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-rw-r--r--ROMFS/px4fmu_common/init.d/10016_3dr_iris3
-rw-r--r--ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil9
-rw-r--r--ROMFS/px4fmu_common/init.d/3031_phantom6
-rw-r--r--ROMFS/px4fmu_common/init.d/3032_skywalker_x54
-rw-r--r--ROMFS/px4fmu_common/init.d/3033_wingwing28
-rw-r--r--ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha4
-rw-r--r--ROMFS/px4fmu_common/init.d/4010_dji_f3304
-rw-r--r--ROMFS/px4fmu_common/init.d/4011_dji_f4504
-rw-r--r--ROMFS/px4fmu_common/init.d/rc.sensors38
-rw-r--r--ROMFS/px4fmu_common/init.d/rcS10
10 files changed, 62 insertions, 48 deletions
diff --git a/ROMFS/px4fmu_common/init.d/10016_3dr_iris b/ROMFS/px4fmu_common/init.d/10016_3dr_iris
index 084dff140..3f47390c1 100644
--- a/ROMFS/px4fmu_common/init.d/10016_3dr_iris
+++ b/ROMFS/px4fmu_common/init.d/10016_3dr_iris
@@ -30,3 +30,6 @@ fi
set MIXER FMU_quad_w
set PWM_OUTPUTS 1234
+
+set PWM_MIN 1200
+set PWM_MAX 1950
diff --git a/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil b/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil
index c753ded23..941f5664a 100644
--- a/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil
+++ b/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil
@@ -26,15 +26,6 @@ then
param set FW_RR_P 0.1
param set FW_R_LIM 45
param set FW_R_RMAX 0
- param set FW_T_CLMB_MAX 5
- param set FW_T_HRATE_P 0.02
- param set FW_T_PTCH_DAMP 0
- param set FW_T_RLL2THR 15
- param set FW_T_SINK_MAX 5
- param set FW_T_SINK_MIN 2
- param set FW_T_SRATE_P 0.01
- param set FW_T_TIME_CONST 3
- param set FW_T_VERT_ACC 7
param set FW_YR_FF 0.0
param set FW_YR_I 0
param set FW_YR_IMAX 0.2
diff --git a/ROMFS/px4fmu_common/init.d/3031_phantom b/ROMFS/px4fmu_common/init.d/3031_phantom
index d05c3174f..31dfe7100 100644
--- a/ROMFS/px4fmu_common/init.d/3031_phantom
+++ b/ROMFS/px4fmu_common/init.d/3031_phantom
@@ -30,13 +30,9 @@ then
param set FW_RR_P 0.08
param set FW_R_LIM 50
param set FW_R_RMAX 0
- param set FW_T_HRATE_P 0.01
- param set FW_T_RLL2THR 15
- param set FW_T_SRATE_P 0.01
- param set FW_T_TIME_CONST 5
fi
-set MIXER FMU_Q
+set MIXER phantom
# Provide ESC a constant 1000 us pulse
set PWM_OUTPUTS 4
diff --git a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5
index 465166f25..7d0dc5bff 100644
--- a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5
+++ b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5
@@ -30,10 +30,6 @@ then
param set FW_RR_P 0.03
param set FW_R_LIM 60
param set FW_R_RMAX 0
- param set FW_T_HRATE_P 0.01
- param set FW_T_RLL2THR 15
- param set FW_T_SRATE_P 0.01
- param set FW_T_TIME_CONST 5
fi
set MIXER FMU_X5
diff --git a/ROMFS/px4fmu_common/init.d/3033_wingwing b/ROMFS/px4fmu_common/init.d/3033_wingwing
index 3cbbd555e..f4dedef15 100644
--- a/ROMFS/px4fmu_common/init.d/3033_wingwing
+++ b/ROMFS/px4fmu_common/init.d/3033_wingwing
@@ -11,25 +11,35 @@ if [ $DO_AUTOCONFIG == yes ]
then
param set BAT_N_CELLS 2
param set FW_AIRSPD_MAX 15
- param set FW_AIRSPD_MIN 7
- param set FW_AIRSPD_TRIM 11
+ param set FW_AIRSPD_MIN 10
+ param set FW_AIRSPD_TRIM 13
param set FW_ATT_TC 0.3
param set FW_L1_DAMPING 0.74
- param set FW_L1_PERIOD 12
+ param set FW_L1_PERIOD 16
param set FW_LND_ANG 15
param set FW_LND_FLALT 5
param set FW_LND_HHDIST 15
param set FW_LND_HVIRT 13
param set FW_LND_TLALT 5
param set FW_THR_LND_MAX 0
