diff options
Diffstat (limited to 'ROMFS/px4fmu_common/init.d')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/4012_quad_x_can | 27 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.autostart | 5 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.interface | 5 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rcS | 12 |
4 files changed, 48 insertions, 1 deletions
diff --git a/ROMFS/px4fmu_common/init.d/4012_quad_x_can b/ROMFS/px4fmu_common/init.d/4012_quad_x_can new file mode 100644 index 000000000..8c5a4fbf2 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/4012_quad_x_can @@ -0,0 +1,27 @@ +#!nsh +# +# F450-sized quadrotor with CAN +# +# Lorenz Meier <lm@inf.ethz.ch> +# + +sh /etc/init.d/4001_quad_x + +if [ $DO_AUTOCONFIG == yes ] +then + # TODO REVIEW + param set MC_ROLL_P 7.0 + param set MC_ROLLRATE_P 0.1 + param set MC_ROLLRATE_I 0.0 + param set MC_ROLLRATE_D 0.003 + param set MC_PITCH_P 7.0 + param set MC_PITCHRATE_P 0.1 + param set MC_PITCHRATE_I 0.0 + param set MC_PITCHRATE_D 0.003 + param set MC_YAW_P 2.8 + param set MC_YAWRATE_P 0.2 + param set MC_YAWRATE_I 0.0 + param set MC_YAWRATE_D 0.0 +fi + +set OUTPUT_MODE uavcan_esc diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart index 5d9e9502c..17541e680 100644 --- a/ROMFS/px4fmu_common/init.d/rc.autostart +++ b/ROMFS/px4fmu_common/init.d/rc.autostart @@ -136,6 +136,11 @@ then sh /etc/init.d/4011_dji_f450 fi +if param compare SYS_AUTOSTART 4012 +then + sh /etc/init.d/4012_quad_x_can +fi + if param compare SYS_AUTOSTART 4020 then sh /etc/init.d/4020_hk_micro_pcb diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface index 7f793b219..1de0abb58 100644 --- a/ROMFS/px4fmu_common/init.d/rc.interface +++ b/ROMFS/px4fmu_common/init.d/rc.interface @@ -24,6 +24,11 @@ then else set OUTPUT_DEV /dev/pwm_output fi + + if [ $OUTPUT_MODE == uavcan_esc ] + then + set OUTPUT_DEV /dev/uavcan/esc + fi if mixer load $OUTPUT_DEV $MIXER_FILE then diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 1c9ded6a8..975cb6d1d 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -292,7 +292,17 @@ then # If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output if [ $OUTPUT_MODE != none ] then - if [ $OUTPUT_MODE == io ] + if [ $OUTPUT_MODE == uavcan_esc ] + then + if uavcan start 1 + then + echo "CAN UP" + else + echo "CAN ERR" + fi + fi + + if [ $OUTPUT_MODE == io -o $OUTPUT_MODE == uavcan_esc ] then echo "[init] Use PX4IO PWM as primary output" if px4io start |