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Startup scripts: use rc.mc_defaults for default MC parameters

sbg
Julian Oes 11 years ago
parent
ce83f450b8
commit
70e1bfa4d6
15 changed files with 79 additions and 223 deletions
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  1. 41
      ROMFS/px4fmu_common/init.d/10015_tbs_discovery
  2. 38
      ROMFS/px4fmu_common/init.d/10016_3dr_iris
  3. 4
      ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil
  4. 4
      ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil
  5. 4
      ROMFS/px4fmu_common/init.d/12001_octo_cox
  6. 44
      ROMFS/px4fmu_common/init.d/4001_quad_x
  7. 47
      ROMFS/px4fmu_common/init.d/4010_dji_f330
  8. 47
      ROMFS/px4fmu_common/init.d/4011_dji_f450
  9. 6
      ROMFS/px4fmu_common/init.d/4012_hk_x550
  10. 4
      ROMFS/px4fmu_common/init.d/5001_quad_+
  11. 4
      ROMFS/px4fmu_common/init.d/6001_hexa_x
  12. 6
      ROMFS/px4fmu_common/init.d/7001_hexa_+
  13. 4
      ROMFS/px4fmu_common/init.d/8001_octo_x
  14. 4
      ROMFS/px4fmu_common/init.d/9001_octo_+
  15. 45
      ROMFS/px4fmu_common/init.d/rc.mc_defaults

41
ROMFS/px4fmu_common/init.d/10015_tbs_discovery
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@ -5,45 +5,8 @@ @@ -5,45 +5,8 @@
# Simon Wilks <sjwilks@gmail.com>
#
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
param set MC_ROLL_P 5.0
param set MC_ROLLRATE_P 0.17
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.006
param set MC_PITCH_P 5.0
param set MC_PITCHRATE_P 0.17
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.006
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
sh /etc/init.d/rc.mc_defaults
param set MPC_THR_MAX 1.0
param set MPC_THR_MIN 0.1
param set MPC_XY_P 1.0
param set MPC_XY_VEL_P 0.1
param set MPC_XY_VEL_I 0.02
param set MPC_XY_VEL_D 0.01
param set MPC_XY_VEL_MAX 5
param set MPC_XY_FF 0.5
param set MPC_Z_P 1.0
param set MPC_Z_VEL_P 0.1
param set MPC_Z_VEL_I 0.02
param set MPC_Z_VEL_D 0.0
param set MPC_Z_VEL_MAX 3
param set MPC_Z_FF 0.5
param set MPC_TILT_MAX 1.0
param set MPC_LAND_SPEED 1.0
param set MPC_LAND_TILT 0.3
fi
set VEHICLE_TYPE mc
set MIXER FMU_quad_w
set PWM_OUTPUTS 1234
set PWM_RATE 400
set PWM_OUTPUTS 1234

38
ROMFS/px4fmu_common/init.d/10016_3dr_iris
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@ -5,51 +5,17 @@ @@ -5,51 +5,17 @@
# Anton Babushkin <anton.babushkin@me.com>
#
sh /etc/init.d/rc.mc_defaults
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
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 MPC_THR_MAX 1.0
param set MPC_THR_MIN 0.1
param set MPC_XY_P 1.0
param set MPC_XY_VEL_P 0.1
param set MPC_XY_VEL_I 0.02
param set MPC_XY_VEL_D 0.01
param set MPC_XY_VEL_MAX 5
param set MPC_XY_FF 0.5
param set MPC_Z_P 1.0
param set MPC_Z_VEL_P 0.1
param set MPC_Z_VEL_I 0.02
param set MPC_Z_VEL_D 0.0
param set MPC_Z_VEL_MAX 3
param set MPC_Z_FF 0.5
param set MPC_TILT_MAX 1.0
param set MPC_LAND_SPEED 1.0
param set MPC_LAND_TILT 0.3
param set BAT_V_SCALING 0.00989
param set BAT_C_SCALING 0.0124
fi
set VEHICLE_TYPE mc
set MIXER FMU_quad_w
set PWM_OUTPUTS 1234
set PWM_RATE 400
set PWM_DISARMED 900
set PWM_MIN 1000
set PWM_MAX 2000

