Browse Source

Merge branch 'master' of github.com:PX4/Firmware

sbg
Lorenz Meier 11 years ago
parent
commit
fbafeab792
  1. 58
      ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil
  2. 56
      ROMFS/px4fmu_common/init.d/1002_rc_fw_state.hil
  3. 1
      ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil
  4. 37
      ROMFS/px4fmu_common/init.d/12001_octo_cox_pwm
  5. 48
      ROMFS/px4fmu_common/init.d/2101_hk_bixler
  6. 48
      ROMFS/px4fmu_common/init.d/2102_3dr_skywalker
  7. 84
      ROMFS/px4fmu_common/init.d/3030_io_camflyer
  8. 33
      ROMFS/px4fmu_common/init.d/3032_skywalker_x5
  9. 37
      ROMFS/px4fmu_common/init.d/5001_quad_+_pwm
  10. 37
      ROMFS/px4fmu_common/init.d/6001_hexa_x_pwm
  11. 37
      ROMFS/px4fmu_common/init.d/7001_hexa_+_pwm
  12. 37
      ROMFS/px4fmu_common/init.d/8001_octo_x_pwm
  13. 37
      ROMFS/px4fmu_common/init.d/9001_octo_+_pwm
  14. 9
      ROMFS/px4fmu_common/init.d/cmp_test
  15. 94
      ROMFS/px4fmu_common/init.d/rc.autostart

58
ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil

@ -1,14 +1,13 @@
#!nsh #!nsh
# #
# USB HIL start # HILStar / X-Plane
#
# Maintainers: Thomas Gubler <thomasgubler@gmail.com>
# #
echo "[HIL] HILStar starting.." echo "HIL Rascal 110 starting.."
# if [ $DO_AUTOCONFIG == yes ]
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then then
# Set all params here, then disable autoconfig # Set all params here, then disable autoconfig
@ -40,48 +39,7 @@ then
param save param save
fi fi
# Allow USB some time to come up set HIL yes
sleep 1
# Tell MAVLink that this link is "fast"
mavlink start -b 230400 -d /dev/ttyACM0
# Create a fake HIL /dev/pwm_output interface
hil mode_pwm
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
#
param set MAV_TYPE 1
#
# Check if we got an IO
#
if px4io start
then
echo "IO started"
else
fmu mode_serial
echo "FMU started"
fi
#
# Start the sensors (depends on orb, px4io)
#
sh /etc/init.d/rc.sensors
#
# Start the attitude estimator (depends on orb)
#
att_pos_estimator_ekf start
#
# Load mixer and start controllers (depends on px4io)
#
mixer load /dev/pwm_output /etc/mixers/FMU_AET.mix
fw_pos_control_l1 start
fw_att_control start
echo "[HIL] setup done, running"
set VEHICLE_TYPE fw
set MIXER FMU_AERT

56
ROMFS/px4fmu_common/init.d/1002_rc_fw_state.hil

@ -1,14 +1,13 @@
#!nsh #!nsh
# #
# USB HIL start # HIL Rascal 110 (Flightgear)
#
# Maintainers: Thomas Gubler <thomasgubler@gmail.com>
# #
echo "[HIL] HILStar starting in state-HIL mode.." echo "HIL Rascal 110 starting.."
# if [ $DO_AUTOCONFIG == yes ]
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then then
# Set all params here, then disable autoconfig # Set all params here, then disable autoconfig
@ -32,48 +31,15 @@ then
param set FW_T_SINK_MAX 5.0 param set FW_T_SINK_MAX 5.0
param set FW_T_SINK_MIN 4.0 param set FW_T_SINK_MIN 4.0
param set FW_Y_ROLLFF 1.1 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 set SYS_AUTOCONFIG 0
param save param save
fi fi
# Allow USB some time to come up set HIL yes
sleep 1
# Tell MAVLink that this link is "fast"
mavlink start -b 230400 -d /dev/ttyACM0
# Create a fake HIL /dev/pwm_output interface
hil mode_pwm
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
#
param set MAV_TYPE 1
#
# Check if we got an IO
#
if px4io start
then
echo "IO started"
else
fmu mode_serial
echo "FMU started"
fi
#
# Start the sensors (depends on orb, px4io)
#
sh /etc/init.d/rc.sensors
#
# Load mixer and start controllers (depends on px4io)
#
mixer load /dev/pwm_output /etc/mixers/FMU_AET.mix
fw_pos_control_l1 start
fw_att_control start
echo "[HIL] setup done, running"
set VEHICLE_TYPE fw
set MIXER FMU_AERT

