aboutsummaryrefslogtreecommitdiff
path: root/ROMFS
diff options
context:
space:
mode:
Diffstat (limited to 'ROMFS')
-rw-r--r--ROMFS/px4fmu_common/init.d/10019_sk450_deadcat7
-rw-r--r--ROMFS/px4fmu_common/init.d/50001_axialracing_ax10 (renamed from ROMFS/px4fmu_common/init.d/50001_rover)4
-rw-r--r--ROMFS/px4fmu_common/init.d/rc.autostart4
-rw-r--r--ROMFS/px4fmu_common/init.d/rc.axialracing_ax10_apps (renamed from ROMFS/px4fmu_common/init.d/rc.rover_apps)3
-rw-r--r--ROMFS/px4fmu_common/init.d/rc.axialracing_ax10_defaults (renamed from ROMFS/px4fmu_common/init.d/rc.rover_defaults)0
-rw-r--r--ROMFS/px4fmu_common/init.d/rc.fw_defaults7
-rw-r--r--ROMFS/px4fmu_common/init.d/rc.interface38
-rw-r--r--ROMFS/px4fmu_common/init.d/rc.mc_defaults2
-rw-r--r--ROMFS/px4fmu_common/init.d/rc.vtol_defaults7
-rw-r--r--ROMFS/px4fmu_common/init.d/rcS14
-rw-r--r--ROMFS/px4fmu_common/mixers/sk450_deadcat.aux.mix38
-rw-r--r--ROMFS/px4fmu_common/mixers/sk450_deadcat.main.mix2
-rw-r--r--ROMFS/px4fmu_test/init.d/rcS2
13 files changed, 118 insertions, 10 deletions
diff --git a/ROMFS/px4fmu_common/init.d/10019_sk450_deadcat b/ROMFS/px4fmu_common/init.d/10019_sk450_deadcat
index e68f57f25..c6861c2d4 100644
--- a/ROMFS/px4fmu_common/init.d/10019_sk450_deadcat
+++ b/ROMFS/px4fmu_common/init.d/10019_sk450_deadcat
@@ -29,3 +29,10 @@ set MIXER sk450_deadcat
set PWM_OUT 1234
set PWM_MIN 1050
+
+set PWM_AUX_OUT 1234
+# set PWM_AUX_MIN 900
+# set PWM_AUX_MAX 2100
+set PWM_AUX_RATE 100
+
+gimbal start
diff --git a/ROMFS/px4fmu_common/init.d/50001_rover b/ROMFS/px4fmu_common/init.d/50001_axialracing_ax10
index c2f94705c..a36bac5cc 100644
--- a/ROMFS/px4fmu_common/init.d/50001_rover
+++ b/ROMFS/px4fmu_common/init.d/50001_axialracing_ax10
@@ -1,10 +1,10 @@
#!nsh
#
-# Generic rover
+# loading default values for the axialracing ax10
#
#load some defaults e.g. PWM values
-sh /etc/init.d/rc.rover_defaults
+sh /etc/init.d/rc.axialracing_ax10_defaults
#choose a mixer, for rover control we need a plain passthrough to the servos
set MIXER IO_pass
diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart
index 434e7870b..de81795b4 100644
--- a/ROMFS/px4fmu_common/init.d/rc.autostart
+++ b/ROMFS/px4fmu_common/init.d/rc.autostart
@@ -287,10 +287,10 @@ fi
#
-# Ground Rover
+# Ground Rover AxialRacing AX10
#
if param compare SYS_AUTOSTART 50001
then
- sh /etc/init.d/50001_rover
+ sh /etc/init.d/50001_axialracing_ax10
fi
diff --git a/ROMFS/px4fmu_common/init.d/rc.rover_apps b/ROMFS/px4fmu_common/init.d/rc.axialracing_ax10_apps
index 1d15b9835..625febd7a 100644
--- a/ROMFS/px4fmu_common/init.d/rc.rover_apps
+++ b/ROMFS/px4fmu_common/init.d/rc.axialracing_ax10_apps
@@ -6,4 +6,5 @@
ekf_att_pos_estimator start
-rover_steering_control start
+# disabled the start of steering control app due to use of offboard mode only
+# rover_steering_control start
diff --git a/ROMFS/px4fmu_common/init.d/rc.rover_defaults b/ROMFS/px4fmu_common/init.d/rc.axialracing_ax10_defaults
