From 958f7597e7d13f82e41b9c8e0aa4c3ac552cdf1c Mon Sep 17 00:00:00 2001 From: Helen Oleynikova Date: Tue, 4 Mar 2014 16:33:18 +0100 Subject: Added actual ARDrone start up script. --- ROMFS/px4fmu_common/init.d/4008_ardrone | 40 +++++++++++++++++++++++++++++++++ 1 file changed, 40 insertions(+) create mode 100644 ROMFS/px4fmu_common/init.d/4008_ardrone (limited to 'ROMFS') diff --git a/ROMFS/px4fmu_common/init.d/4008_ardrone b/ROMFS/px4fmu_common/init.d/4008_ardrone new file mode 100644 index 000000000..fa9b9d18a --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/4008_ardrone @@ -0,0 +1,40 @@ +#!nsh +# +# ARDrone +# + +# Just use the default multicopter settings. +sh /etc/init.d/rc.mc_defaults + +# +# Load default params for this platform +# +if param compare SYS_AUTOCONFIG 1 +then + # Set all params here, then disable autoconfig + param set MC_ATTRATE_D 0 + param set MC_ATTRATE_I 0 + param set MC_ATTRATE_P 0.13 + param set MC_ATT_D 0 + param set MC_ATT_I 0.3 + param set MC_ATT_P 5 + param set MC_YAWPOS_D 0.1 + param set MC_YAWPOS_I 0.15 + param set MC_YAWPOS_P 1 + param set MC_YAWRATE_D 0 + param set MC_YAWRATE_I 0 + param set MC_YAWRATE_P 0.15 + + param set SYS_AUTOCONFIG 0 + param save +fi + +set FMU_MODE gpio + +# +# Force some key parameters to sane values +# MAV_TYPE 2 = quadrotor +# +set MAV_TYPE 2 +set VEHICLE_TYPE mc +param set BAT_V_SCALING 0.008381 -- cgit v1.2.3