1
ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil

@ -43,4 +43,3 @@ set HIL yes
set VEHICLE_TYPE fw set VEHICLE_TYPE fw
set MIXER FMU_AERT set MIXER FMU_AERT

37
ROMFS/px4fmu_common/init.d/12001_octo_cox_pwm

@ -0,0 +1,37 @@
#!nsh
#
# Generic 10” Octo coaxial geometry
#
# Maintainers: Lorenz Meier <lm@inf.ethz.ch>
#
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
param set MC_ATT_P 7.0
param set MC_ATT_I 0.0
param set MC_ATT_D 0.0
param set MC_ATTRATE_P 0.12
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_D 0.004
param set MC_YAWPOS_P 2.0
param set MC_YAWPOS_I 0.0
param set MC_YAWPOS_D 0.0
param set MC_YAWRATE_P 0.3
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0.005
# TODO add default MPC parameters
fi
set VEHICLE_TYPE mc
set MIXER FMU_octo_cox
set PWM_OUTPUTS 1234
set PWM_RATE 400
# DJI ESC range
set PWM_DISARMED 900
set PWM_MIN 1200
set PWM_MAX 1900

48
ROMFS/px4fmu_common/init.d/2101_hk_bixler

@ -1,11 +1,11 @@
#!nsh #!nsh
echo "[init] PX4FMU v1, v2 with or without IO on HK Bixler" echo "[init] PX4FMU v1, v2 with or without IO on 3DR SkyWalker"
# #
# Load default params for this platform # Load default params for this platform
# #
if param compare SYS_AUTOCONFIG 1 if [ $DO_AUTOCONFIG == yes ]
then then
# Set all params here, then disable autoconfig # Set all params here, then disable autoconfig
param set FW_P_D 0 param set FW_P_D 0
@ -35,46 +35,6 @@ then
param set SYS_AUTOCONFIG 0 param set SYS_AUTOCONFIG 0
param save param save
fi 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_AERT.mix ]
then
echo "Using /fs/microsd/etc/mixers/FMU_AERT.mix"
mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_AERT.mix
else
echo "Using /etc/mixers/FMU_Q.mix"
mixer load /dev/pwm_output /etc/mixers/FMU_AERT.mix
fi
# set VEHICLE_TYPE fw
# Start common fixedwing apps set MIXER FMU_AERT
#
sh /etc/init.d/rc.fixedwing

48
ROMFS/px4fmu_common/init.d/2102_3dr_skywalker

@ -5,7 +5,7 @@ echo "[init] PX4FMU v1, v2 with or without IO on 3DR SkyWalker"
# #
# Load default params for this platform # Load default params for this platform
# #
if param compare SYS_AUTOCONFIG 1 if [ $DO_AUTOCONFIG == yes ]
then then
# Set all params here, then disable autoconfig # Set all params here, then disable autoconfig
param set FW_P_D 0 param set FW_P_D 0
@ -35,48 +35,6 @@ then
param set SYS_AUTOCONFIG 0 param set SYS_AUTOCONFIG 0
param save param save
fi 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
pwm disarmed -c 3 -p 1056 set VEHICLE_TYPE fw
set MIXER FMU_AERT
#
# Load mixer and start controllers (depends on px4io)
#
if [ -f /fs/microsd/etc/mixers/FMU_AERT.mix ]
then
echo "Using /fs/microsd/etc/mixers/FMU_AERT.mix"
mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_AETR.mix
else
echo "Using /etc/mixers/FMU_Q.mix"
mixer load /dev/pwm_output /etc/mixers/FMU_AETR.mix
fi
#
# Start common fixedwing apps
#
sh /etc/init.d/rc.fixedwing

