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-rw-r--r--ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d35
-rw-r--r--ROMFS/px4fmu_common/init.d/11001_hexa_cox2
-rw-r--r--ROMFS/px4fmu_common/init.d/2100_mpx_easystar2
-rw-r--r--ROMFS/px4fmu_common/init.d/rc.autostart5
-rw-r--r--ROMFS/px4fmu_common/init.d/rc.fw_apps2
-rw-r--r--ROMFS/px4fmu_common/init.d/rc.fw_defaults2
-rw-r--r--ROMFS/px4fmu_common/init.d/rc.io2
-rw-r--r--ROMFS/px4fmu_common/init.d/rc.logging6
-rw-r--r--ROMFS/px4fmu_common/init.d/rc.mc_apps1
-rw-r--r--ROMFS/px4fmu_common/init.d/rc.mc_defaults10
-rw-r--r--ROMFS/px4fmu_common/init.d/rc.sensors2
-rw-r--r--ROMFS/px4fmu_common/init.d/rc.usb10
-rw-r--r--ROMFS/px4fmu_common/init.d/rcS44
-rw-r--r--ROMFS/px4fmu_common/mixers/easystar.mix31
14 files changed, 122 insertions, 32 deletions
diff --git a/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d b/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d
new file mode 100644
index 000000000..6179855f6
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d
@@ -0,0 +1,35 @@
+#!nsh
+#
+# Steadidrone QU4D
+#
+# Thomas Gubler <thomasgubler@gmail.com>
+# Lorenz Meier <lm@inf.ethz.ch>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+if [ $DO_AUTOCONFIG == yes ]
+then
+ # TODO tune roll/pitch separately
+ param set MC_ROLL_P 7.0
+ param set MC_ROLLRATE_P 0.13
+ param set MC_ROLLRATE_I 0.0
+ param set MC_ROLLRATE_D 0.004
+ param set MC_PITCH_P 7.0
+ param set MC_PITCHRATE_P 0.13
+ param set MC_PITCHRATE_I 0.0
+ param set MC_PITCHRATE_D 0.004
+ param set MC_YAW_P 0.5
+ param set MC_YAWRATE_P 0.2
+ param set MC_YAWRATE_I 0.0
+ param set MC_YAWRATE_D 0.0
+
+ param set BAT_N_CELLS 4
+fi
+
+set MIXER FMU_quad_w
+
+set PWM_MIN 1210
+set PWM_MAX 2100
+
+set PWM_OUTPUTS 1234
diff --git a/ROMFS/px4fmu_common/init.d/11001_hexa_cox b/ROMFS/px4fmu_common/init.d/11001_hexa_cox
index df2e609bc..daa04a4de 100644
--- a/ROMFS/px4fmu_common/init.d/11001_hexa_cox
+++ b/ROMFS/px4fmu_common/init.d/11001_hexa_cox
@@ -1,7 +1,5 @@
#!nsh
#
-# UNTESTED UNTESTED!
