Merge pull request #564 from sjwilks/wingwing

Wing Wing (Z-84) startup script

ROMFS/px4fmu_common/init.d/33_io_wingwing

@@ -0,0 +1,91 @@
+#!nsh
+
+echo "[init] PX4FMU v1, v2 with or without IO on the Wing Wing (aka Z-84)"
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+   # Set all params here, then disable autoconfig
+   param set FW_AIRSPD_MIN 7
+   param set FW_AIRSPD_TRIM 9
+   param set FW_AIRSPD_MAX 14
+   param set FW_L1_PERIOD 10
+   param set FW_P_D 0
+   param set FW_P_I 0
+   param set FW_P_IMAX 20
+   param set FW_P_LIM_MAX 30
+   param set FW_P_LIM_MIN -20
+   param set FW_P_P 30
+   param set FW_P_RMAX_NEG 0
+   param set FW_P_RMAX_POS 0
+   param set FW_P_ROLLFF 2
+   param set FW_R_D 0
+   param set FW_R_I 5
+   param set FW_R_IMAX 20
+   param set FW_R_P 60
+   param set FW_R_RMAX 60
+   param set FW_THR_CRUISE 0.65
+   param set FW_THR_MAX 0.7
+   param set FW_THR_MIN 0
+   param set FW_T_SINK_MAX 5
+   param set FW_T_SINK_MIN 2
+   param set FW_T_TIME_CONST 9
+   param set FW_Y_ROLLFF 2.0
+   param set RC_SCALE_ROLL 1.0
+   param set RC_SCALE_PITCH 1.0
+
+   param set SYS_AUTOCONFIG 0
+   param save
+fi
+ 
+#
+# Force some key parameters to sane values
+# MAV_TYPE     1 = fixed wing
+#
+param set MAV_TYPE 1
+
+set EXIT_ON_END no
+
+#
+# Start and configure PX4IO or FMU interface
+#
+if px4io detect
+then
+   # Start MAVLink (depends on orb)
+   mavlink start
+
+   sh /etc/init.d/rc.io
+   # Limit to 100 Hz updates and (implicit) 50 Hz PWM
+   px4io limit 100
+else
+   # Start MAVLink (on UART1 / ttyS0)
+   mavlink start -d /dev/ttyS0
+
+   fmu mode_pwm
+   param set BAT_V_SCALING 0.004593
+   set EXIT_ON_END yes
+fi
+
+#
+# Load mixer and start controllers (depends on px4io)
+#
+if [ -f /fs/microsd/etc/mixers/FMU_Q.mix ]
+then
+   echo "Using /fs/microsd/etc/mixers/FMU_Q.mix"
+   mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_Q.mix
+else
+   echo "Using /etc/mixers/FMU_Q.mix"
+   mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
+fi
+
+#
+# Start common fixedwing apps
+#
+sh /etc/init.d/rc.fixedwing
+
+if [ $EXIT_ON_END == yes ]
+then
+   exit
+fi

ROMFS/px4fmu_common/init.d/rcS

@@ -321,6 +321,12 @@ then
 		set MODE custom
 	fi
 
+	if param compare SYS_AUTOSTART 33
+	then
+		sh /etc/init.d/32_io_wingwing
+		set MODE custom
+	fi
+
 	if param compare SYS_AUTOSTART 40
 	then
 		sh /etc/init.d/40_io_segway