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|
#!nsh
#
# Flight startup script for PX4FMU+PX4IO on a Team Blacksheep Discovery quad
# with stock DJI ESCs, motors and props.
#
# disable USB and autostart
set USB no
set MODE custom
#
# Start the ORB (first app to start)
#
uorb start
#
# Load microSD params
#
echo "[init] loading microSD params"
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
then
param load /fs/microsd/params
fi
#
# 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 0.006
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_P 0.17
param set MC_ATT_D 0.0
param set MC_ATT_I 0.0
param set MC_ATT_P 5.0
param set MC_RCLOSS_THR 0.0
param set MC_YAWPOS_D 0.0
param set MC_YAWPOS_I 0.15
param set MC_YAWPOS_P 0.5
param set MC_YAWRATE_D 0.0
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_P 0.2
param save /fs/microsd/params
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
#
param set MAV_TYPE 2
#
# Start MAVLink (depends on orb)
#
mavlink start
usleep 5000
#
# Start the commander (depends on orb, mavlink)
#
commander start
#
# Start PX4IO interface (depends on orb, commander)
#
px4io start
pwm -u 400 -m 0xff
#
# Allow PX4IO to recover from midair restarts.
# This is very unlikely, but quite safe and robust.
px4io recovery
#
# This sets a PWM right after startup (regardless of safety button)
#
px4io idle 900 900 900 900
#
# The values are for spinning motors when armed using DJI ESCs
#
px4io min 1180 1180 1180 1180
#
# Upper limits could be higher, this is on the safe side
#
px4io max 1800 1800 1800 1800
#
# Load the mixer for a quad with wide arms
#
mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix
#
# Start the sensors (depends on orb, px4io)
#
sh /etc/init.d/rc.sensors
#
# Start GPS interface (depends on orb)
#
gps start
#
# Start the attitude estimator (depends on orb)
#
attitude_estimator_ekf start
#
# Start the controllers (depends on orb)
#
multirotor_att_control start
#
# Disable px4io topic limiting and start logging
#
if [ $BOARD == fmuv1 ]
then
px4io limit 200
sdlog2 start -r 50 -a -b 16
if blinkm start
then
blinkm systemstate
fi
else
px4io limit 400
sdlog2 start -r 200 -a -b 16
if rgbled start
then
#rgbled systemstate
fi
fi
|
