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|
#!nsh
echo "[init] 666_fmu_q_x550: PX4FMU Quad X550 with or without IO"
#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
param set MC_ATTRATE_P 0.14
param set MC_ATTRATE_I 0
param set MC_ATTRATE_D 0.006
param set MC_ATT_P 5.5
param set MC_ATT_I 0
param set MC_ATT_D 0
param set MC_YAWPOS_D 0
param set MC_YAWPOS_I 0
param set MC_YAWPOS_P 0.6
param set MC_YAWRATE_D 0
param set MC_YAWRATE_I 0
param set MC_YAWRATE_P 0.08
param set RC_SCALE_PITCH 1
param set RC_SCALE_ROLL 1
param set RC_SCALE_YAW 3
param set SYS_AUTOCONFIG 0
param save
fi
#
# Force some key parameters to sane values
# MAV_TYPE 2 = quadrotor
#
param set MAV_TYPE 2
#
# Start and configure PX4IO or FMU interface
#
if px4io detect
then
# Start MAVLink (depends on orb)
mavlink start
usleep 5000
sh /etc/init.d/rc.io
else
# Start MAVLink (on UART1 / ttyS0)
mavlink start -d /dev/ttyS0
usleep 5000
fmu mode_pwm
param set BAT_V_SCALING 0.004593
set EXIT_ON_END yes
fi
#
# Load mixer
#
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
#
# Set PWM output frequency
#
pwm rate -c 1234 -r 400
#
# Set disarmed, min and max PWM signals
#
pwm disarmed -c 1234 -p 900
pwm min -c 1234 -p 1100
pwm max -c 1234 -p 1900
#
# Start common for all multirotors apps
#
sh /etc/init.d/rc.multirotor
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