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-rw-r--r--ROMFS/px4fmu_common/init.d/10015_tbs_discovery6
-rw-r--r--ROMFS/px4fmu_common/init.d/10016_3dr_iris34
-rw-r--r--ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil38
-rw-r--r--ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil38
-rw-r--r--ROMFS/px4fmu_common/init.d/4009_ardrone_flow2
-rw-r--r--ROMFS/px4fmu_common/init.d/4010_dji_f33034
-rw-r--r--ROMFS/px4fmu_common/init.d/4011_dji_f4506
-rw-r--r--ROMFS/px4fmu_common/init.d/4012_hk_x5506
-rw-r--r--ROMFS/px4fmu_common/init.d/rc.logging2
-rw-r--r--ROMFS/px4fmu_common/init.d/rc.mc_apps4
-rw-r--r--ROMFS/px4fmu_common/init.d/rcS18
11 files changed, 73 insertions, 115 deletions
diff --git a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery
index 63798bb3c..56c74a3b5 100644
--- a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery
+++ b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery
@@ -12,13 +12,11 @@ then
#
param set MC_ATT_P 5.0
param set MC_ATT_I 0.0
- param set MC_ATT_D 0.0
+ param set MC_YAW_P 0.5
+ param set MC_YAW_I 0.15
param set MC_ATTRATE_P 0.17
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_D 0.006
- param set MC_YAWPOS_P 0.5
- param set MC_YAWPOS_I 0.15
- param set MC_YAWPOS_D 0.0
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0.0
diff --git a/ROMFS/px4fmu_common/init.d/10016_3dr_iris b/ROMFS/px4fmu_common/init.d/10016_3dr_iris
index 67c24fab3..a3bcb63eb 100644
--- a/ROMFS/px4fmu_common/init.d/10016_3dr_iris
+++ b/ROMFS/px4fmu_common/init.d/10016_3dr_iris
@@ -12,32 +12,28 @@ then
#
param set MC_ATT_P 9.0
param set MC_ATT_I 0.0
- param set MC_ATT_D 0.0
+ param set MC_YAW_P 0.5
+ param set MC_YAW_I 0.15
param set MC_ATTRATE_P 0.13
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_D 0.004
- param set MC_YAWPOS_P 0.5
- param set MC_YAWPOS_I 0.15
- param set MC_YAWPOS_D 0.0
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0.0
- param set MPC_TILT_MAX 0.5
- param set MPC_THR_MAX 0.8
- param set MPC_THR_MIN 0.2
- param set MPC_XY_D 0
- param set MPC_XY_P 0.5
- param set MPC_XY_VEL_D 0
- param set MPC_XY_VEL_I 0
- param set MPC_XY_VEL_MAX 3
- param set MPC_XY_VEL_P 0.2
- param set MPC_Z_D 0
- param set MPC_Z_P 1
- param set MPC_Z_VEL_D 0
- param set MPC_Z_VEL_I 0.1
- param set MPC_Z_VEL_MAX 2
- param set MPC_Z_VEL_P 0.20
+ param set MPC_TILT_MAX 1.0
+ param set MPC_THR_MAX 1.0
+ param set MPC_THR_MIN 0.1
+ param set MPC_XY_P 1.0
+ param set MPC_XY_VEL_D 0.01
+ param set MPC_XY_VEL_I 0.02
+ param set MPC_XY_VEL_MAX 5
+ param set MPC_XY_VEL_P 0.1
+ param set MPC_Z_P 1.0
+ param set MPC_Z_VEL_D 0.0
+ param set MPC_Z_VEL_I 0.02
+ param set MPC_Z_VEL_MAX 3
+ param set MPC_Z_VEL_P 0.1
param set BAT_V_SCALING 0.00989
param set BAT_C_SCALING 0.0124
diff --git a/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil b/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil
index 8c0797d7c..2d497374a 100644
--- a/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil
+++ b/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil
@@ -10,34 +10,30 @@ then
#
# Default parameters for this platform
#
+ param set MC_ATT_P 7.0
+ param set MC_ATT_I 0.0
+ param set MC_YAW_P 2.0
+ param set MC_YAW_I 0.0
param set MC_ATTRATE_P 0.12
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_D 0.004
- param set MC_ATT_P 7.0
- param set MC_ATT_I 0.0
- param set MC_ATT_D 0.0
- param set MC_YAWPOS_P 2.0
- param set MC_YAWPOS_I 0.0
- param set MC_YAWPOS_D 0.0
param set MC_YAWRATE_P 0.3
