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-rw-r--r--ROMFS/px4fmu_common/init.d/102_3dr_skywalker89
-rw-r--r--ROMFS/px4fmu_common/init.d/12-13_hex2
-rw-r--r--ROMFS/px4fmu_common/init.d/31_io_phantom33
-rw-r--r--ROMFS/px4fmu_common/init.d/33_io_wingwing91
-rw-r--r--ROMFS/px4fmu_common/init.d/34_io_fx7991
-rw-r--r--ROMFS/px4fmu_common/init.d/800_sdlogger60
-rw-r--r--ROMFS/px4fmu_common/init.d/rc.custom_dji_f330_mkblctrl4
-rw-r--r--ROMFS/px4fmu_common/init.d/rc.sensors16
-rw-r--r--[-rwxr-xr-x]ROMFS/px4fmu_common/init.d/rcS81
-rwxr-xr-xROMFS/px4fmu_common/mixers/FMU_FX79.mix72
10 files changed, 506 insertions, 33 deletions
diff --git a/ROMFS/px4fmu_common/init.d/102_3dr_skywalker b/ROMFS/px4fmu_common/init.d/102_3dr_skywalker
new file mode 100644
index 000000000..e5d21c321
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/102_3dr_skywalker
@@ -0,0 +1,89 @@
+#!nsh
+
+echo "[init] PX4FMU v1, v2 with or without IO on 3DR SkyWalker"
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+ # Set all params here, then disable autoconfig
+ param set FW_P_D 0
+ param set FW_P_I 0
+ param set FW_P_IMAX 15
+ param set FW_P_LIM_MAX 50
+ param set FW_P_LIM_MIN -50
+ param set FW_P_P 60
+ param set FW_P_RMAX_NEG 0
+ param set FW_P_RMAX_POS 0
+ param set FW_P_ROLLFF 1.1
+ param set FW_R_D 0
+ param set FW_R_I 5
+ param set FW_R_IMAX 20
+ param set FW_R_P 100
+ param set FW_R_RMAX 100
+ param set FW_THR_CRUISE 0.65
+ param set FW_THR_MAX 1
+ param set FW_THR_MIN 0
+ param set FW_T_SINK_MAX 5.0
+ param set FW_T_SINK_MIN 4.0
+ param set FW_Y_ROLLFF 1.1
+ param set FW_L1_PERIOD 16
+ param set RC_SCALE_ROLL 1.0
+ param set RC_SCALE_PITCH 1.0
+
+ param set SYS_AUTOCONFIG 0
+ param save
+fi
+
+#
+# Force some key parameters to sane values
+# MAV_TYPE 1 = fixed wing
+#
+param set MAV_TYPE 1
+
+set EXIT_ON_END no
+
+#
+# Start and configure PX4IO or FMU interface
+#
+if px4io detect
+then
+ # Start MAVLink (depends on orb)
+ mavlink start
+
+ sh /etc/init.d/rc.io
+ # Limit to 100 Hz updates and (implicit) 50 Hz PWM
+ px4io limit 100
+else
+ # Start MAVLink (on UART1 / ttyS0)
+ mavlink start -d /dev/ttyS0
+
+ fmu mode_pwm
+ param set BAT_V_SCALING 0.004593
+ set EXIT_ON_END yes
+fi
+
+pwm disarmed -c 3 -p 1056
+
+#
+# Load mixer and start controllers (depends on px4io)
+#
+if [ -f /fs/microsd/etc/mixers/FMU_AERT.mix ]
+then
+ echo "Using /fs/microsd/etc/mixers/FMU_AERT.mix"
+ mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_AETR.mix
+else
+ echo "Using /etc/mixers/FMU_Q.mix"
+ mixer load /dev/pwm_output /etc/mixers/FMU_AETR.mix
+fi
+
+#
+# Start common fixedwing apps
+#
+sh /etc/init.d/rc.fixedwing
+
+if [ $EXIT_ON_END == yes ]
+then
+ exit
+fi
diff --git a/ROMFS/px4fmu_common/init.d/12-13_hex b/ROMFS/px4fmu_common/init.d/12-13_hex