4
ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil
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@ -5,6 +5,8 @@ @@ -5,6 +5,8 @@
# Anton Babushkin <anton.babushkin@me.com>
#
sh /etc/init.d/4001_quad_x
sh /etc/init.d/rc.mc_defaults
set MIXER FMU_quad_x
set HIL yes

4
ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil
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@ -5,6 +5,8 @@ @@ -5,6 +5,8 @@
# Anton Babushkin <anton.babushkin@me.com>
#
sh /etc/init.d/1001_rc_quad_x.hil
sh /etc/init.d/rc.mc_defaults
set MIXER FMU_quad_+
set HIL yes

4
ROMFS/px4fmu_common/init.d/12001_octo_cox
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@ -5,6 +5,8 @@ @@ -5,6 +5,8 @@
# Lorenz Meier <lm@inf.ethz.ch>, Anton Babushkin <anton.babushkin@me.com>
#
sh /etc/init.d/8001_octo_x
sh /etc/init.d/rc.mc_defaults
set MIXER FMU_octo_cox
set PWM_OUTPUTS 12345678

44
ROMFS/px4fmu_common/init.d/4001_quad_x
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@ -5,48 +5,8 @@ @@ -5,48 +5,8 @@
# Lorenz Meier <lm@inf.ethz.ch>
#
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.12
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.004
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.12
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 MPC_THR_MAX 1.0
param set MPC_THR_MIN 0.1
param set MPC_XY_P 1.0
param set MPC_XY_VEL_P 0.1
param set MPC_XY_VEL_I 0.02
param set MPC_XY_VEL_D 0.01
param set MPC_XY_VEL_MAX 5
param set MPC_XY_FF 0.5
param set MPC_Z_P 1.0
param set MPC_Z_VEL_P 0.1
param set MPC_Z_VEL_I 0.02
param set MPC_Z_VEL_D 0.0
param set MPC_Z_VEL_MAX 3
param set MPC_Z_FF 0.5
param set MPC_TILT_MAX 1.0
param set MPC_LAND_SPEED 1.0
param set MPC_LAND_TILT 0.3
fi
sh /etc/init.d/rc.mc_defaults
set VEHICLE_TYPE mc
set MIXER FMU_quad_x
set PWM_OUTPUTS 1234
set PWM_RATE 400
set PWM_DISARMED 900
set PWM_MIN 1100
set PWM_MAX 2000
set PWM_OUTPUTS 1234

47
ROMFS/px4fmu_common/init.d/4010_dji_f330
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@ -5,49 +5,6 @@ @@ -5,49 +5,6 @@
# Anton Babushkin <anton.babushkin@me.com>
#
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.12
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.004
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.12
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.004
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.05
param set MC_YAWRATE_D 0.0
param set MPC_THR_MAX 1.0
param set MPC_THR_MIN 0.1
param set MPC_XY_P 1.0
param set MPC_XY_VEL_P 0.1
param set MPC_XY_VEL_I 0.02
param set MPC_XY_VEL_D 0.01
param set MPC_XY_VEL_MAX 5
param set MPC_XY_FF 0.5
param set MPC_Z_P 1.0
param set MPC_Z_VEL_P 0.1
param set MPC_Z_VEL_I 0.02
param set MPC_Z_VEL_D 0.0
param set MPC_Z_VEL_MAX 3
param set MPC_Z_FF 0.5
param set MPC_TILT_MAX 1.0
param set MPC_LAND_SPEED 1.0
param set MPC_LAND_TILT 0.3
fi
sh /etc/init.d/4001_quad_x
set VEHICLE_TYPE mc
set MIXER FMU_quad_x
set PWM_OUTPUTS 1234
set PWM_RATE 400
# DJI ESC range
set PWM_DISARMED 900
set PWM_MIN 1200
set PWM_MAX 1900
set PWM_MIN 1175

