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autostart for multicopters: frame-specific default parameters reverted and cleaned up

sbg
Anton Babushkin 11 years ago
parent
6f506874eb
commit
16908f9aff
14 changed files with 92 additions and 95 deletions
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  1. 21
      ROMFS/px4fmu_common/init.d/10015_tbs_discovery
  2. 17
      ROMFS/px4fmu_common/init.d/10016_3dr_iris
  3. 28
      ROMFS/px4fmu_common/init.d/11001_hexa_cox
  4. 29
      ROMFS/px4fmu_common/init.d/12001_octo_cox
  5. 2
      ROMFS/px4fmu_common/init.d/4001_quad_x
  6. 19
      ROMFS/px4fmu_common/init.d/4010_dji_f330
  7. 20
      ROMFS/px4fmu_common/init.d/4011_dji_f450
  8. 8
      ROMFS/px4fmu_common/init.d/4012_hk_x550
  9. 2
      ROMFS/px4fmu_common/init.d/5001_quad_+
  10. 5
      ROMFS/px4fmu_common/init.d/6001_hexa_x
  11. 5
      ROMFS/px4fmu_common/init.d/7001_hexa_+
  12. 2
      ROMFS/px4fmu_common/init.d/8001_octo_x
  13. 5
      ROMFS/px4fmu_common/init.d/rc.autostart
  14. 24
      ROMFS/px4fmu_common/init.d/rc.mc_defaults

21
ROMFS/px4fmu_common/init.d/10015_tbs_discovery
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@ -2,11 +2,28 @@ @@ -2,11 +2,28 @@
#
# Team Blacksheep Discovery Quadcopter
#
# Simon Wilks <sjwilks@gmail.com>
# Anton Babushkin <anton.babushkin@me.com>, Simon Wilks <sjwilks@gmail.com>
#
sh /etc/init.d/rc.mc_defaults
if [ $DO_AUTOCONFIG == yes ]
then
# TODO review MC_YAWRATE_I
param set MC_ROLL_P 8.0
param set MC_ROLLRATE_P 0.07
param set MC_ROLLRATE_I 0.05
param set MC_ROLLRATE_D 0.0017
param set MC_PITCH_P 8.0
param set MC_PITCHRATE_P 0.14
param set MC_PITCHRATE_I 0.1
param set MC_PITCHRATE_D 0.0025
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.28
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0.0
fi
set MIXER FMU_quad_w
set PWM_OUTPUTS 1234
set PWM_OUTPUTS 1234

17
ROMFS/px4fmu_common/init.d/10016_3dr_iris
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@ -9,9 +9,20 @@ sh /etc/init.d/rc.mc_defaults @@ -9,9 +9,20 @@ sh /etc/init.d/rc.mc_defaults
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
# TODO tune roll/pitch separately
param set MC_ROLL_P 9.0
param set MC_ROLLRATE_P 0.13
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.004
param set MC_PITCH_P 9.0
param set MC_PITCHRATE_P 0.13
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.004
param set MC_YAW_P 0.5
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0.0
param set BAT_V_SCALING 0.00989
param set BAT_C_SCALING 0.0124
fi

28
ROMFS/px4fmu_common/init.d/11001_hexa_cox
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@ -7,33 +7,9 @@ @@ -7,33 +7,9 @@
# Lorenz Meier <lm@inf.ethz.ch>
#
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
param set MC_ATT_P 7.0
param set MC_ATT_I 0.0
param set MC_ATT_D 0.0
param set MC_ATTRATE_P 0.12
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_D 0.004
param set MC_YAWPOS_P 2.0
param set MC_YAWPOS_I 0.0
param set MC_YAWPOS_D 0.0
param set MC_YAWRATE_P 0.3
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0.005
# TODO add default MPC parameters
fi
sh /etc/init.d/rc.mc_defaults
set VEHICLE_TYPE mc
set MIXER hexa_cox
# We only can run one channel group with one rate, so set all 8 channels
set PWM_OUTPUTS 12345678
set PWM_RATE 400
# DJI ESC range
set PWM_DISARMED 900
set PWM_MIN 1200
set PWM_MAX 1900

29
ROMFS/px4fmu_common/init.d/12001_octo_cox
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@ -5,33 +5,8 @@ @@ -5,33 +5,8 @@
# Lorenz Meier <lm@inf.ethz.ch>
#
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
param set MC_ATT_P 7.0
param set MC_ATT_I 0.0
param set MC_ATT_D 0.0
param set MC_ATTRATE_P 0.12
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_D 0.004
param set MC_YAWPOS_P 2.0
param set MC_YAWPOS_I 0.0
param set MC_YAWPOS_D 0.0
param set MC_YAWRATE_P 0.3
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0.005
# TODO add default MPC parameters
fi
sh /etc/init.d/rc.mc_defaults
set VEHICLE_TYPE mc
set MIXER FMU_octo_cox
set MIXER octo_cox
set PWM_OUTPUTS 12345678
set PWM_RATE 400
# DJI ESC range
set PWM_DISARMED 900
set PWM_MIN 1200
set PWM_MAX 1900