84
ROMFS/px4fmu_common/init.d/3030_io_camflyer

@ -2,57 +2,39 @@
echo "[init] PX4FMU v1, v2 with or without IO on Camflyer" echo "[init] PX4FMU v1, v2 with or without IO on Camflyer"
# if [ $DO_AUTOCONFIG == yes ]
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then then
# Set all params here, then disable autoconfig #
# TODO # Default parameters for this platform
#
param set SYS_AUTOCONFIG 0 param set FW_AIRSPD_MIN 7
param save 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 fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing
#
param set MAV_TYPE 1
# set VEHICLE_TYPE fw
# Start and configure PX4IO or FMU interface set MIXER FMU_Q
#
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

33
ROMFS/px4fmu_common/init.d/3032_skywalker_x5

@ -7,8 +7,37 @@
if [ $DO_AUTOCONFIG == yes ] if [ $DO_AUTOCONFIG == yes ]
then then
# TODO #
# 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 fi
set VEHICLE_TYPE fw set VEHICLE_TYPE fw
set MIXER FMU_Q set MIXER FMU_X5

37
ROMFS/px4fmu_common/init.d/5001_quad_+_pwm

@ -0,0 +1,37 @@
#!nsh
#
# Generic 10” Quad + geometry
#
# Maintainers: Lorenz Meier <lm@inf.ethz.ch>
#
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
param set MC_ATT_P 7.0
param set MC_ATT_I 0.0
param set MC_ATT_D 0.0
param set MC_ATTRATE_P 0.12
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_D 0.004
param set MC_YAWPOS_P 2.0
param set MC_YAWPOS_I 0.0
param set MC_YAWPOS_D 0.0
param set MC_YAWRATE_P 0.3
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0.005
# TODO add default MPC parameters
fi
set VEHICLE_TYPE mc
set MIXER FMU_quad_+
set PWM_OUTPUTS 1234
set PWM_RATE 400
# DJI ESC range
set PWM_DISARMED 900
set PWM_MIN 1200
set PWM_MAX 1900

37
ROMFS/px4fmu_common/init.d/6001_hexa_x_pwm

@ -0,0 +1,37 @@
#!nsh
#
# Generic 10” Hexa X geometry
#
# Maintainers: Lorenz Meier <lm@inf.ethz.ch>
#
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
param set MC_ATT_P 7.0
param set MC_ATT_I 0.0
param set MC_ATT_D 0.0
param set MC_ATTRATE_P 0.12
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_D 0.004
param set MC_YAWPOS_P 2.0
param set MC_YAWPOS_I 0.0
param set MC_YAWPOS_D 0.0
param set MC_YAWRATE_P 0.3
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0.005
# TODO add default MPC parameters
fi
set VEHICLE_TYPE mc
set MIXER FMU_hexa_x
set PWM_OUTPUTS 1234
set PWM_RATE 400
# DJI ESC range
set PWM_DISARMED 900
set PWM_MIN 1200
set PWM_MAX 1900

37
ROMFS/px4fmu_common/init.d/7001_hexa_+_pwm

@ -0,0 +1,37 @@
#!nsh
#
# Generic 10” Hexa + geometry
#
# Maintainers: Lorenz Meier <lm@inf.ethz.ch>
#
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
param set MC_ATT_P 7.0
param set MC_ATT_I 0.0
param set MC_ATT_D 0.0
param set MC_ATTRATE_P 0.12
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_D 0.004
param set MC_YAWPOS_P 2.0
param set MC_YAWPOS_I 0.0
param set MC_YAWPOS_D 0.0
param set MC_YAWRATE_P 0.3
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0.005
# TODO add default MPC parameters
fi
set VEHICLE_TYPE mc
set MIXER FMU_hexa_+
set PWM_OUTPUTS 1234
set PWM_RATE 400
# DJI ESC range
set PWM_DISARMED 900
set PWM_MIN 1200
set PWM_MAX 1900

