diff options
Diffstat (limited to 'ROMFS/px4fmu_common/init.d')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.fw_defaults | 2 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.mc_defaults | 4 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.sensors | 2 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.usb | 1 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rcS | 10 |
5 files changed, 16 insertions, 3 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_defaults b/ROMFS/px4fmu_common/init.d/rc.fw_defaults index fab2a7f18..e6de64054 100644 --- a/ROMFS/px4fmu_common/init.d/rc.fw_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults @@ -10,7 +10,7 @@ then param set NAV_LAND_ALT 90 param set NAV_RTL_ALT 100 param set NAV_RTL_LAND_T -1 - param set NAV_ACCEPT_RAD 50 + param set NAV_ACC_RAD 50 param set FW_T_HRATE_P 0.01 param set FW_T_RLL2THR 15 param set FW_T_SRATE_P 0.01 diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults index 307a64c4d..24d9650a0 100644 --- a/ROMFS/px4fmu_common/init.d/rc.mc_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults @@ -41,7 +41,9 @@ then param set PE_POSNE_NOISE 0.5 param set PE_POSD_NOISE 1.0 - param set NAV_ACCEPT_RAD 2.0 + param set NAV_ACC_RAD 2.0 + param set RTL_RETURN_ALT 30.0 + param set RTL_DESCEND_ALT 10.0 fi set PWM_RATE 400 diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors index e6fc535a6..973db9017 100644 --- a/ROMFS/px4fmu_common/init.d/rc.sensors +++ b/ROMFS/px4fmu_common/init.d/rc.sensors @@ -56,7 +56,6 @@ fi if meas_airspeed start then - echo "[i] Using MEAS airspeed sensor" else if ets_airspeed start then @@ -67,6 +66,7 @@ else fi fi +# Check for flow sensor if px4flow start then fi diff --git a/ROMFS/px4fmu_common/init.d/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb index ee040a706..b3de8e590 100644 --- a/ROMFS/px4fmu_common/init.d/rc.usb +++ b/ROMFS/px4fmu_common/init.d/rc.usb @@ -25,6 +25,7 @@ mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 20 usleep 100000 mavlink stream -d /dev/ttyACM0 -s POSITION_TARGET_GLOBAL_INT -r 10 usleep 100000 +mavlink stream -d /dev/ttyACM0 -s LOCAL_POSITION_NED -r 30 # Exit shell to make it available to MAVLink exit diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 14fc8d2b4..26b729aad 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -430,6 +430,16 @@ then unset MAVLINK_F # + # MAVLink onboard / TELEM2 + # + if ver hwcmp PX4FMU_V2 + then + if param compare SYS_COMPANION 921600 + then + mavlink start -d /dev/ttyS2 -b 921600 -m onboard + fi + fi + # UAVCAN # sh /etc/init.d/rc.uavcan |