From 48ba912f08b328d709965a4dd7acb878b598f961 Mon Sep 17 00:00:00 2001
From: Roman Bapst <romanbapst@yahoo.de>
Date: Tue, 2 Dec 2014 10:30:26 +0100
Subject: adapted and added ROMFS-scripts to support VTOL

---
 ROMFS/px4fmu_common/init.d/rc.autostart     | 17 +++++++++++++
 ROMFS/px4fmu_common/init.d/rc.vtol_apps     | 15 +++++++++++
 ROMFS/px4fmu_common/init.d/rc.vtol_defaults | 39 +++++++++++++++++++++++++++++
 ROMFS/px4fmu_common/init.d/rcS              | 39 +++++++++++++++++++++++++++++
 4 files changed, 110 insertions(+)
 create mode 100644 ROMFS/px4fmu_common/init.d/rc.vtol_apps
 create mode 100644 ROMFS/px4fmu_common/init.d/rc.vtol_defaults

(limited to 'ROMFS')

diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart
index 496a52c5f..331ff4974 100644
--- a/ROMFS/px4fmu_common/init.d/rc.autostart
+++ b/ROMFS/px4fmu_common/init.d/rc.autostart
@@ -15,6 +15,7 @@
 # 10000	..	10999		Wide arm / H frame
 # 11000	..	11999		Hexa Cox
 # 12000	..	12999		Octo Cox
+# 13000 ..  13999		VTOL
 
 #
 # Simulation
@@ -237,3 +238,19 @@ if param compare SYS_AUTOSTART 12001
 then
 	sh /etc/init.d/12001_octo_cox
 fi
+
+#
+# VTOL quadshot
+#
+ if param compare SYS_AUTOSTART 13000
+ then
+ 	 sh /etc/init.d/13000_quadshot
+ fi
+
+#
+# VTOL caipririnha
+#
+ if param compare SYS_AUTOSTART 13001
+ then
+ 	 sh /etc/init.d/13001_caipirinha_vtol
+ fi
diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_apps b/ROMFS/px4fmu_common/init.d/rc.vtol_apps
new file mode 100644
index 000000000..23ade6d78
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/rc.vtol_apps
@@ -0,0 +1,15 @@
+#!nsh
+#
+# Standard apps for vtol:
+# att & pos estimator, att & pos control.
+#
+
+attitude_estimator_ekf start
+#ekf_att_pos_estimator start
+position_estimator_inav start
+
+vtol_att_control start
+mc_att_control start
+mc_pos_control start
+fw_att_control start
+fw_pos_control_l1 start
diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
new file mode 100644
index 000000000..376a2e257
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
@@ -0,0 +1,39 @@
+#!nsh
+
+set VEHICLE_TYPE vtol
+
+if [ $DO_AUTOCONFIG == yes ]
+then
+	#
+	#Default controller parameters for MC
+	#
+	param set MC_ROLL_P 6.0
+	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 6.0
+	param set MC_PITCHRATE_P 0.2
+	param set MC_PITCHRATE_I 0.0
+	param set MC_PITCHRATE_D 0.003
+	param set MC_YAW_P 4
+	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 0.3
+	
+	#
+	# Default parameters for FW
+	#
+	param set FW_PR_FF 0.3
+	param set FW_PR_I 0.000
+	param set FW_PR_IMAX 0.2
+	param set FW_PR_P 0.02
+	param set FW_RR_FF 0.3
+	param set FW_RR_I 0.00
+	param set FW_RR_IMAX 0.2
+	param set FW_RR_P 0.02
+fi
+
+set PWM_DISARMED 900
+set PWM_MIN 1000
+set PWM_MAX 2000
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 353f44877..ffef598c4 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -545,7 +545,46 @@ then
 			sh /etc/init.d/rc.mc_apps
 		fi
 	fi
+	
+	#
+	# VTOL setup
+	#
+	if [ $VEHICLE_TYPE == vtol ]
+	then
+		echo "[init] Vehicle type: VTOL"
+
+		if [ $MIXER == none ]
+		then
+			echo "Default mixer for vtol not defined"
+		fi
 
+		if [ $MAV_TYPE == none ]
+		then
+			# Use mixer to detect vehicle type
+			if [ $MIXER == FMU_quadshot ]
+			then
+				set MAV_TYPE 20
+			fi
+		fi
+
+		# Still no MAV_TYPE found
+		if [ $MAV_TYPE == none ]
+		then
+			echo "Unknown MAV_TYPE"
+		else
+			param set MAV_TYPE $MAV_TYPE
+		fi
+
+		# Load mixer and configure outputs
+		sh /etc/init.d/rc.interface
+
+		# Start standard vtol apps
+		if [ $LOAD_DEFAULT_APPS == yes ]
+		then
+			sh /etc/init.d/rc.vtol_apps
+		fi
+	fi
+	
 	#
 	# Start the navigator
 	#
-- 
cgit v1.2.3