47
ROMFS/px4fmu_common/init.d/4011_dji_f450
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@ -5,49 +5,6 @@ @@ -5,49 +5,6 @@
# Lorenz Meier <lm@inf.ethz.ch>
#
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.12
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.004
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.12
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 MPC_THR_MAX 1.0
param set MPC_THR_MIN 0.1
param set MPC_XY_P 1.0
param set MPC_XY_VEL_P 0.1
param set MPC_XY_VEL_I 0.02
param set MPC_XY_VEL_D 0.01
param set MPC_XY_VEL_MAX 5
param set MPC_XY_FF 0.5
param set MPC_Z_P 1.0
param set MPC_Z_VEL_P 0.1
param set MPC_Z_VEL_I 0.02
param set MPC_Z_VEL_D 0.0
param set MPC_Z_VEL_MAX 3
param set MPC_Z_FF 0.5
param set MPC_TILT_MAX 1.0
param set MPC_LAND_SPEED 1.0
param set MPC_LAND_TILT 0.3
fi
sh /etc/init.d/4001_quad_x
set VEHICLE_TYPE mc
set MIXER FMU_quad_x
set PWM_OUTPUTS 1234
set PWM_RATE 400
# DJI ESC range
set PWM_DISARMED 900
set PWM_MIN 1200
set PWM_MAX 1900
set PWM_MIN 1175

6
ROMFS/px4fmu_common/init.d/4012_hk_x550
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@ -6,9 +6,3 @@ @@ -6,9 +6,3 @@
#
sh /etc/init.d/4001_quad_x
set PWM_OUTPUTS 1234
set PWM_RATE 400
set PWM_DISARMED 900
set PWM_MIN 1000
set PWM_MAX 2000

4
ROMFS/px4fmu_common/init.d/5001_quad_+
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@ -5,6 +5,8 @@ @@ -5,6 +5,8 @@
# Anton Babushkin <anton.babushkin@me.com>
#
sh /etc/init.d/4001_quad_x
sh /etc/init.d/rc.mc_defaults
set MIXER FMU_quad_+
set PWM_OUTPUTS 1234

4
ROMFS/px4fmu_common/init.d/6001_hexa_x
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@ -5,10 +5,10 @@ @@ -5,10 +5,10 @@
# Anton Babushkin <anton.babushkin@me.com>
#
sh /etc/init.d/4001_quad_x
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
set PWM_OUTPUTS 12345678

6
ROMFS/px4fmu_common/init.d/7001_hexa_+
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@ -5,6 +5,10 @@ @@ -5,6 +5,10 @@
# Anton Babushkin <anton.babushkin@me.com>
#
sh /etc/init.d/6001_hexa_x
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

4
ROMFS/px4fmu_common/init.d/8001_octo_x
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@ -5,8 +5,8 @@ @@ -5,8 +5,8 @@
# Anton Babushkin <anton.babushkin@me.com>
#
sh /etc/init.d/4001_quad_x
sh /etc/init.d/rc.mc_defaults
set MIXER FMU_octo_x
set PWM_OUTPUTS 12345678
set PWM_OUTPUTS 12345678

4
ROMFS/px4fmu_common/init.d/9001_octo_+
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@ -5,6 +5,8 @@ @@ -5,6 +5,8 @@
# Anton Babushkin <anton.babushkin@me.com>
#
sh /etc/init.d/8001_octo_x
sh /etc/init.d/rc.mc_defaults
set MIXER FMU_octo_+
set PWM_OUTPUTS 12345678

45
ROMFS/px4fmu_common/init.d/rc.mc_defaults
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@ -0,0 +1,45 @@ @@ -0,0 +1,45 @@
#!nsh
set VEHICLE_TYPE mc
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.12
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.004
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.12
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 MPC_THR_MAX 1.0
param set MPC_THR_MIN 0.1
param set MPC_XY_P 1.0
param set MPC_XY_VEL_P 0.1
param set MPC_XY_VEL_I 0.02
param set MPC_XY_VEL_D 0.01
param set MPC_XY_VEL_MAX 5
param set MPC_XY_FF 0.5
param set MPC_Z_P 1.0
param set MPC_Z_VEL_P 0.1
param set MPC_Z_VEL_I 0.02
param set MPC_Z_VEL_D 0.0
param set MPC_Z_VEL_MAX 3
param set MPC_Z_FF 0.5
param set MPC_TILT_MAX 1.0
param set MPC_LAND_SPEED 1.0
param set MPC_LAND_TILT 0.3
fi
set PWM_RATE 400
set PWM_DISARMED 900
set PWM_MIN 1075
set PWM_MAX 2000
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