zrzk
/
px4_autopilot
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Startup scripts: use rc.fw_defaults for default FW parameters

sbg
Julian Oes 11 years ago
parent
fff00318cd
commit
df41c04be7
12 changed files with 47 additions and 374 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 30
      ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil
  2. 32
      ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil
  3. 53
      ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil
  4. 33
      ROMFS/px4fmu_common/init.d/2100_mpx_easystar
  5. 32
      ROMFS/px4fmu_common/init.d/2101_hk_bixler
  6. 30
      ROMFS/px4fmu_common/init.d/2102_3dr_skywalker
  7. 35
      ROMFS/px4fmu_common/init.d/3030_io_camflyer
  8. 36
      ROMFS/px4fmu_common/init.d/3031_phantom
  9. 35
      ROMFS/px4fmu_common/init.d/3032_skywalker_x5
  10. 35
      ROMFS/px4fmu_common/init.d/3033_wingwing
  11. 35
      ROMFS/px4fmu_common/init.d/3034_fx79
  12. 35
      ROMFS/px4fmu_common/init.d/rc.fw_defaults

30
ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil
Unescape View File

@ -5,36 +5,10 @@
# Lorenz Meier <lm@inf.ethz.ch> # Lorenz Meier <lm@inf.ethz.ch>
# #
echo "HIL Rascal 110 starting.." sh /etc/init.d/rc.fw_defaults
if [ $DO_AUTOCONFIG == yes ] echo "HIL Rascal 110 starting.."
then
# Set all params here, then disable autoconfig
param set FW_P_D 0
param set FW_P_I 0
param set FW_P_IMAX 15
param set FW_P_LIM_MAX 50
param set FW_P_LIM_MIN -50
param set FW_P_P 60
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 1.1
param set FW_R_D 0
param set FW_R_I 5
param set FW_R_IMAX 20
param set FW_R_P 100
param set FW_R_RMAX 100
param set FW_THR_CRUISE 0.65
param set FW_T_SINK_MAX 5.0
param set FW_T_SINK_MIN 4.0
param set FW_Y_ROLLFF 1.1
param set FW_L1_PERIOD 16
param set RC_SCALE_ROLL 1.0
param set RC_SCALE_PITCH 1.0
fi
set HIL yes set HIL yes
set VEHICLE_TYPE fw
set MIXER FMU_AERT set MIXER FMU_AERT

32
ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil
Unescape View File

@ -5,38 +5,10 @@
# Thomas Gubler <thomasgubler@gmail.com> # Thomas Gubler <thomasgubler@gmail.com>
# #
echo "HIL Rascal 110 starting.." sh /etc/init.d/rc.fw_defaults
if [ $DO_AUTOCONFIG == yes ] echo "HIL Rascal 110 starting.."
then
# Set all params here, then disable autoconfig
param set FW_P_D 0
param set FW_P_I 0
param set FW_P_IMAX 15
param set FW_P_LIM_MAX 50
param set FW_P_LIM_MIN -50
param set FW_P_P 60
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 1.1
param set FW_R_D 0
param set FW_R_I 5
param set FW_R_IMAX 20
param set FW_R_P 100
param set FW_R_RMAX 100
param set FW_THR_CRUISE 0.65
param set FW_THR_MAX 1
param set FW_THR_MIN 0
param set FW_T_SINK_MAX 5.0
param set FW_T_SINK_MIN 4.0
param set FW_Y_ROLLFF 1.1
param set FW_L1_PERIOD 16
param set RC_SCALE_ROLL 1.0
param set RC_SCALE_PITCH 1.0
fi
set HIL yes set HIL yes
set VEHICLE_TYPE fw
set MIXER FMU_AERT set MIXER FMU_AERT

53
ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil
Unescape View File

@ -5,60 +5,9 @@
# Thomas Gubler <thomasgubler@gmail.com> # Thomas Gubler <thomasgubler@gmail.com>
# #
echo "HIL Malolo 1 starting.." sh /etc/init.d/rc.fw_defaults
if [ $DO_AUTOCONFIG == yes ]
then
# Set all params here, then disable autoconfig
param set FW_AIRSPD_MIN 12
param set FW_AIRSPD_TRIM 25
param set FW_ATT_TC 0.3
param set FW_L1_DAMPING 0.74
param set FW_L1_PERIOD 15
param set FW_PR_FF 0.8
param set FW_PR_I 0.05
param set FW_PR_IMAX 0.2
param set FW_PR_P 0.1
param set FW_P_LIM_MAX 45
param set FW_P_LIM_MIN -45
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 0
param set FW_RR_FF 0.6
param set FW_RR_I 0.02
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.1
param set FW_R_LIM 45
param set FW_R_RMAX 0
param set FW_THR_CRUISE 0.6
param set FW_THR_MAX 1
param set FW_THR_MIN 0
param set FW_T_CLMB_MAX 5
param set FW_T_HRATE_P 0.02
param set FW_T_PTCH_DAMP 0
param set FW_T_RLL2THR 15
param set FW_T_SINK_MAX 5
param set FW_T_SINK_MIN 2
param set FW_T_SRATE_P 0.01
param set FW_T_TIME_CONST 3
param set FW_T_VERT_ACC 7
param set FW_YCO_VMIN 1000
param set FW_YR_FF 0.0
param set FW_YR_I 0
param set FW_YR_IMAX 0.2
param set FW_YR_P 0.0
param set FW_Y_RMAX 0
param set NAV_LAND_ALT 90
param set NAV_RTL_ALT 100
param set NAV_RTL_LAND_T -1
param set SYS_AUTOCONFIG 0
param save
fi
set HIL yes set HIL yes
set VEHICLE_TYPE fw
# Set the AERT mixer for HIL (even if the malolo is a flying wing) # Set the AERT mixer for HIL (even if the malolo is a flying wing)
set MIXER FMU_AERT set MIXER FMU_AERT