index 23bf47df1..23bf47df1 100644
--- a/ROMFS/px4fmu_common/init.d/rc.rover_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.axialracing_ax10_defaults
diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_defaults b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
index e6de64054..156711c26 100644
--- a/ROMFS/px4fmu_common/init.d/rc.fw_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
@@ -15,4 +15,11 @@ then
param set FW_T_RLL2THR 15
param set FW_T_SRATE_P 0.01
param set FW_T_TIME_CONST 5
+
+ param set PE_VELNE_NOISE 0.3
+ param set PE_VELD_NOISE 0.5
+ param set PE_POSNE_NOISE 0.5
+ param set PE_POSD_NOISE 0.5
+ param set PE_GBIAS_PNOISE 0.000001
+ param set PE_ABIAS_PNOISE 0.0002
fi
diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface
index 78417ca8e..042abc5aa 100644
--- a/ROMFS/px4fmu_common/init.d/rc.interface
+++ b/ROMFS/px4fmu_common/init.d/rc.interface
@@ -11,7 +11,7 @@ then
# Load main mixer
#
- if [ $MIXER_AUX == none -a $USE_IO == yes ]
+ if [ $MIXER_AUX == none -a $USE_IO == yes ]
then
set MIXER_AUX ${MIXER}.aux
fi
@@ -103,6 +103,7 @@ then
#
set MIXER_AUX_FILE none
+ set OUTPUT_AUX_DEV /dev/pwm_output1
if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.mix ]
then
@@ -119,10 +120,43 @@ then
then
if fmu mode_pwm
then
- mixer load /dev/pwm_output1 $MIXER_AUX_FILE
+ mixer load $OUTPUT_AUX_DEV $MIXER_AUX_FILE
else
tone_alarm $TUNE_ERR
fi
+
+ if [ $PWM_AUX_OUT != none ]
+ then
+ #
+ # Set PWM_AUX output frequency
+ #
+ if [ $PWM_AUX_RATE != none ]
+ then
+ pwm rate -c $PWM_AUX_OUT -r $PWM_AUX_RATE -d $OUTPUT_AUX_DEV
+ fi
+
+ #
+ # Set disarmed, min and max PWM_AUX values
+ #
+ if [ $PWM_AUX_DISARMED != none ]
+ then
+ pwm disarmed -c $PWM_AUX_OUT -p $PWM_AUX_DISARMED -d $OUTPUT_AUX_DEV
+ fi
+ if [ $PWM_AUX_MIN != none ]
+ then
+ pwm min -c $PWM_AUX_OUT -p $PWM_AUX_MIN -d $OUTPUT_AUX_DEV
+ fi
+ if [ $PWM_AUX_MAX != none ]
+ then
+ pwm max -c $PWM_AUX_OUT -p $PWM_AUX_MAX -d $OUTPUT_AUX_DEV
+ fi
+ fi
+
+ if [ $FAILSAFE_AUX != none ]
+ then
+ pwm failsafe -d $OUTPUT_AUX_DEV $FAILSAFE
+ fi
+
fi
fi
unset OUTPUT_DEV
diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
index 24d9650a0..1f34282ae 100644
--- a/ROMFS/px4fmu_common/init.d/rc.mc_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
@@ -40,6 +40,8 @@ then
param set PE_VELD_NOISE 0.7
param set PE_POSNE_NOISE 0.5
param set PE_POSD_NOISE 1.0
+ param set PE_GBIAS_PNOISE 0.000001
+ param set PE_ABIAS_PNOISE 0.0001
param set NAV_ACC_RAD 2.0
param set RTL_RETURN_ALT 30.0
diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
index 6dc5a65db..844d540bf 100644
--- a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
@@ -32,6 +32,13 @@ then
param set FW_RR_I 0.00
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.02
+
+ param set PE_VELNE_NOISE 0.5
+ param set PE_VELD_NOISE 0.7
+ param set PE_POSNE_NOISE 0.5
+ param set PE_POSD_NOISE 1.0
+ param set PE_GBIAS_PNOISE 0.000001
+ param set PE_ABIAS_PNOISE 0.0001
