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#!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
#
# Force some key parameters to sane values
# MAV_TYPE 2 = quadrotor
#
param set MAV_TYPE 2
set EXIT_ON_END no
#
# Start the Mikrokopter ESC driver
#
if [ $MKBLCTRL_MODE == yes ]
then
if [ $MKBLCTRL_FRAME == x ]
then
echo "[init] PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 X Frame Mikrokopter-Addressing"
mkblctrl -mkmode x
else
echo "[init] PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 + Frame Mikrokopter-Addressing"
mkblctrl -mkmode +
fi
else
if [ $MKBLCTRL_FRAME == x ]
then
echo "[init] PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 X Frame"
else
echo "[init] PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 + Frame"
fi
mkblctrl
fi
usleep 10000
#
# 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
#
if [ $MKBLCTRL_FRAME == x ]
then
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
else
mixer load /dev/pwm_output /etc/mixers/FMU_quad_+.mix
fi
#
# Set disarmed, min and max PWM signals
#
pwm disarmed -c 1234 -p 900
pwm min -c 1234 -p 1200
pwm max -c 1234 -p 1800
#
# Start common for all multirotors apps
#
sh /etc/init.d/rc.multirotor
if [ $EXIT_ON_END == yes ]
then
exit
fi
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