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0.005
- param set MPC_TILT_MAX 0.5
- param set MPC_THR_MAX 0.8
- param set MPC_THR_MIN 0.2
- param set MPC_XY_D 0
- param set MPC_XY_P 0.5
- param set MPC_XY_VEL_D 0
- param set MPC_XY_VEL_I 0
- param set MPC_XY_VEL_MAX 3
- param set MPC_XY_VEL_P 0.2
- param set MPC_Z_D 0
- param set MPC_Z_P 1
- param set MPC_Z_VEL_D 0
- param set MPC_Z_VEL_I 0.1
- param set MPC_Z_VEL_MAX 2
- param set MPC_Z_VEL_P 0.20
+ param set MPC_TILT_MAX 1.0
+ param set MPC_THR_MAX 1.0
+ param set MPC_THR_MIN 0.1
+ param set MPC_XY_P 1.0
+ param set MPC_XY_VEL_D 0.01
+ param set MPC_XY_VEL_I 0.02
+ param set MPC_XY_VEL_MAX 5
+ param set MPC_XY_VEL_P 0.1
+ param set MPC_Z_P 1.0
+ param set MPC_Z_VEL_D 0.0
+ param set MPC_Z_VEL_I 0.02
+ param set MPC_Z_VEL_MAX 3
+ param set MPC_Z_VEL_P 0.1
fi
set HIL yes
diff --git a/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil b/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil
index bce3015fc..e95844891 100644
--- a/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil
+++ b/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil
@@ -5,42 +5,6 @@
# Maintainers: Anton Babushkin <anton.babushkin@me.com>
#
-if [ $DO_AUTOCONFIG == yes ]
-then
- #
- # Default parameters for this platform
- #
- param set MC_ATTRATE_P 0.12
- param set MC_ATTRATE_I 0.0
- param set MC_ATTRATE_D 0.004
- param set MC_ATT_P 7.0
- param set MC_ATT_I 0.0
- param set MC_ATT_D 0.0
- param set MC_YAWPOS_P 2.0
- param set MC_YAWPOS_I 0.0
- param set MC_YAWPOS_D 0.0
- param set MC_YAWRATE_P 0.3
- param set MC_YAWRATE_I 0.2
- param set MC_YAWRATE_D 0.005
-
- param set MPC_TILT_MAX 0.5
- param set MPC_THR_MAX 0.8
- param set MPC_THR_MIN 0.2
- param set MPC_XY_D 0
- param set MPC_XY_P 0.5
- param set MPC_XY_VEL_D 0
- param set MPC_XY_VEL_I 0
- param set MPC_XY_VEL_MAX 3
- param set MPC_XY_VEL_P 0.2
- param set MPC_Z_D 0
- param set MPC_Z_P 1
- param set MPC_Z_VEL_D 0
- param set MPC_Z_VEL_I 0.1
- param set MPC_Z_VEL_MAX 2
- param set MPC_Z_VEL_P 0.20
-fi
+sh /etc/init.d/1001_rc_quad_x.hil
-set HIL yes
-
-set VEHICLE_TYPE mc
set MIXER FMU_quad_+
diff --git a/ROMFS/px4fmu_common/init.d/4009_ardrone_flow b/ROMFS/px4fmu_common/init.d/4009_ardrone_flow
index 2886bcb75..e2cb8833d 100644
--- a/ROMFS/px4fmu_common/init.d/4009_ardrone_flow
+++ b/ROMFS/px4fmu_common/init.d/4009_ardrone_flow
@@ -67,7 +67,7 @@ flow_position_estimator start
#
# Fire up the multi rotor attitude controller
#
-multirotor_att_control start
+mc_att_control_vector start
#
# Fire up the flow position controller
diff --git a/ROMFS/px4fmu_common/init.d/4010_dji_f330 b/ROMFS/px4fmu_common/init.d/4010_dji_f330
index ab1db94d0..e0cf92d97 100644
--- a/ROMFS/px4fmu_common/init.d/4010_dji_f330
+++ b/ROMFS/px4fmu_common/init.d/4010_dji_f330
@@ -12,32 +12,28 @@ then
#
param set MC_ATT_P 7.0
param set MC_ATT_I 0.0
- param set MC_ATT_D 0.0
+ param set MC_YAW_P 2.8
+ param set MC_YAW_I 0.0
param set MC_ATTRATE_P 0.12
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_D 0.004
- param set MC_YAWPOS_P 2.8
- param set MC_YAWPOS_I 0.0
- param set MC_YAWPOS_D 0.0
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.05
param set MC_YAWRATE_D 0.0
- param set MPC_TILT_MAX 0.5
- param set MPC_THR_MAX 0.8
- param set MPC_THR_MIN 0.2
- param set MPC_XY_D 0
- param set MPC_XY_P 0.5
- param set MPC_XY_VEL_D 0
- param set MPC_XY_VEL_I 0
- param set MPC_XY_VEL_MAX 3
- param set MPC_XY_VEL_P 0.2
- param set MPC_Z_D 0
- param set MPC_Z_P 1
- param set MPC_Z_VEL_D 0
