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

Autostart: some fixed wing setups added

sbg
Anton Babushkin 11 years ago
parent
2e11992992
commit
e301bdcf99
9 changed files with 145 additions and 267 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 6
      ROMFS/px4fmu_common/init.d/10015_tbs_discovery
  2. 9
      ROMFS/px4fmu_common/init.d/2100_mpx_easystar
  3. 85
      ROMFS/px4fmu_common/init.d/3031_io_phantom
  4. 44
      ROMFS/px4fmu_common/init.d/3031_phantom
  5. 84
      ROMFS/px4fmu_common/init.d/3033_io_wingwing
  6. 43
      ROMFS/px4fmu_common/init.d/3033_wingwing
  7. 43
      ROMFS/px4fmu_common/init.d/3034_fx79
  8. 84
      ROMFS/px4fmu_common/init.d/3034_io_fx79
  9. 14
      ROMFS/px4fmu_common/init.d/rc.autostart

6
ROMFS/px4fmu_common/init.d/10015_tbs_discovery
Unescape View File

@ -24,9 +24,7 @@ then @@ -24,9 +24,7 @@ then
param set MC_YAWRATE_D 0.0
fi
set FRAME_TYPE mc
set VEHICLE_TYPE mc
set FRAME_GEOMETRY quad_w
set PWM_RATE 400
set PWM_DISARMED 900
set PWM_MIN 1100
set PWM_MAX 1900

9
ROMFS/px4fmu_common/init.d/2100_mpx_easystar
Unescape View File

@ -1,6 +1,9 @@ @@ -1,6 +1,9 @@
#!nsh
echo "[init] EasyStar"
#
# MPX EasyStar Plane
#
# Maintainers: ???
#
if [ $DO_AUTOCONFIG == yes ]
then
@ -32,5 +35,5 @@ then @@ -32,5 +35,5 @@ then
param set RC_SCALE_PITCH 1.0
fi
set FRAME_TYPE fw
set VEHICLE_TYPE fw
set FRAME_GEOMETRY RET

85
ROMFS/px4fmu_common/init.d/3031_io_phantom
Unescape View File

@ -1,85 +0,0 @@ @@ -1,85 +0,0 @@
#!nsh
echo "[init] PX4FMU v1, v2 with or without IO on Phantom FPV"
#
# 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 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
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
#
# 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

44
ROMFS/px4fmu_common/init.d/3031_phantom
Unescape View File

@ -0,0 +1,44 @@ @@ -0,0 +1,44 @@
#!nsh
#
# Phantom FPV Flying Wing
#
# Maintainers: 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 FRAME_GEOMETRY Q

84
ROMFS/px4fmu_common/init.d/3033_io_wingwing
Unescape View File

@ -1,84 +0,0 @@ @@ -1,84 +0,0 @@
#!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
#
# 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

43
ROMFS/px4fmu_common/init.d/3033_wingwing
Unescape View File

@ -0,0 +1,43 @@ @@ -0,0 +1,43 @@
#!nsh
#
# Wing Wing (aka Z-84) Flying Wing
#
# Maintainers: Simon Wilks <sjwilks@gmail.com>
#
if [ $DO_AUTOCONFIG == yes ]
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 FRAME_GEOMETRY Q

43
ROMFS/px4fmu_common/init.d/3034_fx79
Unescape View File

@ -0,0 +1,43 @@ @@ -0,0 +1,43 @@
#!nsh
#
# FX-79 Buffalo Flying Wing
#
# Maintainers: Simon Wilks <sjwilks@gmail.com>
#
if [ $DO_AUTOCONFIG == yes ]
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 FRAME_GEOMETRY Q

84
ROMFS/px4fmu_common/init.d/3034_io_fx79
Unescape View File

@ -1,84 +0,0 @@ @@ -1,84 +0,0 @@
#!nsh
echo "[init] PX4FMU v1, v2 with or without IO on FX-79 Buffalo"
#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
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
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
#
# 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_FX79.mix ]
then
echo "Using /fs/microsd/etc/mixers/FMU_FX79.mix"
mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_FX79.mix
else
echo "Using /etc/mixers/FMU_FX79.mix"
mixer load /dev/pwm_output /etc/mixers/FMU_FX79.mix
fi
#
# Start common fixedwing apps
#
sh /etc/init.d/rc.fixedwing

14
ROMFS/px4fmu_common/init.d/rc.autostart
Unescape View File

@ -77,24 +77,24 @@ then @@ -77,24 +77,24 @@ then
#sh /etc/init.d/3030_io_camflyer
fi
if param compare SYS_AUTOSTART 3031 31
if param compare SYS_AUTOSTART 3031
then
#sh /etc/init.d/3031_io_phantom
sh /etc/init.d/3031_phantom
fi
if param compare SYS_AUTOSTART 3032 32
if param compare SYS_AUTOSTART 3032
then
#sh /etc/init.d/3032_skywalker_x5
fi
if param compare SYS_AUTOSTART 3033 33
if param compare SYS_AUTOSTART 3033
then
#sh /etc/init.d/3033_io_wingwing
sh /etc/init.d/3033_wingwing
fi
if param compare SYS_AUTOSTART 3034 34
if param compare SYS_AUTOSTART 3034
then
#sh /etc/init.d/3034_io_fx79
sh /etc/init.d/3034_fx79
fi
#

Write Preview
Loading…
Cancel
Save