2
ROMFS/px4fmu_common/init.d/4001_quad_x
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@ -9,4 +9,4 @@ sh /etc/init.d/rc.mc_defaults @@ -9,4 +9,4 @@ sh /etc/init.d/rc.mc_defaults
set MIXER FMU_quad_x
set PWM_OUTPUTS 1234
set PWM_OUTPUTS 1234

19
ROMFS/px4fmu_common/init.d/4010_dji_f330
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@ -7,4 +7,21 @@ @@ -7,4 +7,21 @@
sh /etc/init.d/4001_quad_x
set PWM_MIN 1175
if [ $DO_AUTOCONFIG == yes ]
then
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.1
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.003
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.1
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.003
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0.0
fi
set PWM_MIN 1175
set PWM_MAX 1900

20
ROMFS/px4fmu_common/init.d/4011_dji_f450
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@ -7,4 +7,22 @@ @@ -7,4 +7,22 @@
sh /etc/init.d/4001_quad_x
set PWM_MIN 1175
if [ $DO_AUTOCONFIG == yes ]
then
# TODO REVIEW
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.1
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.003
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.1
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.003
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0.0
fi
set PWM_MIN 1175
set PWM_MAX 1900

8
ROMFS/px4fmu_common/init.d/4012_hk_x550
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@ -1,8 +0,0 @@ @@ -1,8 +0,0 @@
#!nsh
#
# HobbyKing X550 Quadcopter
#
# Todd Stellanova <tstellanova@gmail.com>
#
sh /etc/init.d/4001_quad_x

2
ROMFS/px4fmu_common/init.d/5001_quad_+
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@ -9,4 +9,4 @@ sh /etc/init.d/rc.mc_defaults @@ -9,4 +9,4 @@ sh /etc/init.d/rc.mc_defaults
set MIXER FMU_quad_+
set PWM_OUTPUTS 1234
set PWM_OUTPUTS 1234

5
ROMFS/px4fmu_common/init.d/6001_hexa_x
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@ -9,6 +9,5 @@ sh /etc/init.d/rc.mc_defaults @@ -9,6 +9,5 @@ sh /etc/init.d/rc.mc_defaults
set MIXER FMU_hexa_x
# We only can run one channel group with one rate,
# so all 8 at 400 Hz
set PWM_OUTPUTS 12345678
# We only can run one channel group with one rate, so set all 8 channels
set PWM_OUTPUTS 12345678

5
ROMFS/px4fmu_common/init.d/7001_hexa_+
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@ -9,6 +9,5 @@ sh /etc/init.d/rc.mc_defaults @@ -9,6 +9,5 @@ sh /etc/init.d/rc.mc_defaults
set MIXER FMU_hexa_+
# We only can run one channel group with one rate,
# so all 8 at 400 Hz
set PWM_OUTPUTS 12345678
# We only can run one channel group with one rate, so set all 8 channels
set PWM_OUTPUTS 12345678

2
ROMFS/px4fmu_common/init.d/8001_octo_x
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@ -9,4 +9,4 @@ sh /etc/init.d/rc.mc_defaults @@ -9,4 +9,4 @@ sh /etc/init.d/rc.mc_defaults
set MIXER FMU_octo_x
set PWM_OUTPUTS 12345678
set PWM_OUTPUTS 12345678

5
ROMFS/px4fmu_common/init.d/rc.autostart
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@ -116,11 +116,6 @@ then @@ -116,11 +116,6 @@ then
sh /etc/init.d/4011_dji_f450
fi
if param compare SYS_AUTOSTART 4012 12
then
sh /etc/init.d/4012_hk_x550
fi
#
# Quad +
#

24
ROMFS/px4fmu_common/init.d/rc.mc_defaults
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@ -4,22 +4,20 @@ set VEHICLE_TYPE mc @@ -4,22 +4,20 @@ set VEHICLE_TYPE mc
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for MC
#
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.12
param set MC_ROLLRATE_P 0.1
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.004
param set MC_ROLLRATE_D 0.003
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.12
param set MC_PITCHRATE_P 0.1
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.004
param set MC_YAW_P 2.0
param set MC_YAWRATE_P 0.3
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0.005
param set MC_PITCHRATE_D 0.003
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0.0
param set MC_YAW_FF 0.5
param set MPC_THR_MAX 1.0
param set MPC_THR_MIN 0.1
param set MPC_XY_P 1.0
@ -42,4 +40,4 @@ fi @@ -42,4 +40,4 @@ fi
set PWM_RATE 400
set PWM_DISARMED 900
set PWM_MIN 1075
set PWM_MAX 2000
set PWM_MAX 2000

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