Thomas Gubler
11 years ago
25 changed files with 275 additions and 369 deletions
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#!nsh |
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# |
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# Script to set PWM min / max limits and mixer |
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# |
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# |
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# Load mixer |
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# |
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if [ $FRAME_GEOMETRY == x ] |
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then |
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echo "Frame geometry X" |
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mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix |
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else |
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if [ $FRAME_GEOMETRY == w ] |
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then |
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echo "Frame geometry W" |
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mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix |
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else |
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echo "Frame geometry +" |
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mixer load /dev/pwm_output /etc/mixers/FMU_quad_+.mix |
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fi |
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fi |
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if [ $FRAME_COUNT == 4 ] |
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then |
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set OUTPUTS 1234 |
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param set MAV_TYPE 2 |
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else |
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if [ $FRAME_COUNT == 6 ] |
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then |
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set OUTPUTS 123456 |
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param set MAV_TYPE 13 |
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else |
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set OUTPUTS 12345678 |
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fi |
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fi |
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# |
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# Set PWM output frequency |
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# |
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pwm rate -c $OUTPUTS -r $PWM_RATE |
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# |
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# Set disarmed, min and max PWM signals (for DJI ESCs) |
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# |
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pwm disarmed -c $OUTPUTS -p $PWM_DISARMED |
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pwm min -c $OUTPUTS -p $PWM_MIN |
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pwm max -c $OUTPUTS -p $PWM_MAX |
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@ -0,0 +1,94 @@
@@ -0,0 +1,94 @@
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#!nsh |
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echo "[init] Octorotor startup" |
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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 SYS_AUTOCONFIG 0 |
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param set MC_ATTRATE_D 0.004 |
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param set MC_ATTRATE_I 0.0 |
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param set MC_ATTRATE_P 0.12 |
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param set MC_ATT_D 0.0 |
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param set MC_ATT_I 0.0 |
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param set MC_ATT_P 7.0 |
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param set MC_YAWPOS_D 0.0 |
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param set MC_YAWPOS_I 0.0 |
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param set MC_YAWPOS_P 2.0 |
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param set MC_YAWRATE_D 0.005 |
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param set MC_YAWRATE_I 0.2 |
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param set MC_YAWRATE_P 0.3 |
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param set NAV_TAKEOFF_ALT 3.0 |
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param set MPC_TILT_MAX 0.5 |
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param set MPC_THR_MAX 0.7 |
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param set MPC_THR_MIN 0.3 |
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param set MPC_XY_D 0 |
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param set MPC_XY_P 0.5 |
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param set MPC_XY_VEL_D 0 |
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param set MPC_XY_VEL_I 0 |
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param set MPC_XY_VEL_MAX 3 |
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param set MPC_XY_VEL_P 0.2 |
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param set MPC_Z_D 0 |
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param set MPC_Z_P 1 |
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param set MPC_Z_VEL_D 0 |
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param set MPC_Z_VEL_I 0.1 |
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param set MPC_Z_VEL_MAX 2 |
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param set MPC_Z_VEL_P 0.20 |
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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 list: https://pixhawk.ethz.ch/mavlink/ |
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# 14 = octorotor |
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# |
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param set MAV_TYPE 14 |
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set EXIT_ON_END no |
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# |
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# Start and configure PX4IO 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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usleep 5000 |
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sh /etc/init.d/rc.io |
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else |
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# This is not possible on an octo |
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tone_alarm error |
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fi |
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# |
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# Load mixer |
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# |
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mixer load /dev/pwm_output $MIXER |
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# |
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# Set PWM output frequency to 400 Hz |
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# |
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pwm rate -a -r 400 |
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# |
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# Set disarmed, min and max PWM signals |
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# |
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pwm disarmed -c 12345678 -p 900 |
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pwm min -c 12345678 -p 1100 |
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pwm max -c 12345678 -p 1900 |
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# |
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# Start common for all multirotors apps |
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# |
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sh /etc/init.d/rc.multirotor |
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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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@ -1,159 +0,0 @@
@@ -1,159 +0,0 @@
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#
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# Makefile for the px4fmu_default configuration
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#
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#
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# Use the configuration's ROMFS, copy the px4iov2 firmware into
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# the ROMFS if it's available
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#
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ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_logging
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ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v2_default.bin
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#
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# Board support modules
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#
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MODULES += drivers/device
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MODULES += drivers/stm32
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MODULES += drivers/stm32/adc
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MODULES += drivers/stm32/tone_alarm
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MODULES += drivers/led
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MODULES += drivers/px4fmu
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MODULES += drivers/px4io
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MODULES += drivers/boards/px4fmu-v2
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MODULES += drivers/rgbled
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MODULES += drivers/mpu6000
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MODULES += drivers/lsm303d
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MODULES += drivers/l3gd20
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MODULES += drivers/hmc5883
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MODULES += drivers/ms5611
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MODULES += drivers/mb12xx
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MODULES += drivers/gps
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MODULES += drivers/hil
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MODULES += drivers/hott/hott_telemetry
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MODULES += drivers/hott/hott_sensors
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MODULES += drivers/blinkm
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MODULES += drivers/roboclaw
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MODULES += drivers/airspeed
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MODULES += drivers/ets_airspeed
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MODULES += drivers/meas_airspeed
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MODULES += modules/sensors
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# Needs to be burned to the ground and re-written; for now,
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# just don't build it.