33
ROMFS/px4fmu_common/init.d/2100_mpx_easystar
Unescape View File

@ -2,38 +2,7 @@
# #
# MPX EasyStar Plane # MPX EasyStar Plane
# #
# Maintainers: ???
#
if [ $DO_AUTOCONFIG == yes ] sh /etc/init.d/rc.fw_defaults
then
#
# Default parameters for this platform
#
param set FW_P_D 0
param set FW_P_I 0
param set FW_P_IMAX 15
param set FW_P_LIM_MAX 50
param set FW_P_LIM_MIN -50
param set FW_P_P 60
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 1.1
param set FW_R_D 0
param set FW_R_I 5
param set FW_R_IMAX 20
param set FW_R_P 100
param set FW_R_RMAX 100
param set FW_THR_CRUISE 0.65
param set FW_THR_MAX 1
param set FW_THR_MIN 0
param set FW_T_SINK_MAX 5.0
param set FW_T_SINK_MIN 4.0
param set FW_Y_ROLLFF 1.1
param set FW_L1_PERIOD 16
param set RC_SCALE_ROLL 1.0
param set RC_SCALE_PITCH 1.0
fi
set VEHICLE_TYPE fw
set MIXER FMU_RET set MIXER FMU_RET

32
ROMFS/px4fmu_common/init.d/2101_hk_bixler
Unescape View File

@ -1,35 +1,5 @@
#!nsh #!nsh
if [ $DO_AUTOCONFIG == yes ] sh /etc/init.d/rc.fw_defaults
then
# Set all params here, then disable autoconfig
param set FW_P_D 0
param set FW_P_I 0
param set FW_P_IMAX 15
param set FW_P_LIM_MAX 50
param set FW_P_LIM_MIN -50
param set FW_P_P 60
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 1.1
param set FW_R_D 0
param set FW_R_I 5
param set FW_R_IMAX 20
param set FW_R_P 100
param set FW_R_RMAX 100
param set FW_THR_CRUISE 0.65
param set FW_THR_MAX 1
param set FW_THR_MIN 0
param set FW_T_SINK_MAX 5.0
param set FW_T_SINK_MIN 4.0
param set FW_Y_ROLLFF 1.1
param set FW_L1_PERIOD 16
param set RC_SCALE_ROLL 1.0
param set RC_SCALE_PITCH 1.0
param set SYS_AUTOCONFIG 0
param save
fi
set VEHICLE_TYPE fw
set MIXER FMU_AERT set MIXER FMU_AERT

30
ROMFS/px4fmu_common/init.d/2102_3dr_skywalker
Unescape View File

@ -1,33 +1,5 @@
#!nsh #!nsh
if [ $DO_AUTOCONFIG == yes ] sh /etc/init.d/rc.fw_defaults
then
# Set all params here, then disable autoconfig
param set FW_P_D 0
param set FW_P_I 0
param set FW_P_IMAX 15
param set FW_P_LIM_MAX 50
param set FW_P_LIM_MIN -50
param set FW_P_P 60
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 1.1
param set FW_R_D 0
param set FW_R_I 5
param set FW_R_IMAX 20
param set FW_R_P 100
param set FW_R_RMAX 100
param set FW_THR_CRUISE 0.65
param set FW_T_SINK_MAX 5.0
param set FW_T_SINK_MIN 4.0
param set FW_Y_ROLLFF 1.1
param set FW_L1_PERIOD 16
param set RC_SCALE_ROLL 1.0
param set RC_SCALE_PITCH 1.0
param set SYS_AUTOCONFIG 0
param save
fi
set VEHICLE_TYPE fw
set MIXER FMU_AERT set MIXER FMU_AERT

35
ROMFS/px4fmu_common/init.d/3030_io_camflyer
Unescape View File

@ -1,38 +1,5 @@
#!nsh #!nsh
if [ $DO_AUTOCONFIG == yes ] sh /etc/init.d/rc.fw_defaults
then
#
# Default parameters for this platform
#
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 1.0
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
fi
set VEHICLE_TYPE fw
set MIXER FMU_Q set MIXER FMU_Q