-#
# Generic 10" Hexa coaxial geometry
#
# Lorenz Meier <lm@inf.ethz.ch>
diff --git a/ROMFS/px4fmu_common/init.d/2100_mpx_easystar b/ROMFS/px4fmu_common/init.d/2100_mpx_easystar
index 465a22c53..3ab2ac3d1 100644
--- a/ROMFS/px4fmu_common/init.d/2100_mpx_easystar
+++ b/ROMFS/px4fmu_common/init.d/2100_mpx_easystar
@@ -5,4 +5,4 @@
sh /etc/init.d/rc.fw_defaults
-set MIXER FMU_RET
+set MIXER easystar
diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart
index 5ec735d39..b365bd642 100644
--- a/ROMFS/px4fmu_common/init.d/rc.autostart
+++ b/ROMFS/px4fmu_common/init.d/rc.autostart
@@ -195,6 +195,11 @@ then
sh /etc/init.d/10016_3dr_iris
fi
+if param compare SYS_AUTOSTART 10017
+then
+ sh /etc/init.d/10017_steadidrone_qu4d
+fi
+
#
# Hexa Coaxial
#
diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_apps b/ROMFS/px4fmu_common/init.d/rc.fw_apps
index 429abc5ec..9aca3fc5f 100644
--- a/ROMFS/px4fmu_common/init.d/rc.fw_apps
+++ b/ROMFS/px4fmu_common/init.d/rc.fw_apps
@@ -6,7 +6,7 @@
#
# Start the attitude and position estimator
#
-fw_att_pos_estimator start
+ekf_att_pos_estimator start
#
# Start attitude controller
diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_defaults b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
index 4cd73e23f..3a50fcf56 100644
--- a/ROMFS/px4fmu_common/init.d/rc.fw_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
@@ -11,6 +11,4 @@ then
param set NAV_RTL_ALT 100
param set NAV_RTL_LAND_T -1
param set NAV_ACCEPT_RAD 50
- param set RC_SCALE_ROLL 1
- param set RC_SCALE_PITCH 1
fi \ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/rc.io b/ROMFS/px4fmu_common/init.d/rc.io
index 6e8fdbc0f..e23aebd87 100644
--- a/ROMFS/px4fmu_common/init.d/rc.io
+++ b/ROMFS/px4fmu_common/init.d/rc.io
@@ -11,7 +11,7 @@ px4io recovery
# Adjust PX4IO update rate limit
#
set PX4IO_LIMIT 400
-if hw_ver compare PX4FMU_V1
+if ver hwcmp PX4FMU_V1
then
set PX4IO_LIMIT 200
fi
diff --git a/ROMFS/px4fmu_common/init.d/rc.logging b/ROMFS/px4fmu_common/init.d/rc.logging
index c5aef8273..25f31a7e0 100644
--- a/ROMFS/px4fmu_common/init.d/rc.logging
+++ b/ROMFS/px4fmu_common/init.d/rc.logging
@@ -5,12 +5,12 @@
if [ -d /fs/microsd ]
then
- if hw_ver compare PX4FMU_V1
+ if ver hwcmp PX4FMU_V1
then
echo "Start sdlog2 at 50Hz"
- sdlog2 start -r 50 -a -b 8 -t
+ sdlog2 start -r 50 -a -b 4 -t
else
echo "Start sdlog2 at 200Hz"
- sdlog2 start -r 200 -a -b 16 -t
+ sdlog2 start -r 200 -a -b 22 -t
fi
fi
diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_apps b/ROMFS/px4fmu_common/init.d/rc.mc_apps
index ed3939757..268eb9bba 100644
--- a/ROMFS/px4fmu_common/init.d/rc.mc_apps
+++ b/ROMFS/px4fmu_common/init.d/rc.mc_apps
@@ -5,6 +5,7 @@
#
attitude_estimator_ekf start
+#ekf_att_pos_estimator start
position_estimator_inav start
mc_att_control start
diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
index 4db62607a..b6b0a5b4e 100644
--- a/ROMFS/px4fmu_common/init.d/rc.mc_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
@@ -32,9 +32,15 @@ then
param set MPC_Z_VEL_D 0.0
param set MPC_Z_VEL_MAX 3
param set MPC_Z_FF 0.5
- param set MPC_TILT_MAX 1.0
+ param set MPC_TILTMAX_AIR 45.0
+ param set MPC_TILTMAX_LND 15.0
param set MPC_LAND_SPEED 1.0
- param set MPC_LAND_TILT 0.3
+
+ param set PE_VELNE_NOISE 0.5
+ param set PE_VELNE_NOISE 0.7
+ param set PE_POSNE_NOISE 0.5
+ param set PE_POSD_NOISE 1.0
+
fi
set PWM_RATE 400
diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 235be2431..1e14930fe 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -22,7 +22,7 @@ then
echo "[init] Using L3GD20(H)"
fi
