_rc_quad.hil - set MODE custom - else - if param compare SYS_AUTOSTART 1002 - then - sh /etc/init.d/1002_rc_fw_state.hil - set MODE custom - else - # Try to get an USB console - nshterm /dev/ttyACM0 & - fi - fi fi + if param compare SYS_AUTOSTART 1001 + then + sh /etc/init.d/1001_rc_quad.hil + set MODE custom + fi + + if param compare SYS_AUTOSTART 1002 + then + sh /etc/init.d/1002_rc_fw_state.hil + set MODE custom + fi + + if param compare SYS_AUTOSTART 1003 + then + sh /etc/init.d/1003_rc_quad_+.hil + set MODE custom + fi + + if [ $MODE != custom ] + then + # Try to get an USB console + nshterm /dev/ttyACM0 & + fi + + # # Upgrade PX4IO firmware # @@ -177,6 +187,20 @@ then sh /etc/init.d/11_dji_f450 set MODE custom fi + + if param compare SYS_AUTOSTART 12 + then + set MIXER /etc/mixers/FMU_hex_x.mix + sh /etc/init.d/12-13_hex + set MODE custom + fi + + if param compare SYS_AUTOSTART 13 + then + set MIXER /etc/mixers/FMU_hex_+.mix + sh /etc/init.d/12-13_hex + set MODE custom + fi if param compare SYS_AUTOSTART 15 then |