index f83f6cfd0..a7578bcaf 100644
--- a/ROMFS/px4fmu_common/init.d/12-13_hex
+++ b/ROMFS/px4fmu_common/init.d/12-13_hex
@@ -78,7 +78,7 @@ mixer load /dev/pwm_output /etc/mixers/FMU_hex_x.mix
#
# Set PWM output frequency to 400 Hz
#
-pwm rate -c 123456 -r 400
+pwm rate -a -r 400
#
# Set disarmed, min and max PWM signals
diff --git a/ROMFS/px4fmu_common/init.d/31_io_phantom b/ROMFS/px4fmu_common/init.d/31_io_phantom
index 63cd7f9b2..62cfe1a9c 100644
--- a/ROMFS/px4fmu_common/init.d/31_io_phantom
+++ b/ROMFS/px4fmu_common/init.d/31_io_phantom
@@ -8,30 +8,35 @@ echo "[init] PX4FMU v1, v2 with or without IO on Phantom FPV"
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
+ param set FW_AIRSPD_MIN 11.4
+ param set FW_AIRSPD_TRIM 14
+ param set FW_AIRSPD_MAX 22
+ param set FW_L1_PERIOD 15
param set FW_P_D 0
param set FW_P_I 0
param set FW_P_IMAX 15
- param set FW_P_LIM_MAX 50
- param set FW_P_LIM_MIN -50
+ param set FW_P_LIM_MAX 45
+ param set FW_P_LIM_MIN -45
param set FW_P_P 60
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
- param set FW_P_ROLLFF 1.1
+ param set FW_P_ROLLFF 2
param set FW_R_D 0
param set FW_R_I 5
- param set FW_R_IMAX 20
- param set FW_R_P 100
- param set FW_R_RMAX 100
- param set FW_THR_CRUISE 0.65
+ param set FW_R_IMAX 15
+ param set FW_R_P 80
+ param set FW_R_RMAX 60
+ param set FW_THR_CRUISE 0.8
+ param set FW_THR_LND_MAX 0
param set FW_THR_MAX 1
- param set FW_THR_MIN 0
+ param set FW_THR_MIN 0.5
param set FW_T_SINK_MAX 5.0
- param set FW_T_SINK_MIN 4.0
- param set FW_Y_ROLLFF 1.1
- param set FW_L1_PERIOD 17
- param set RC_SCALE_ROLL 1.0
- param set RC_SCALE_PITCH 1.0
-
+ param set FW_T_SINK_MIN 2.0
+ param set FW_Y_ROLLFF 1.0
+ param set RC_SCALE_ROLL 0.6
+ param set RC_SCALE_PITCH 0.6
+ param set TRIM_PITCH 0.1
+
param set SYS_AUTOCONFIG 0
param save
fi
diff --git a/ROMFS/px4fmu_common/init.d/33_io_wingwing b/ROMFS/px4fmu_common/init.d/33_io_wingwing
new file mode 100644
index 000000000..538c69711
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/33_io_wingwing
@@ -0,0 +1,91 @@
+#!nsh
+
+echo "[init] PX4FMU v1, v2 with or without IO on the Wing Wing (aka Z-84)"
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+ # Set all params here, then disable autoconfig
+ param set FW_AIRSPD_MIN 7
+ param set FW_AIRSPD_TRIM 9
+ param set FW_AIRSPD_MAX 14
+ param set FW_L1_PERIOD 10
+ param set FW_P_D 0
+ param set FW_P_I 0
+ param set FW_P_IMAX 20
+ param set FW_P_LIM_MAX 30
+ param set FW_P_LIM_MIN -20
+ param set FW_P_P 30
+ param set FW_P_RMAX_NEG 0
+ param set FW_P_RMAX_POS 0
+ param set FW_P_ROLLFF 2
+ param set FW_R_D 0
+ param set FW_R_I 5
+ param set FW_R_IMAX 20
+ param set FW_R_P 60
+ param set FW_R_RMAX 60
+ param set FW_THR_CRUISE 0.65
+ param set FW_THR_MAX 0.7
+ param set FW_THR_MIN 0
