diff options
Diffstat (limited to 'ROMFS/px4fmu_common')
-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 | 4 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.usb | 2 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/README.md (renamed from ROMFS/px4fmu_common/mixers/README) | 69 |
5 files changed, 20 insertions, 61 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 973db9017..ad84f44f5 100644 --- a/ROMFS/px4fmu_common/init.d/rc.sensors +++ b/ROMFS/px4fmu_common/init.d/rc.sensors @@ -52,6 +52,10 @@ then if lsm303d start then fi + + if ms5611 -X start + then + fi fi if meas_airspeed start diff --git a/ROMFS/px4fmu_common/init.d/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb index b3de8e590..2dfe11ce6 100644 --- a/ROMFS/px4fmu_common/init.d/rc.usb +++ b/ROMFS/px4fmu_common/init.d/rc.usb @@ -26,6 +26,8 @@ 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 +usleep 100000 +mavlink stream -d /dev/ttyACM0 -s MANUAL_CONTROL -r 5 # Exit shell to make it available to MAVLink exit diff --git a/ROMFS/px4fmu_common/mixers/README b/ROMFS/px4fmu_common/mixers/README.md index 60311232e..b766d05aa 100644 --- a/ROMFS/px4fmu_common/mixers/README +++ b/ROMFS/px4fmu_common/mixers/README.md @@ -1,61 +1,12 @@ -PX4 mixer definitions -===================== +## PX4 mixer definitions ## Files in this directory implement example mixers that can be used as a basis for customisation, or for general testing purposes. -Mixer basics ------------- +For a detailed description of the mixing architecture and examples see: +http://px4.io/dev/mixing -Mixers combine control values from various sources (control tasks, user inputs, -etc.) and produce output values suitable for controlling actuators; servos, -motors, switches and so on. - -An actuator derives its value from the combination of one or more control -values. Each of the control values is scaled according to the actuator's -configuration and then combined to produce the actuator value, which may then be -further scaled to suit the specific output type. - -Internally, all scaling is performed using floating point values. Inputs and -outputs are clamped to the range -1.0 to 1.0. - -control control control - | | | - v v v - scale scale scale - | | | - | v | - +-------> mix <------+ - | - scale - | - v - out - -Scaling -------- - -Basic scalers provide linear scaling of the input to the output. - -Each scaler allows the input value to be scaled independently for inputs -greater/less than zero. An offset can be applied to the output, and lower and -upper boundary constraints can be applied. Negative scaling factors cause the -output to be inverted (negative input produces positive output). - -Scaler pseudocode: - -if (input < 0) - output = (input * NEGATIVE_SCALE) + OFFSET -else - output = (input * POSITIVE_SCALE) + OFFSET - -if (output < LOWER_LIMIT) - output = LOWER_LIMIT -if (output > UPPER_LIMIT) - output = UPPER_LIMIT - -Syntax ------- +### Syntax ### Mixer definitions are text files; lines beginning with a single capital letter followed by a colon are significant. All other lines are ignored, meaning that @@ -65,6 +16,9 @@ Each file may define more than one mixer; the allocation of mixers to actuators is specific to the device reading the mixer definition, and the number of actuator outputs generated by a mixer is specific to the mixer. +For example: each simple or null mixer is assigned to outputs 1 to x +in the order they appear in the mixer file. + A mixer begins with a line of the form <tag>: <mixer arguments> @@ -72,8 +26,7 @@ A mixer begins with a line of the form The tag selects the mixer type; 'M' for a simple summing mixer, 'R' for a multirotor mixer, etc. -Null Mixer -.......... +#### Null Mixer #### A null mixer consumes no controls and generates a single actuator output whose value is always zero. Typically a null mixer is used as a placeholder in a @@ -83,8 +36,7 @@ The null mixer definition has the form: Z: -Simple Mixer -............ +#### Simple Mixer #### A simple mixer combines zero or more control inputs into a single actuator output. Inputs are scaled, and the mixing function sums the result before @@ -122,8 +74,7 @@ discussed above. Whilst the calculations are performed as floating-point operations, the values stored in the definition file are scaled by a factor of 10000; i.e. an offset of -0.5 is encoded as -5000. -Multirotor Mixer -................ +#### Multirotor Mixer #### The multirotor mixer combines four control inputs (roll, pitch, yaw, thrust) into a set of actuator outputs intended to drive motor speed controllers. |