From 16908f9aff0e7ad0f967613adf2be9a00c1c6cce Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Tue, 11 Feb 2014 23:24:49 +0100 Subject: autostart for multicopters: frame-specific default parameters reverted and cleaned up --- ROMFS/px4fmu_common/init.d/10015_tbs_discovery | 21 +++++++++++++++++-- ROMFS/px4fmu_common/init.d/10016_3dr_iris | 17 ++++++++++++--- ROMFS/px4fmu_common/init.d/11001_hexa_cox | 28 ++----------------------- ROMFS/px4fmu_common/init.d/12001_octo_cox | 29 ++------------------------ ROMFS/px4fmu_common/init.d/4001_quad_x | 2 +- ROMFS/px4fmu_common/init.d/4010_dji_f330 | 19 ++++++++++++++++- ROMFS/px4fmu_common/init.d/4011_dji_f450 | 20 +++++++++++++++++- ROMFS/px4fmu_common/init.d/4012_hk_x550 | 8 ------- ROMFS/px4fmu_common/init.d/5001_quad_+ | 2 +- ROMFS/px4fmu_common/init.d/6001_hexa_x | 5 ++--- ROMFS/px4fmu_common/init.d/7001_hexa_+ | 5 ++--- ROMFS/px4fmu_common/init.d/8001_octo_x | 2 +- ROMFS/px4fmu_common/init.d/rc.autostart | 5 ----- ROMFS/px4fmu_common/init.d/rc.mc_defaults | 24 ++++++++++----------- 14 files changed, 92 insertions(+), 95 deletions(-) delete mode 100644 ROMFS/px4fmu_common/init.d/4012_hk_x550 diff --git a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery index b09765e8e..880e4899b 100644 --- a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery +++ b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery @@ -2,11 +2,28 @@ # # Team Blacksheep Discovery Quadcopter # -# Simon Wilks +# Anton Babushkin , Simon Wilks # sh /etc/init.d/rc.mc_defaults +if [ $DO_AUTOCONFIG == yes ] +then + # TODO review MC_YAWRATE_I + param set MC_ROLL_P 8.0 + param set MC_ROLLRATE_P 0.07 + param set MC_ROLLRATE_I 0.05 + param set MC_ROLLRATE_D 0.0017 + param set MC_PITCH_P 8.0 + param set MC_PITCHRATE_P 0.14 + param set MC_PITCHRATE_I 0.1 + param set MC_PITCHRATE_D 0.0025 + param set MC_YAW_P 2.8 + param set MC_YAWRATE_P 0.28 + param set MC_YAWRATE_I 0.0 + param set MC_YAWRATE_D 0.0 +fi + set MIXER FMU_quad_w -set PWM_OUTPUTS 1234 \ No newline at end of file +set PWM_OUTPUTS 1234 diff --git a/ROMFS/px4fmu_common/init.d/10016_3dr_iris b/ROMFS/px4fmu_common/init.d/10016_3dr_iris index 42d516993..d691a6f2e 100644 --- a/ROMFS/px4fmu_common/init.d/10016_3dr_iris +++ b/ROMFS/px4fmu_common/init.d/10016_3dr_iris @@ -9,9 +9,20 @@ sh /etc/init.d/rc.mc_defaults if [ $DO_AUTOCONFIG == yes ] then - # - # Default parameters for this platform - # + # TODO tune roll/pitch separately + param set MC_ROLL_P 9.0 + 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 9.0 + 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_V_SCALING 0.00989 param set BAT_C_SCALING 0.0124 fi diff --git a/ROMFS/px4fmu_common/init.d/11001_hexa_cox b/ROMFS/px4fmu_common/init.d/11001_hexa_cox index 2dc83a517..b98ab4774 100644 --- a/ROMFS/px4fmu_common/init.d/11001_hexa_cox +++ b/ROMFS/px4fmu_common/init.d/11001_hexa_cox @@ -7,33 +7,9 @@ # Lorenz Meier # -if [ $DO_AUTOCONFIG == yes ] -then - # - # Default parameters for this platform - # - param set MC_ATT_P 7.0 - param set MC_ATT_I 0.0 - param set MC_ATT_D 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 - - # TODO add default MPC parameters -fi +sh /etc/init.d/rc.mc_defaults -set VEHICLE_TYPE mc set MIXER hexa_cox +# We only can run one channel group with one rate, so set all 8 channels set PWM_OUTPUTS 12345678 -set PWM_RATE 400 -# DJI ESC range -set PWM_DISARMED 900 -set PWM_MIN 1200 -set PWM_MAX 1900 diff --git a/ROMFS/px4fmu_common/init.d/12001_octo_cox b/ROMFS/px4fmu_common/init.d/12001_octo_cox index a55fc5a30..655cb6226 100644 --- a/ROMFS/px4fmu_common/init.d/12001_octo_cox +++ b/ROMFS/px4fmu_common/init.d/12001_octo_cox @@ -5,33 +5,8 @@ # Lorenz Meier # -if [ $DO_AUTOCONFIG == yes ] -then - # - # Default parameters for this platform - # - param set MC_ATT_P 7.0 - param set MC_ATT_I 0.0 - param set MC_ATT_D 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 - - # TODO add default MPC parameters -fi +sh /etc/init.d/rc.mc_defaults -set VEHICLE_TYPE mc -set MIXER FMU_octo_cox +set MIXER octo_cox set PWM_OUTPUTS 12345678 -set PWM_RATE 400 -# DJI ESC range -set PWM_DISARMED 900 -set PWM_MIN 1200 -set PWM_MAX 1900 diff --git a/ROMFS/px4fmu_common/init.d/4001_quad_x b/ROMFS/px4fmu_common/init.d/4001_quad_x index fa751f1e3..345b0e3e4 100644 --- a/ROMFS/px4fmu_common/init.d/4001_quad_x +++ b/ROMFS/px4fmu_common/init.d/4001_quad_x @@ -9,4 +9,4 @@ sh /etc/init.d/rc.mc_defaults set MIXER FMU_quad_x -set PWM_OUTPUTS 1234 \ No newline at end of file +set PWM_OUTPUTS 1234 diff --git a/ROMFS/px4fmu_common/init.d/4010_dji_f330 b/ROMFS/px4fmu_common/init.d/4010_dji_f330 index 232af57b4..cd4480c3e 100644 --- a/ROMFS/px4fmu_common/init.d/4010_dji_f330 +++ b/ROMFS/px4fmu_common/init.d/4010_dji_f330 @@ -7,4 +7,21 @@ sh /etc/init.d/4001_quad_x -set PWM_MIN 1175 \ No newline at end of file +if [ $DO_AUTOCONFIG == yes ] +then + param set MC_ROLL_P 7.0 + param set MC_ROLLRATE_P 0.1 + param set MC_ROLLRATE_I 0.0 + param set MC_ROLLRATE_D 0.003 + param set MC_PITCH_P 7.0 + param set MC_PITCHRATE_P 0.1 + param set MC_PITCHRATE_I 0.0 + param set MC_PITCHRATE_D 0.003 + param set MC_YAW_P 2.8 + param set MC_YAWRATE_P 0.2 + param set MC_YAWRATE_I 0.0 + param set MC_YAWRATE_D 0.0 +fi + +set PWM_MIN 1175 +set PWM_MAX 1900 diff --git a/ROMFS/px4fmu_common/init.d/4011_dji_f450 b/ROMFS/px4fmu_common/init.d/4011_dji_f450 index 259636acc..ac2ecc70a 100644 --- a/ROMFS/px4fmu_common/init.d/4011_dji_f450 +++ b/ROMFS/px4fmu_common/init.d/4011_dji_f450 @@ -7,4 +7,22 @@ sh /etc/init.d/4001_quad_x -set PWM_MIN 1175 \ No newline at end of file +if [ $DO_AUTOCONFIG == yes ] +then + # TODO REVIEW + param set MC_ROLL_P 7.0 + param set MC_ROLLRATE_P 0.1 + param set MC_ROLLRATE_I 0.0 + param set MC_ROLLRATE_D 0.003 + param set MC_PITCH_P 7.0 + param set MC_PITCHRATE_P 0.1 + param set MC_PITCHRATE_I 0.0 + param set MC_PITCHRATE_D 0.003 + param set MC_YAW_P 2.8 + param set MC_YAWRATE_P 0.2 + param set MC_YAWRATE_I 0.0 + param set MC_YAWRATE_D 0.0 +fi + +set PWM_MIN 1175 +set PWM_MAX 1900 diff --git a/ROMFS/px4fmu_common/init.d/4012_hk_x550 b/ROMFS/px4fmu_common/init.d/4012_hk_x550 deleted file mode 100644 index a5c4a8690..000000000 --- a/ROMFS/px4fmu_common/init.d/4012_hk_x550 +++ /dev/null @@ -1,8 +0,0 @@ -#!nsh -# -# HobbyKing X550 Quadcopter -# -# Todd Stellanova -# - -sh /etc/init.d/4001_quad_x diff --git a/ROMFS/px4fmu_common/init.d/5001_quad_+ b/ROMFS/px4fmu_common/init.d/5001_quad_+ index 2f5ab44d7..55b31067d 100644 --- a/ROMFS/px4fmu_common/init.d/5001_quad_+ +++ b/ROMFS/px4fmu_common/init.d/5001_quad_+ @@ -9,4 +9,4 @@ sh /etc/init.d/rc.mc_defaults set MIXER FMU_quad_+ -set PWM_OUTPUTS 1234 \ No newline at end of file +set PWM_OUTPUTS 1234 diff --git a/ROMFS/px4fmu_common/init.d/6001_hexa_x b/ROMFS/px4fmu_common/init.d/6001_hexa_x index 73ef12569..7714a508c 100644 --- a/ROMFS/px4fmu_common/init.d/6001_hexa_x +++ b/ROMFS/px4fmu_common/init.d/6001_hexa_x @@ -9,6 +9,5 @@ sh /etc/init.d/rc.mc_defaults set MIXER FMU_hexa_x -# We only can run one channel group with one rate, -# so all 8 at 400 Hz -set PWM_OUTPUTS 12345678 \ No newline at end of file +# We only can run one channel group with one rate, so set all 8 channels +set PWM_OUTPUTS 12345678 diff --git a/ROMFS/px4fmu_common/init.d/7001_hexa_+ b/ROMFS/px4fmu_common/init.d/7001_hexa_+ index ef4b6297d..60db8c069 100644 --- a/ROMFS/px4fmu_common/init.d/7001_hexa_+ +++ b/ROMFS/px4fmu_common/init.d/7001_hexa_+ @@ -9,6 +9,5 @@ sh /etc/init.d/rc.mc_defaults set MIXER FMU_hexa_+ -# We only can run one channel group with one rate, -# so all 8 at 400 Hz -set PWM_OUTPUTS 12345678 \ No newline at end of file +# We only can run one channel group with one rate, so set all 8 channels +set PWM_OUTPUTS 12345678 diff --git a/ROMFS/px4fmu_common/init.d/8001_octo_x b/ROMFS/px4fmu_common/init.d/8001_octo_x index bb87f89fe..411aee114 100644 --- a/ROMFS/px4fmu_common/init.d/8001_octo_x +++ b/ROMFS/px4fmu_common/init.d/8001_octo_x @@ -9,4 +9,4 @@ sh /etc/init.d/rc.mc_defaults set MIXER FMU_octo_x -set PWM_OUTPUTS 12345678 \ No newline at end of file +set PWM_OUTPUTS 12345678 diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart index 48c26aacd..3968af58e 100644 --- a/ROMFS/px4fmu_common/init.d/rc.autostart +++ b/ROMFS/px4fmu_common/init.d/rc.autostart @@ -116,11 +116,6 @@ then sh /etc/init.d/4011_dji_f450 fi -if param compare SYS_AUTOSTART 4012 12 -then - sh /etc/init.d/4012_hk_x550 -fi - # # Quad + # diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults index 52584677b..4db62607a 100644 --- a/ROMFS/px4fmu_common/init.d/rc.mc_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults @@ -4,22 +4,20 @@ set VEHICLE_TYPE mc if [ $DO_AUTOCONFIG == yes ] then - # - # Default parameters for MC - # param set MC_ROLL_P 7.0 - param set MC_ROLLRATE_P 0.12 + param set MC_ROLLRATE_P 0.1 param set MC_ROLLRATE_I 0.0 - param set MC_ROLLRATE_D 0.004 + param set MC_ROLLRATE_D 0.003 param set MC_PITCH_P 7.0 - param set MC_PITCHRATE_P 0.12 + param set MC_PITCHRATE_P 0.1 param set MC_PITCHRATE_I 0.0 - param set MC_PITCHRATE_D 0.004 - param set MC_YAW_P 2.0 - param set MC_YAWRATE_P 0.3 - param set MC_YAWRATE_I 0.2 - param set MC_YAWRATE_D 0.005 - + param set MC_PITCHRATE_D 0.003 + param set MC_YAW_P 2.8 + param set MC_YAWRATE_P 0.2 + param set MC_YAWRATE_I 0.0 + param set MC_YAWRATE_D 0.0 + param set MC_YAW_FF 0.5 + param set MPC_THR_MAX 1.0 param set MPC_THR_MIN 0.1 param set MPC_XY_P 1.0 @@ -42,4 +40,4 @@ fi set PWM_RATE 400 set PWM_DISARMED 900 set PWM_MIN 1075 -set PWM_MAX 2000 \ No newline at end of file +set PWM_MAX 2000 -- cgit v1.2.3