+ param set FW_T_SINK_MAX 5
+ param set FW_T_SINK_MIN 2
+ param set FW_T_TIME_CONST 9
+ param set FW_Y_ROLLFF 2.0
+ param set RC_SCALE_ROLL 1.0
+ param set RC_SCALE_PITCH 1.0
+
+ param set SYS_AUTOCONFIG 0
+ param save
+fi
+
+#
+# Force some key parameters to sane values
+# MAV_TYPE 1 = fixed wing
+#
+param set MAV_TYPE 1
+
+set EXIT_ON_END no
+
+#
+# Start and configure PX4IO or FMU interface
+#
+if px4io detect
+then
+ # Start MAVLink (depends on orb)
+ mavlink start
+
+ sh /etc/init.d/rc.io
+ # Limit to 100 Hz updates and (implicit) 50 Hz PWM
+ px4io limit 100
+else
+ # Start MAVLink (on UART1 / ttyS0)
+ mavlink start -d /dev/ttyS0
+
+ fmu mode_pwm
+ param set BAT_V_SCALING 0.004593
+ set EXIT_ON_END yes
+fi
+
+#
+# Load mixer and start controllers (depends on px4io)
+#
+if [ -f /fs/microsd/etc/mixers/FMU_Q.mix ]
+then
+ echo "Using /fs/microsd/etc/mixers/FMU_Q.mix"
+ mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_Q.mix
+else
+ echo "Using /etc/mixers/FMU_Q.mix"
+ mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
+fi
+
+#
+# Start common fixedwing apps
+#
+sh /etc/init.d/rc.fixedwing
+
+if [ $EXIT_ON_END == yes ]
+then
+ exit
+fi \ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/34_io_fx79 b/ROMFS/px4fmu_common/init.d/34_io_fx79
new file mode 100644
index 000000000..989204952
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/34_io_fx79
@@ -0,0 +1,91 @@
+#!nsh
+
+echo "[init] PX4FMU v1, v2 with or without IO on FX-79 Buffalo"
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+ # Set all params here, then disable autoconfig
+ param set FW_AIRSPD_MAX 20
+ param set FW_AIRSPD_TRIM 12
+ param set FW_AIRSPD_MIN 15
+ param set FW_L1_PERIOD 12
+ param set FW_P_D 0
+ param set FW_P_I 0
+ param set FW_P_IMAX 15
+ param set FW_P_LIM_MAX 50
+ param set FW_P_LIM_MIN -50
+ param set FW_P_P 60
+ param set FW_P_RMAX_NEG 0
+ param set FW_P_RMAX_POS 0
+ param set FW_P_ROLLFF 1.1
+ param set FW_R_D 0
+ param set FW_R_I 5
+ param set FW_R_IMAX 20
+ param set FW_R_P 80
+ param set FW_R_RMAX 100
+ param set FW_THR_CRUISE 0.75
+ param set FW_THR_MAX 1
+ param set FW_THR_MIN 0
+ param set FW_T_SINK_MAX 5.0
+ param set FW_T_SINK_MIN 4.0
+ param set FW_T_TIME_CONST 9
+ param set FW_Y_ROLLFF 1.1
+ param set RC_SCALE_ROLL 1.0
+ param set RC_SCALE_PITCH 1.0
+
+ param set SYS_AUTOCONFIG 0
+ param save
+fi
+
+#
+# Force some key parameters to sane values
+# MAV_TYPE 1 = fixed wing
+#
+param set MAV_TYPE 1
+
+set EXIT_ON_END no
+
+#
+# Start and configure PX4IO or FMU interface
+#
+if px4io detect
+then
+ # Start MAVLink (depends on orb)
+ mavlink start
+
+ sh /etc/init.d/rc.io
+ # Limit to 100 Hz updates and (implicit) 50 Hz PWM
+ px4io limit 100
+else
+ # Start MAVLink (on UART1 / ttyS0)
+ mavlink start -d /dev/ttyS0
+
+ fmu mode_pwm
