From 4e5f743e4184269b05bb037d4787665afe996ab8 Mon Sep 17 00:00:00 2001
From: Simon Wilks <sjwilks@gmail.com>
Date: Sat, 28 Dec 2013 14:45:29 +0100
Subject: Added config for the FX-79

---
 ROMFS/px4fmu_common/init.d/34_io_fx79 | 87 +++++++++++++++++++++++++++++++++++
 ROMFS/px4fmu_common/init.d/rcS        |  6 +++
 2 files changed, 93 insertions(+)
 create mode 100644 ROMFS/px4fmu_common/init.d/34_io_fx79

(limited to 'ROMFS/px4fmu_common/init.d')

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..eb46ad8a7
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/34_io_fx79
@@ -0,0 +1,87 @@
+#!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_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 17
+	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/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 3408b4ad5..9a258e14d 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -327,6 +327,12 @@ then
 		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
-- 
cgit v1.2.3