- param set MPC_Z_VEL_I 0.1
- param set MPC_Z_VEL_MAX 2
- param set MPC_Z_VEL_P 0.20
+ param set MPC_TILT_MAX 1.0
+ param set MPC_THR_MAX 1.0
+ param set MPC_THR_MIN 0.1
+ param set MPC_XY_P 1.0
+ param set MPC_XY_VEL_D 0.01
+ param set MPC_XY_VEL_I 0.02
+ param set MPC_XY_VEL_MAX 5
+ param set MPC_XY_VEL_P 0.1
+ param set MPC_Z_P 1.0
+ param set MPC_Z_VEL_D 0.0
+ param set MPC_Z_VEL_I 0.02
+ param set MPC_Z_VEL_MAX 3
+ param set MPC_Z_VEL_P 0.1
fi
set VEHICLE_TYPE mc
diff --git a/ROMFS/px4fmu_common/init.d/4011_dji_f450 b/ROMFS/px4fmu_common/init.d/4011_dji_f450
index 299771c1d..ced69783d 100644
--- a/ROMFS/px4fmu_common/init.d/4011_dji_f450
+++ b/ROMFS/px4fmu_common/init.d/4011_dji_f450
@@ -12,13 +12,11 @@ then
#
param set MC_ATT_P 7.0
param set MC_ATT_I 0.0
- param set MC_ATT_D 0.0
+ param set MC_YAW_P 2.0
+ param set MC_YAW_I 0.0
param set MC_ATTRATE_P 0.12
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_D 0.004
- param set MC_YAWPOS_P 2.0
- param set MC_YAWPOS_I 0.0
- param set MC_YAWPOS_D 0.0
param set MC_YAWRATE_P 0.3
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0.005
diff --git a/ROMFS/px4fmu_common/init.d/4012_hk_x550 b/ROMFS/px4fmu_common/init.d/4012_hk_x550
index 7e020cf59..e1423e008 100644
--- a/ROMFS/px4fmu_common/init.d/4012_hk_x550
+++ b/ROMFS/px4fmu_common/init.d/4012_hk_x550
@@ -12,13 +12,11 @@ then
#
param set MC_ATT_P 5.5
param set MC_ATT_I 0
- param set MC_ATT_D 0
+ param set MC_YAW_P 0.6
+ param set MC_YAW_I 0
param set MC_ATTRATE_P 0.14
param set MC_ATTRATE_I 0
param set MC_ATTRATE_D 0.006
- param set MC_YAWPOS_P 0.6
- param set MC_YAWPOS_I 0
- param set MC_YAWPOS_D 0
param set MC_YAWRATE_P 0.08
param set MC_YAWRATE_I 0
param set MC_YAWRATE_D 0
diff --git a/ROMFS/px4fmu_common/init.d/rc.logging b/ROMFS/px4fmu_common/init.d/rc.logging
index ac620844c..dcf5bbced 100644
--- a/ROMFS/px4fmu_common/init.d/rc.logging
+++ b/ROMFS/px4fmu_common/init.d/rc.logging
@@ -7,8 +7,10 @@ if [ -d /fs/microsd ]
then
if hw_ver compare PX4FMU_V1
then
+ echo "Start sdlog2 at 50Hz"
sdlog2 start -r 50 -a -b 16 -t
else
+ echo "Start sdlog2 at 200Hz"
sdlog2 start -r 200 -a -b 16 -t
fi
fi
diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_apps b/ROMFS/px4fmu_common/init.d/rc.mc_apps
index 8b51d57e5..96fe32c8a 100644
--- a/ROMFS/px4fmu_common/init.d/rc.mc_apps
+++ b/ROMFS/px4fmu_common/init.d/rc.mc_apps
@@ -16,9 +16,9 @@ position_estimator_inav start
#
# Start attitude control
#
-multirotor_att_control start
+mc_att_control start
#
# Start position control
#
-multirotor_pos_control start
+mc_pos_control start
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 6f4e1f3b5..88077c67f 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -326,7 +326,7 @@ then
if [ $OUTPUT_MODE == hil ]
then
echo "[init] Use HIL as primary output"
- if hil mode_pwm
+ if hil mode_port2_pwm8
then
echo "[init] HIL output started"
else
@@ -404,6 +404,16 @@ then
fi
#
+ # Start the datamanager
+ #
+ dataman start
+
+ #
+ # Start the navigator
+ #
+ navigator start
+
+ #
# Sensors, Logging, GPS
#
echo "[init] Start sensors"
@@ -467,15 +477,15 @@ then
# Use mixer to detect vehicle type
if [ $MIXER == FMU_hex_x -o $MIXER == FMU_hex_+ ]
then
- param set MAV_TYPE 13
+ set MAV_TYPE 13
fi
if [ $MIXER == FMU_octo_x -o $MIXER == FMU_octo_+ ]
then
- param set MAV_TYPE 14
+ set MAV_TYPE 14
fi
if [ $MIXER == FMU_octo_cox ]
then
- param set MAV_TYPE 14
+ set MAV_TYPE 14
fi
fi
generated by cgit v1.2.3 (git 2.39.1) at 2024-08-10 19:39:30 +0000