+ param set BAT_V_SCALING 0.004593
+ set EXIT_ON_END yes
+fi
+
+#
+# Load mixer and start controllers (depends on px4io)
+#
+if [ -f /fs/microsd/etc/mixers/FMU_FX79.mix ]
+then
+ echo "Using /fs/microsd/etc/mixers/FMU_FX79.mix"
+ mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_FX79.mix
+else
+ echo "Using /etc/mixers/FMU_FX79.mix"
+ mixer load /dev/pwm_output /etc/mixers/FMU_FX79.mix
+fi
+
+#
+# Start common fixedwing apps
+#
+sh /etc/init.d/rc.fixedwing
+
+if [ $EXIT_ON_END == yes ]
+then
+ exit
+fi
diff --git a/ROMFS/px4fmu_common/init.d/800_sdlogger b/ROMFS/px4fmu_common/init.d/800_sdlogger
new file mode 100644
index 000000000..955fe0e2a
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/800_sdlogger
@@ -0,0 +1,60 @@
+#!nsh
+
+echo "[init] PX4FMU v1, v2 init to log only
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+ # Set all params here, then disable autoconfig
+ param set SYS_AUTOCONFIG 0
+
+ param save
+fi
+
+set EXIT_ON_END no
+
+#
+# Start and configure PX4IO or FMU interface
+#
+if px4io detect
+then
+ # Start MAVLink (depends on orb)
+ mavlink start
+ usleep 5000
+
+ commander start
+
+ sh /etc/init.d/rc.io
+ # Set PWM values for DJI ESCs
+else
+ # Start MAVLink (on UART1 / ttyS0)
+ mavlink start -d /dev/ttyS0
+ usleep 5000
+ param set BAT_V_SCALING 0.004593
+ set EXIT_ON_END yes
+fi
+
+sh /etc/init.d/rc.sensors
+
+gps start
+
+attitude_estimator_ekf start
+
+position_estimator_inav start
+
+if [ -d /fs/microsd ]
+then
+ if [ $BOARD == fmuv1 ]
+ then
+ sdlog2 start -r 50 -e -b 16
+ else
+ sdlog2 start -r 200 -e -b 16
+ fi
+fi
+
+if [ $EXIT_ON_END == yes ]
+then
+ exit
+fi
diff --git a/ROMFS/px4fmu_common/init.d/rc.custom_dji_f330_mkblctrl b/ROMFS/px4fmu_common/init.d/rc.custom_dji_f330_mkblctrl
index 8e0914d63..40b2ee68b 100644
--- a/ROMFS/px4fmu_common/init.d/rc.custom_dji_f330_mkblctrl
+++ b/ROMFS/px4fmu_common/init.d/rc.custom_dji_f330_mkblctrl
@@ -97,9 +97,9 @@ fi
#
if [ $MKBLCTRL_FRAME == x ]
then
- mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
+ mixer load /dev/mkblctrl /etc/mixers/FMU_quad_x.mix
else
- mixer load /dev/pwm_output /etc/mixers/FMU_quad_+.mix
+ mixer load /dev/mkblctrl /etc/mixers/FMU_quad_+.mix
fi
#
diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index f17b650bc..070a4e7e3 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -19,12 +19,18 @@ fi
if mpu6000 start
then
echo "using MPU6000"
- set BOARD fmuv1
-else
- echo "using L3GD20 and LSM303D"
- l3gd20 start
- lsm303d start
+fi
+
+if l3gd20 start
+then
+ echo "using L3GD20(H)"
+fi
+
+if lsm303d start
+then
set BOARD fmuv2
+else
+ set BOARD fmuv1
fi
# Start airspeed sensors
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index d8b5cb608..6eac00d0c 100755..100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -8,6 +8,8 @@