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#MODULES += drivers/mkblctrl
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#
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# System commands
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#
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MODULES += systemcmds/ramtron
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MODULES += systemcmds/bl_update
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MODULES += systemcmds/boardinfo
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MODULES += systemcmds/mixer
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MODULES += systemcmds/param
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MODULES += systemcmds/perf
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MODULES += systemcmds/preflight_check
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MODULES += systemcmds/pwm
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MODULES += systemcmds/esc_calib
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MODULES += systemcmds/reboot
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MODULES += systemcmds/top
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MODULES += systemcmds/tests
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MODULES += systemcmds/config
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MODULES += systemcmds/nshterm
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#
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# General system control
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#
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MODULES += modules/commander
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MODULES += modules/navigator
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MODULES += modules/mavlink
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MODULES += modules/mavlink_onboard
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#
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# Estimation modules (EKF/ SO3 / other filters)
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#
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MODULES += modules/attitude_estimator_ekf
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MODULES += modules/attitude_estimator_so3
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MODULES += modules/att_pos_estimator_ekf
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MODULES += modules/position_estimator_inav
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MODULES += examples/flow_position_estimator
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#
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# Vehicle Control
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#
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#MODULES += modules/segway # XXX Needs GCC 4.7 fix
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MODULES += modules/fw_pos_control_l1
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MODULES += modules/fw_att_control
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MODULES += modules/multirotor_att_control
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MODULES += modules/multirotor_pos_control
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#
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# Logging
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#
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MODULES += modules/sdlog2
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#
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# Unit tests
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#
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#MODULES += modules/unit_test
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#MODULES += modules/commander/commander_tests
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#
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# Library modules
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#
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MODULES += modules/systemlib
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MODULES += modules/systemlib/mixer
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MODULES += modules/controllib
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MODULES += modules/uORB
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#
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# Libraries
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#
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LIBRARIES += lib/mathlib/CMSIS
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MODULES += lib/mathlib
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MODULES += lib/mathlib/math/filter
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MODULES += lib/ecl
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MODULES += lib/external_lgpl
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MODULES += lib/geo
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MODULES += lib/conversion
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MODULES += modules/dataman
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MODULES += lib/launchdetection
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#
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# Demo apps
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#
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#MODULES += examples/math_demo
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# Tutorial code from
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# https://pixhawk.ethz.ch/px4/dev/hello_sky
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MODULES += examples/px4_simple_app
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# Tutorial code from
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# https://pixhawk.ethz.ch/px4/dev/daemon
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#MODULES += examples/px4_daemon_app
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# Tutorial code from
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# https://pixhawk.ethz.ch/px4/dev/debug_values
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#MODULES += examples/px4_mavlink_debug
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# Tutorial code from
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# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control
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#MODULES += examples/fixedwing_control
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# Hardware test
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#MODULES += examples/hwtest
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#
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# Transitional support - add commands from the NuttX export archive.
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#
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# In general, these should move to modules over time.
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#
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# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
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# to make the table a bit more readable.
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#
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define _B |
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$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
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endef |
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# command priority stack entrypoint
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BUILTIN_COMMANDS := \
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$(call _B, sercon, , 2048, sercon_main ) \
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$(call _B, serdis, , 2048, serdis_main )
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