36
ROMFS/px4fmu_common/init.d/3031_phantom
Unescape View File

@ -5,40 +5,4 @@
# Simon Wilks <sjwilks@gmail.com> # Simon Wilks <sjwilks@gmail.com>
# #
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
param set FW_AIRSPD_MIN 11.4
param set FW_AIRSPD_TRIM 14
param set FW_AIRSPD_MAX 22
param set FW_L1_PERIOD 15
param set FW_P_D 0
param set FW_P_I 0
param set FW_P_IMAX 15
param set FW_P_LIM_MAX 45
param set FW_P_LIM_MIN -45
param set FW_P_P 60
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 15
param set FW_R_P 80
param set FW_R_RMAX 60
param set FW_THR_CRUISE 0.8
param set FW_THR_LND_MAX 0
param set FW_THR_MAX 1
param set FW_THR_MIN 0.5
param set FW_T_SINK_MAX 5.0
param set FW_T_SINK_MIN 2.0
param set FW_Y_ROLLFF 1.0
param set RC_SCALE_ROLL 0.6
param set RC_SCALE_PITCH 0.6
param set TRIM_PITCH 0.1
fi
set VEHICLE_TYPE fw
set MIXER FMU_Q set MIXER FMU_Q

35
ROMFS/px4fmu_common/init.d/3032_skywalker_x5
Unescape View File

@ -5,39 +5,6 @@
# Thomas Gubler <thomasgubler@gmail.com>, Julian Oes <joes@student.ethz.ch> # Thomas Gubler <thomasgubler@gmail.com>, Julian Oes <joes@student.ethz.ch>
# #
if [ $DO_AUTOCONFIG == yes ] sh /etc/init.d/rc.fw_defaults
then
#
# Default parameters for this platform
#
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
fi
set VEHICLE_TYPE fw
set MIXER FMU_X5 set MIXER FMU_X5

35
ROMFS/px4fmu_common/init.d/3033_wingwing
Unescape View File

@ -5,39 +5,6 @@
# Simon Wilks <sjwilks@gmail.com> # Simon Wilks <sjwilks@gmail.com>
# #
if [ $DO_AUTOCONFIG == yes ] sh /etc/init.d/rc.fw_defaults
then
#
# Default parameters for this platform
#
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
fi
set VEHICLE_TYPE fw
set MIXER FMU_Q set MIXER FMU_Q

35
ROMFS/px4fmu_common/init.d/3034_fx79
Unescape View File

@ -5,39 +5,6 @@
# Simon Wilks <sjwilks@gmail.com> # Simon Wilks <sjwilks@gmail.com>
# #
if [ $DO_AUTOCONFIG == yes ] sh /etc/init.d/rc.fw_defaults
then
#
# Default parameters for this platform
#
param set FW_AIRSPD_MAX 20
param set FW_AIRSPD_TRIM 12
param set FW_AIRSPD_MIN 15
param set FW_L1_PERIOD 12
param set FW_P_D 0
param set FW_P_I 0
param set FW_P_IMAX 15
param set FW_P_LIM_MAX 50
param set FW_P_LIM_MIN -50
param set FW_P_P 60
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 1.1
param set FW_R_D 0
param set FW_R_I 5
param set FW_R_IMAX 20
param set FW_R_P 80
param set FW_R_RMAX 100
param set FW_THR_CRUISE 0.75
param set FW_THR_MAX 1
param set FW_THR_MIN 0
param set FW_T_SINK_MAX 5.0
param set FW_T_SINK_MIN 4.0
param set FW_T_TIME_CONST 9
param set FW_Y_ROLLFF 1.1
param set RC_SCALE_ROLL 1.0
param set RC_SCALE_PITCH 1.0
fi
set VEHICLE_TYPE fw
set MIXER FMU_FX79 set MIXER FMU_FX79

35
ROMFS/px4fmu_common/init.d/rc.fw_defaults
Unescape View File

@ -0,0 +1,35 @@
#!nsh
set VEHICLE_TYPE fw
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
param set FW_AIRSPD_MIN 15
param set FW_AIRSPD_TRIM 20
param set FW_AIRSPD_MAX 80
param set FW_ATT_TC 0.3
param set FW_L1_DAMPING 0.74
param set FW_L1_PERIOD 15
param set FW_PR_FF 0.8
param set FW_PR_I 0
param set FW_PR_IMAX 0.2
param set FW_PR_P 0.05
param set FW_P_LIM_MAX 45
param set FW_P_LIM_MIN -45
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 0
param set FW_RR_FF 0.6
param set FW_RR_I 0
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.05
param set FW_R_LIM 60
param set FW_R_RMAX 0
param set FW_T_HRATE_P 0.01
param set FW_T_RLL2THR 15
param set FW_T_SRATE_P 0.01
param set FW_T_TIME_CONST 5
fi
Write Preview
Loading…
Cancel
Save