- param set FW_P_ROLLFF 2
- param set FW_PR_FF 0.6
- param set FW_PR_IMAX 0.2
- param set FW_PR_P 0.06
+ param set FW_PR_FF 0.35
+ param set FW_PR_I 0.005
+ param set FW_PR_IMAX 0.4
+ param set FW_PR_P 0.08
param set FW_RR_FF 0.6
+ param set FW_RR_I 0.005
param set FW_RR_IMAX 0.2
- param set FW_RR_P 0.09
- param set FW_THR_CRUISE 0.65
+ param set FW_RR_P 0.04
+ param set MT_TKF_PIT_MAX 30.0
+ param set MT_ACC_D 0.2
+ param set MT_ACC_P 0.6
+ param set MT_A_LP 0.5
+ param set MT_PIT_OFF 0.1
+ param set MT_PIT_I 0.1
+ param set MT_THR_OFF 0.65
+ param set MT_THR_I 0.35
+ param set MT_THR_P 0.2
+ param set MT_THR_FF 1.5
fi
set MIXER wingwing
diff --git a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
index 7dbda54d3..9a2150403 100644
--- a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
+++ b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
@@ -33,10 +33,6 @@ then
param set FW_RR_P 0.03
param set FW_R_LIM 60
param set FW_R_RMAX 0
- param set FW_T_HRATE_P 0.01
- param set FW_T_RLL2THR 15
- param set FW_T_SRATE_P 0.01
- param set FW_T_TIME_CONST 5
fi
set MIXER FMU_Q
diff --git a/ROMFS/px4fmu_common/init.d/4010_dji_f330 b/ROMFS/px4fmu_common/init.d/4010_dji_f330
index e6e2e19dc..282ab620d 100644
--- a/ROMFS/px4fmu_common/init.d/4010_dji_f330
+++ b/ROMFS/px4fmu_common/init.d/4010_dji_f330
@@ -23,5 +23,5 @@ then
param set MC_YAWRATE_D 0.0
fi
-set PWM_MIN 1175
-set PWM_MAX 1900
+set PWM_MIN 1200
+set PWM_MAX 1950
diff --git a/ROMFS/px4fmu_common/init.d/4011_dji_f450 b/ROMFS/px4fmu_common/init.d/4011_dji_f450
index 3465b59cf..517b4aa86 100644
--- a/ROMFS/px4fmu_common/init.d/4011_dji_f450
+++ b/ROMFS/px4fmu_common/init.d/4011_dji_f450
@@ -24,5 +24,5 @@ then
param set MC_YAWRATE_D 0.0
fi
-set PWM_MIN 1175
-set PWM_MAX 1900
+set PWM_MIN 1230
+set PWM_MAX 1950
diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 1e14930fe..ecb408a54 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -6,27 +6,51 @@
ms5611 start
adc start
-# Mag might be external
-if hmc5883 start
+if mpu6000 -X start
then
- echo "[init] Using HMC5883"
fi
if mpu6000 start
then
- echo "[init] Using MPU6000"
+fi
+
+if l3gd20 -X start
+then
fi
if l3gd20 start
then
- echo "[init] Using L3GD20(H)"
+fi
+
+# MAG selection
+if param compare SENS_EXT_MAG 2
+then
+ if hmc5883 -I start
+ then
+ fi
+else
+ # Use only external as primary
+ if param compare SENS_EXT_MAG 1
+ then
+ if hmc5883 -X start
+ then
+ fi
+ else
+ # auto-detect the primary, prefer external
+ if hmc5883 start
+ then
+ fi
+ fi
fi
if ver hwcmp PX4FMU_V2
then
+ if lsm303d -X start
+ then
+ fi
+
if lsm303d start
then
- echo "[init] Using LSM303D"
fi
fi
@@ -37,11 +61,9 @@ then
else
if ets_airspeed start
then
- echo "[init] Using ETS airspeed sensor (bus 3)"
else
if ets_airspeed start -b 1
then
- echo "[init] Using ETS airspeed sensor (bus 1)"
fi
fi
fi
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 975cb6d1d..24b2a299a 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -280,6 +280,11 @@ then
nshterm /dev/ttyACM0 &
#
+ # Start the datamanager
+ #
+ dataman start
+
+ #
# Start the Commander (needs to be this early for in-air-restarts)
#
commander start
@@ -558,11 +563,6 @@ then
fi
#
- # Start the datamanager
- #
- dataman start
-
- #
# Start the navigator
#
navigator start
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-21 16:58:03 +0000