fi
set PWM_DISARMED 900
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index ced270521..706faa42b 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -119,6 +119,11 @@ then
set PWM_DISARMED none
set PWM_MIN none
set PWM_MAX none
+ set PWM_AUX_OUT none
+ set PWM_AUX_RATE none
+ set PWM_AUX_DISARMED none
+ set PWM_AUX_MIN none
+ set PWM_AUX_MAX none
set MK_MODE none
set FMU_MODE pwm
set MAVLINK_F default
@@ -210,8 +215,13 @@ then
if px4io start
then
+ # try to safe px4 io so motor outputs dont go crazy
if px4io safety_on
then
+ # success! no-op
+ else
+ # px4io did not respond to the safety command
+ px4io stop
fi
fi
@@ -446,7 +456,7 @@ then
then
if param compare SYS_COMPANION 921600
then
- mavlink start -d /dev/ttyS2 -b 921600 -m onboard
+ mavlink start -d /dev/ttyS2 -b 921600 -m onboard -r 20000
fi
fi
@@ -631,7 +641,7 @@ then
# Start standard rover apps
if [ $LOAD_DAPPS == yes ]
then
- sh /etc/init.d/rc.rover_apps
+ sh /etc/init.d/rc.axialracing_ax10_apps
fi
fi
diff --git a/ROMFS/px4fmu_common/mixers/sk450_deadcat.aux.mix b/ROMFS/px4fmu_common/mixers/sk450_deadcat.aux.mix
new file mode 100644
index 000000000..11f3813ad
--- /dev/null
+++ b/ROMFS/px4fmu_common/mixers/sk450_deadcat.aux.mix
@@ -0,0 +1,38 @@
+Gimbal / payload mixer for PX4FMU
+===========================
+
+Configuration with 2 gimbals:
+ - 2 axes inline GoPro gimbal (pitch, roll)
+ - 2 axes FPV gimbal (pitch, yaw), physically attached GoPro gimbal's roll stabilization
+-----------------------------------------------------
+
+# gimbal roll
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 2 0 -11500 -10000 900 -10000 10000
+
+# gimbal pitch
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 2 1 12000 12000 2000 -10000 10000
+
+# FPV gimbal yaw (not implemented, yet)
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 2 2 10000 10000 0 -10000 10000
+
+# FPV gimbal pitch
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 2 1 -12000 -12000 -3000 -10000 10000
+
+# reserved, not used
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 2 4 10000 10000 0 -10000 10000
+
+# parachute
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 2 7 10000 10000 0 -10000 10000
+
diff --git a/ROMFS/px4fmu_common/mixers/sk450_deadcat.main.mix b/ROMFS/px4fmu_common/mixers/sk450_deadcat.main.mix
index a8c5b716d..8daf81005 100644
--- a/ROMFS/px4fmu_common/mixers/sk450_deadcat.main.mix
+++ b/ROMFS/px4fmu_common/mixers/sk450_deadcat.main.mix
@@ -1,4 +1,4 @@
-Multirotor mixer for PX4FMU
+Multirotor mixer for PX4IO
===========================
This file defines a single mixer for a quadrotor in SK450 DeadCat configuration. All controls are mixed 100%.
diff --git a/ROMFS/px4fmu_test/init.d/rcS b/ROMFS/px4fmu_test/init.d/rcS
index 233a098b8..6d72ecc6c 100644
--- a/ROMFS/px4fmu_test/init.d/rcS
+++ b/ROMFS/px4fmu_test/init.d/rcS
@@ -230,3 +230,5 @@ else
fi
ver all
+
+free
generated by cgit v1.2.3 (git 2.39.1) at 2024-09-14 17:37:11 +0000