#
set MODE autostart
+set logfile /fs/microsd/bootlog.txt
+
#
# Try to mount the microSD card.
#
@@ -111,6 +113,16 @@ then
#
commander start
+ #
+ # Start the datamanager
+ #
+ dataman start
+
+ #
+ # Start the Navigator
+ #
+ navigator start
+
if param compare SYS_AUTOSTART 1000
then
sh /etc/init.d/1000_rc_fw_easystar.hil
@@ -147,26 +159,49 @@ then
nshterm /dev/ttyACM0 &
fi
-
#
# Upgrade PX4IO firmware
#
- if px4io detect
+
+ if [ -f /etc/extras/px4io-v2_default.bin ]
then
- echo "PX4IO running, not upgrading"
+ set io_file /etc/extras/px4io-v2_default.bin
else
- echo "Attempting to upgrade PX4IO"
- if px4io update
+ set io_file /etc/extras/px4io-v1_default.bin
+ fi
+
+ if px4io start
+ then
+ echo "PX4IO OK"
+ echo "PX4IO OK" >> $logfile
+ fi
+
+ if px4io checkcrc $io_file
+ then
+ echo "PX4IO CRC OK"
+ echo "PX4IO CRC OK" >> $logfile
+ else
+ echo "PX4IO CRC failure"
+ echo "PX4IO CRC failure" >> $logfile
+ tone_alarm MBABGP
+ if px4io forceupdate 14662 $io_file
then
- if [ -d /fs/microsd ]
+ usleep 200000
+ if px4io start
then
- echo "Flashed PX4IO Firmware OK" > /fs/microsd/px4io.log
+ echo "PX4IO restart OK"
+ echo "PX4IO restart OK" >> $logfile
+ tone_alarm MSPAA
+ else
+ echo "PX4IO restart failed"
+ echo "PX4IO restart failed" >> $logfile
+ tone_alarm MNGGG
+ sh /etc/init.d/rc.error
fi
-
- # Allow IO to safely kick back to app
- usleep 200000
else
- echo "No PX4IO to upgrade here"
+ echo "PX4IO update failed"
+ echo "PX4IO update failed" >> $logfile
+ tone_alarm MNGGG
fi
fi
@@ -296,6 +331,18 @@ then
set MODE custom
fi
+ if param compare SYS_AUTOSTART 33
+ then
+ sh /etc/init.d/33_io_wingwing
+ set MODE custom
+ fi
+
+ if param compare SYS_AUTOSTART 34
+ then
+ sh /etc/init.d/34_io_fx79
+ set MODE custom
+ fi
+
if param compare SYS_AUTOSTART 40
then
sh /etc/init.d/40_io_segway
@@ -313,6 +360,18 @@ then
sh /etc/init.d/101_hk_bixler
set MODE custom
fi
+
+ if param compare SYS_AUTOSTART 102
+ then
+ sh /etc/init.d/102_3dr_skywalker
+ set MODE custom
+ fi
+
+ if param compare SYS_AUTOSTART 800
+ then
+ sh /etc/init.d/800_sdlogger
+ set MODE custom
+ fi
# Start any custom extensions that might be missing
if [ -f /fs/microsd/etc/rc.local ]
diff --git a/ROMFS/px4fmu_common/mixers/FMU_FX79.mix b/ROMFS/px4fmu_common/mixers/FMU_FX79.mix
new file mode 100755
index 000000000..0a1dca98d
--- /dev/null
+++ b/ROMFS/px4fmu_common/mixers/FMU_FX79.mix
@@ -0,0 +1,72 @@
+FX-79 Delta-wing mixer for PX4FMU
+=================================
+
+Designed for FX-79.
+
+TODO (sjwilks): Add mixers for flaps.
+
+This file defines mixers suitable for controlling a delta wing aircraft using
+PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
+servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
+assumed to be unused.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+See the README for more information on the scaler format.
+
+Elevon mixers
+-------------
+Three scalers total (output, roll, pitch).
+
+On the assumption that the two elevon servos are physically reversed, the pitch
+input is inverted between the two servos.
+
+The scaling factor for roll inputs is adjusted to implement differential travel
+for the elevons.
+
+M: 2
+O: 10000 10000 0 -10000 10000
+S: 0 0 5000 8000 0 -10000 10000
+S: 0 1 8000 8000 0 -10000 10000
+
+M: 2
+O: 10000 10000 0 -10000 10000
+S: 0 0 8000 5000 0 -10000 10000
+S: 0 1 -8000 -8000 0 -10000 10000
+
+Output 2
+--------
+This mixer is empty.
+
+Z:
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range. Inputs below zero are treated as zero.
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 3 0 20000 -10000 -10000 10000
+
+Gimbal / flaps / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 4 10000 10000 0 -10000 10000
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 5 10000 10000 0 -10000 10000
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 6 10000 10000 0 -10000 10000
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 7 10000 10000 0 -10000 10000
generated by cgit v1.2.3 (git 2.39.1) at 2024-09-02 04:06:26 +0000