From 1c891d8a6817c298414c645f93124fcec560869a Mon Sep 17 00:00:00 2001
From: "Hyon Lim (Retina)" <limhyon@gmail.com>
Date: Wed, 25 Sep 2013 02:17:06 +0900
Subject: Airframe No. 21. 22 have been added. That is for general ESC with
 PX4IO (frame geometry defined)

---
 ROMFS/px4fmu_common/init.d/rc.custom_io_esc | 120 ++++++++++++++++++++++++++++
 ROMFS/px4fmu_common/init.d/rcS              |  17 ++++
 2 files changed, 137 insertions(+)
 create mode 100644 ROMFS/px4fmu_common/init.d/rc.custom_io_esc

(limited to 'ROMFS/px4fmu_common')

diff --git a/ROMFS/px4fmu_common/init.d/rc.custom_io_esc b/ROMFS/px4fmu_common/init.d/rc.custom_io_esc
new file mode 100644
index 000000000..e645d9d54
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/rc.custom_io_esc
@@ -0,0 +1,120 @@
+#!nsh
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+	# Set all params here, then disable autoconfig
+	param set SYS_AUTOCONFIG 0
+
+	param set MC_ATTRATE_D 0.002
+	param set MC_ATTRATE_I 0.0
+	param set MC_ATTRATE_P 0.09
+	param set MC_ATT_D 0.0
+	param set MC_ATT_I 0.0
+	param set MC_ATT_P 6.8
+	param set MC_YAWPOS_D 0.0
+	param set MC_YAWPOS_I 0.0
+	param set MC_YAWPOS_P 2.0
+	param set MC_YAWRATE_D 0.005
+	param set MC_YAWRATE_I 0.2
+	param set MC_YAWRATE_P 0.3
+	param set NAV_TAKEOFF_ALT 3.0
+	param set MPC_TILT_MAX 0.5
+	param set MPC_THR_MAX 0.7
+	param set MPC_THR_MIN 0.3
+	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 save
+fi
+
+echo "RC script for PX4FMU + PX4IO + PPM-ESCs running"
+ 
+#
+# Force some key parameters to sane values
+# MAV_TYPE     2 = quadrotor
+#
+param set MAV_TYPE 2
+
+set EXIT_ON_END no
+
+usleep 10000
+
+#
+# Start and configure PX4IO or FMU interface
+#
+if px4io detect
+then
+	# Start MAVLink (depends on orb)
+	mavlink start -d /dev/ttyS1 -b 115200
+	usleep 5000
+
+	sh /etc/init.d/rc.io
+
+	if [ $ESC_MAKER = afro ]
+	then
+		# Set PWM values for Afro ESCs
+		px4io idle 1050 1050 1050 1050 
+		px4io min 1080 1080 1080 1080
+		px4io max 1860 1860 1860 1860
+	else
+		# Set PWM values for typical ESCs
+        	px4io idle 900 900 900 900
+        	px4io min 1110 1100 1100 1100
+        	px4io max 1800 1800 1800 1800
+	fi
+else
+	fmu mode_pwm
+	# Start MAVLink (on UART1 / ttyS0)
+	mavlink start -d /dev/ttyS1 -b 115200
+	usleep 5000
+	param set BAT_V_SCALING 0.004593
+	set EXIT_ON_END yes
+fi
+
+#
+# Load mixer
+#
+if [ $FRAME_GEOMETRY == x ]
+then
+    echo "Frame geometry X"
+    mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
+else
+    if [ $FRAME_GEOMETRY == w ]
+    then
+	echo "Frame geometry W"
+	mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix
+    else
+	echo "Frame geometry +"
+    	mixer load /dev/pwm_output /etc/mixers/FMU_quad_+.mix
+    fi
+fi
+
+#
+# Set PWM output frequency
+#
+pwm -u 400 -m 0xff
+
+#
+# Start common for all multirotors apps
+#
+sh /etc/init.d/rc.multirotor
+
+if [ $EXIT_ON_END == yes ]
+then
+	exit
+fi
+
+echo "Script end"
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 9ec346465..93e76184d 100755
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -225,6 +225,23 @@ then
 		sh /etc/init.d/rc.custom_dji_f330_mkblctrl
 		set MODE custom
 	fi
+
+	# PX4FMU v1 with IO + PPM-based ESCs on Quad X-shape frame
+	if param compare SYS_AUTOSTART 21
+	then
+		set FRAME_GEOMETRY x
+		set ESC_MAKER afro
+		sh /etc/init.d/rc.custom_io_esc
+		set MODE custom
+	fi
+
+        # PX4FMU v1 with IO + PPM-based ESCs on Quad X-shape frame
+        if param compare SYS_AUTOSTART 22
+        then
+                set FRAME_GEOMETRY w
+                sh /etc/init.d/rc.custom_io_esc
+                set MODE custom
+        fi
 	
 	if param compare SYS_AUTOSTART 30
 	then
-- 
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