-if hw_ver compare PX4FMU_V2
+if ver hwcmp PX4FMU_V2
then
if lsm303d start
then
diff --git a/ROMFS/px4fmu_common/init.d/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb
index b7b556945..76593881d 100644
--- a/ROMFS/px4fmu_common/init.d/rc.usb
+++ b/ROMFS/px4fmu_common/init.d/rc.usb
@@ -3,16 +3,20 @@
# USB MAVLink start
#
-echo "Starting MAVLink on this USB console"
-
mavlink start -r 10000 -d /dev/ttyACM0
# Enable a number of interesting streams we want via USB
mavlink stream -d /dev/ttyACM0 -s NAMED_VALUE_FLOAT -r 10
+usleep 100000
mavlink stream -d /dev/ttyACM0 -s OPTICAL_FLOW -r 10
+usleep 100000
mavlink stream -d /dev/ttyACM0 -s VFR_HUD -r 20
+usleep 100000
mavlink stream -d /dev/ttyACM0 -s ATTITUDE -r 20
+usleep 100000
mavlink stream -d /dev/ttyACM0 -s ATTITUDE_CONTROLS -r 30
-mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 10
+usleep 100000
+mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 20
+usleep 100000
# 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 ea5cf8deb..8c413e087 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -120,6 +120,8 @@ then
set EXIT_ON_END no
set MAV_TYPE none
set LOAD_DEFAULT_APPS yes
+ set GPS yes
+ set GPS_FAKE no
#
# Set DO_AUTOCONFIG flag to use it in AUTOSTART scripts
@@ -246,7 +248,7 @@ then
echo "[init] ERROR: PX4IO not found, disabling output"
# Avoid using ttyS0 for MAVLink on FMUv1
- if hw_ver compare PX4FMU_V1
+ if ver hwcmp PX4FMU_V1
then
set FMU_MODE serial
fi
@@ -260,7 +262,7 @@ then
if [ $HIL == yes ]
then
set OUTPUT_MODE hil
- if hw_ver compare PX4FMU_V1
+ if ver hwcmp PX4FMU_V1
then
set FMU_MODE serial
fi
@@ -306,7 +308,7 @@ then
tone_alarm $TUNE_OUT_ERROR
fi
- if hw_ver compare PX4FMU_V1
+ if ver hwcmp PX4FMU_V1
then
if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ]
then
@@ -381,7 +383,7 @@ then
tone_alarm $TUNE_OUT_ERROR
fi
- if hw_ver compare PX4FMU_V1
+ if ver hwcmp PX4FMU_V1
then
if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ]
then
@@ -418,16 +420,6 @@ then
mavlink start $MAVLINK_FLAGS
#
- # Start the datamanager
- #
- dataman start
-
- #
- # Start the navigator
- #
- navigator start
-
- #
# Sensors, Logging, GPS
#
sh /etc/init.d/rc.sensors
@@ -437,9 +429,19 @@ then
echo "[init] Start logging"
sh /etc/init.d/rc.logging
fi
-
- gps start
+ if [ $GPS == yes ]
+ then
+ echo "[init] Start GPS"
+ if [ $GPS_FAKE == yes ]
+ then
+ echo "[init] Faking GPS"
+ gps start -f
+ else
+ gps start
+ fi
+ fi
+
#
# Start up ARDrone Motor interface
#
@@ -539,6 +541,16 @@ then
fi
#
+ # Start the datamanager
+ #
+ dataman start
+
+ #
+ # Start the navigator
+ #
+ navigator start
+
+ #
# Generic setup (autostart ID not found)
#
if [ $VEHICLE_TYPE == none ]
diff --git a/ROMFS/px4fmu_common/mixers/easystar.mix b/ROMFS/px4fmu_common/mixers/easystar.mix
new file mode 100644
index 000000000..0051ffdbb
--- /dev/null
+++ b/ROMFS/px4fmu_common/mixers/easystar.mix
@@ -0,0 +1,31 @@
+EASYSTAR / EASYSTAR II MIXER
+============================
+
+Aileron mixer
+-------------
+One output - would be easy to add support for 2 servos
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 0 10000 10000 0 -10000 10000
+
+Elevator mixer
+------------
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 1 -10000 -10000 0 -10000 10000
+
+Rudder mixer
+------------
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 2 -10000 -10000 0 -10000 10000
+
+Motor speed mixer
+-----------------
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 3 0 20000 -10000 -10000 10000
generated by cgit v1.2.3 (git 2.39.1) at 2024-08-03 14:19:28 +0000