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91 lines
1.9 KiB
91 lines
1.9 KiB
11 years ago
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#!nsh
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echo "[init] PX4FMU v1, v2 with or without IO on the Wing Wing (aka Z-84)"
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#
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# Load default params for this platform
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#
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if param compare SYS_AUTOCONFIG 1
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then
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# Set all params here, then disable autoconfig
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param set FW_AIRSPD_MIN 7
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param set FW_AIRSPD_TRIM 9
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param set FW_AIRSPD_MAX 14
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param set FW_P_D 0
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param set FW_P_I 0
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param set FW_P_IMAX 15
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param set FW_P_LIM_MAX 30
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param set FW_P_LIM_MIN -20
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param set FW_P_P 30
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param set FW_P_RMAX_NEG 0
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param set FW_P_RMAX_POS 0
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param set FW_P_ROLLFF 2
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param set FW_R_D 0
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param set FW_R_I 5
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param set FW_R_IMAX 20
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param set FW_R_P 60
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param set FW_R_RMAX 60
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param set FW_THR_CRUISE 0.65
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param set FW_THR_MAX 0.7
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param set FW_THR_MIN 0
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param set FW_T_SINK_MAX 5.0
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param set FW_T_SINK_MIN 2.0
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param set FW_T_TIME_CONST 4
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param set FW_Y_ROLLFF 2.0
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param set FW_L1_PERIOD 25.0
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param set RC_SCALE_ROLL 1.0
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param set RC_SCALE_PITCH 1.0
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param set SYS_AUTOCONFIG 0
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param save
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fi
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#
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# Force some key parameters to sane values
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# MAV_TYPE 1 = fixed wing
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#
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param set MAV_TYPE 1
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set EXIT_ON_END no
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#
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# Start and configure PX4IO or FMU interface
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#
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if px4io detect
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then
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# Start MAVLink (depends on orb)
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mavlink start
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sh /etc/init.d/rc.io
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# Limit to 100 Hz updates and (implicit) 50 Hz PWM
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px4io limit 100
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else
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# Start MAVLink (on UART1 / ttyS0)
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mavlink start -d /dev/ttyS0
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fmu mode_pwm
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param set BAT_V_SCALING 0.004593
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set EXIT_ON_END yes
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fi
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#
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# Load mixer and start controllers (depends on px4io)
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#
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if [ -f /fs/microsd/etc/mixers/FMU_Q.mix ]
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then
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echo "Using /fs/microsd/etc/mixers/FMU_Q.mix"
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mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_Q.mix
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else
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echo "Using /etc/mixers/FMU_Q.mix"
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mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
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fi
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#
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# Start common fixedwing apps
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#
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sh /etc/init.d/rc.fixedwing
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if [ $EXIT_ON_END == yes ]
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then
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exit
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fi
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