diff options
Diffstat (limited to 'ROMFS/px4fmu_common/init.d')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/11001_hexa_cox | 39 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/12001_octo_cox (renamed from ROMFS/px4fmu_common/init.d/12001_octo_cox_pwm) | 4 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/6001_hexa_x_pwm | 2 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/7001_hexa_+_pwm | 2 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/8001_octo_x_pwm | 2 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/9001_octo_+_pwm | 2 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.autostart | 11 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rcS | 12 |
8 files changed, 63 insertions, 11 deletions
diff --git a/ROMFS/px4fmu_common/init.d/11001_hexa_cox b/ROMFS/px4fmu_common/init.d/11001_hexa_cox new file mode 100644 index 000000000..2dc83a517 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/11001_hexa_cox @@ -0,0 +1,39 @@ +#!nsh +# +# UNTESTED UNTESTED! +# +# Generic 10” Hexa coaxial geometry +# +# Lorenz Meier <lm@inf.ethz.ch> +# + +if [ $DO_AUTOCONFIG == yes ] +then + # + # Default parameters for this platform + # + param set MC_ATT_P 7.0 + param set MC_ATT_I 0.0 + param set MC_ATT_D 0.0 + param set MC_ATTRATE_P 0.12 + param set MC_ATTRATE_I 0.0 + param set MC_ATTRATE_D 0.004 + param set MC_YAWPOS_P 2.0 + param set MC_YAWPOS_I 0.0 + param set MC_YAWPOS_D 0.0 + param set MC_YAWRATE_P 0.3 + param set MC_YAWRATE_I 0.2 + param set MC_YAWRATE_D 0.005 + + # TODO add default MPC parameters +fi + +set VEHICLE_TYPE mc +set MIXER hexa_cox + +set PWM_OUTPUTS 12345678 +set PWM_RATE 400 +# DJI ESC range +set PWM_DISARMED 900 +set PWM_MIN 1200 +set PWM_MAX 1900 diff --git a/ROMFS/px4fmu_common/init.d/12001_octo_cox_pwm b/ROMFS/px4fmu_common/init.d/12001_octo_cox index 5f3cec4e0..a55fc5a30 100644 --- a/ROMFS/px4fmu_common/init.d/12001_octo_cox_pwm +++ b/ROMFS/px4fmu_common/init.d/12001_octo_cox @@ -2,7 +2,7 @@ # # Generic 10” Octo coaxial geometry # -# Maintainers: Lorenz Meier <lm@inf.ethz.ch> +# Lorenz Meier <lm@inf.ethz.ch> # if [ $DO_AUTOCONFIG == yes ] @@ -29,7 +29,7 @@ fi set VEHICLE_TYPE mc set MIXER FMU_octo_cox -set PWM_OUTPUTS 1234 +set PWM_OUTPUTS 12345678 set PWM_RATE 400 # DJI ESC range set PWM_DISARMED 900 diff --git a/ROMFS/px4fmu_common/init.d/6001_hexa_x_pwm b/ROMFS/px4fmu_common/init.d/6001_hexa_x_pwm index ddec8f36e..447796709 100644 --- a/ROMFS/px4fmu_common/init.d/6001_hexa_x_pwm +++ b/ROMFS/px4fmu_common/init.d/6001_hexa_x_pwm @@ -29,7 +29,7 @@ fi set VEHICLE_TYPE mc set MIXER FMU_hexa_x -set PWM_OUTPUTS 1234 +set PWM_OUTPUTS 12345678 set PWM_RATE 400 # DJI ESC range set PWM_DISARMED 900 diff --git a/ROMFS/px4fmu_common/init.d/7001_hexa_+_pwm b/ROMFS/px4fmu_common/init.d/7001_hexa_+_pwm index 106e0fb54..c4e9560d1 100644 --- a/ROMFS/px4fmu_common/init.d/7001_hexa_+_pwm +++ b/ROMFS/px4fmu_common/init.d/7001_hexa_+_pwm @@ -29,7 +29,7 @@ fi set VEHICLE_TYPE mc set MIXER FMU_hexa_+ -set PWM_OUTPUTS 1234 +set PWM_OUTPUTS 12345678 set PWM_RATE 400 # DJI ESC range set PWM_DISARMED 900 diff --git a/ROMFS/px4fmu_common/init.d/8001_octo_x_pwm b/ROMFS/px4fmu_common/init.d/8001_octo_x_pwm index f0eea339b..ea56195d4 100644 --- a/ROMFS/px4fmu_common/init.d/8001_octo_x_pwm +++ b/ROMFS/px4fmu_common/init.d/8001_octo_x_pwm @@ -29,7 +29,7 @@ fi set VEHICLE_TYPE mc set MIXER FMU_octo_x -set PWM_OUTPUTS 1234 +set PWM_OUTPUTS 12345678 set PWM_RATE 400 # DJI ESC range set PWM_DISARMED 900 diff --git a/ROMFS/px4fmu_common/init.d/9001_octo_+_pwm b/ROMFS/px4fmu_common/init.d/9001_octo_+_pwm index 992a7aeba..f7693875c 100644 --- a/ROMFS/px4fmu_common/init.d/9001_octo_+_pwm +++ b/ROMFS/px4fmu_common/init.d/9001_octo_+_pwm @@ -29,7 +29,7 @@ fi set VEHICLE_TYPE mc set MIXER FMU_octo_+ -set PWM_OUTPUTS 1234 +set PWM_OUTPUTS 12345678 set PWM_RATE 400 # DJI ESC range set PWM_DISARMED 900 diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart index 00baed646..38b1cb57e 100644 --- a/ROMFS/px4fmu_common/init.d/rc.autostart +++ b/ROMFS/px4fmu_common/init.d/rc.autostart @@ -186,10 +186,19 @@ then fi # +# Hexa Coaxial +# + +if param compare SYS_AUTOSTART 11001 +then + sh /etc/init.d/11001_hexa_cox +fi + +# # Octo Coaxial # if param compare SYS_AUTOSTART 12001 then - sh /etc/init.d/12001_octo_cox_pwm + sh /etc/init.d/12001_octo_cox fi diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 6f4e1f3b5..50ac9759a 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -467,19 +467,23 @@ then # Use mixer to detect vehicle type if [ $MIXER == FMU_hex_x -o $MIXER == FMU_hex_+ ] then - param set MAV_TYPE 13 + set MAV_TYPE 13 + fi + if [ $MIXER == hexa_cox ] + then + set MAV_TYPE 13 fi if [ $MIXER == FMU_octo_x -o $MIXER == FMU_octo_+ ] then - param set MAV_TYPE 14 + set MAV_TYPE 14 fi if [ $MIXER == FMU_octo_cox ] then - param set MAV_TYPE 14 + set MAV_TYPE 14 fi fi - param set MAV_TYPE $MAV_TYPE + param set MAV_TYPE $MAV_TYPE # Load mixer and configure outputs sh /etc/init.d/rc.interface |