37
ROMFS/px4fmu_common/init.d/8001_octo_x_pwm

@ -0,0 +1,37 @@
#!nsh
#
# Generic 10” Octo X geometry
#
# Maintainers: Lorenz Meier <lm@inf.ethz.ch>
#
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
param set MC_ATT_P 7.0
param set MC_ATT_I 0.0
param set MC_ATT_D 0.0
param set MC_ATTRATE_P 0.12
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_D 0.004
param set MC_YAWPOS_P 2.0
param set MC_YAWPOS_I 0.0
param set MC_YAWPOS_D 0.0
param set MC_YAWRATE_P 0.3
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0.005
# TODO add default MPC parameters
fi
set VEHICLE_TYPE mc
set MIXER FMU_octo_x
set PWM_OUTPUTS 1234
set PWM_RATE 400
# DJI ESC range
set PWM_DISARMED 900
set PWM_MIN 1200
set PWM_MAX 1900

37
ROMFS/px4fmu_common/init.d/9001_octo_+_pwm

@ -0,0 +1,37 @@
#!nsh
#
# Generic 10” Octo + geometry
#
# Maintainers: Lorenz Meier <lm@inf.ethz.ch>
#
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
param set MC_ATT_P 7.0
param set MC_ATT_I 0.0
param set MC_ATT_D 0.0
param set MC_ATTRATE_P 0.12
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_D 0.004
param set MC_YAWPOS_P 2.0
param set MC_YAWPOS_I 0.0
param set MC_YAWPOS_D 0.0
param set MC_YAWRATE_P 0.3
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0.005
# TODO add default MPC parameters
fi
set VEHICLE_TYPE mc
set MIXER FMU_octo_+
set PWM_OUTPUTS 1234
set PWM_RATE 400
# DJI ESC range
set PWM_DISARMED 900
set PWM_MIN 1200
set PWM_MAX 1900

9
ROMFS/px4fmu_common/init.d/cmp_test

@ -1,9 +0,0 @@
#!nsh
cp /etc/extras/px4io-v2_default.bin /fs/microsd/px4io.loaded
if cmp /etc/extras/px4io-v2_default.bin /fs/microsd/px4io.loaded
then
echo "CMP returned true"
else
echo "CMP returned false"
fi

94
ROMFS/px4fmu_common/init.d/rc.autostart

@ -33,7 +33,7 @@ fi
if param compare SYS_AUTOSTART 1002 if param compare SYS_AUTOSTART 1002
then then
#sh /etc/init.d/1002_rc_fw_state.hil sh /etc/init.d/1002_rc_fw_state.hil
fi fi
if param compare SYS_AUTOSTART 1003 if param compare SYS_AUTOSTART 1003
@ -52,47 +52,47 @@ fi
if param compare SYS_AUTOSTART 2100 100 if param compare SYS_AUTOSTART 2100 100
then then
#sh /etc/init.d/2100_mpx_easystar sh /etc/init.d/2100_mpx_easystar
#set MODE custom set MODE custom
fi fi
if param compare SYS_AUTOSTART 2101 101 if param compare SYS_AUTOSTART 2101 101
then then
#sh /etc/init.d/2101_hk_bixler sh /etc/init.d/2101_hk_bixler
#set MODE custom set MODE custom
fi fi
if param compare SYS_AUTOSTART 2102 102 if param compare SYS_AUTOSTART 2102 102
then then
#sh /etc/init.d/2102_3dr_skywalker sh /etc/init.d/2102_3dr_skywalker
#set MODE custom set MODE custom
fi fi
# #
# Flying wing # Flying wing
# #
if param compare SYS_AUTOSTART 3030 if param compare SYS_AUTOSTART 3030 30
then then
#sh /etc/init.d/3030_io_camflyer sh /etc/init.d/3030_io_camflyer
fi fi
if param compare SYS_AUTOSTART 3031 if param compare SYS_AUTOSTART 3031 31
then then
sh /etc/init.d/3031_phantom sh /etc/init.d/3031_phantom
fi fi
if param compare SYS_AUTOSTART 3032 if param compare SYS_AUTOSTART 3032 32
then then
sh /etc/init.d/3032_skywalker_x5 sh /etc/init.d/3032_skywalker_x5
fi fi
if param compare SYS_AUTOSTART 3033 if param compare SYS_AUTOSTART 3033 33
then then
sh /etc/init.d/3033_wingwing sh /etc/init.d/3033_wingwing
fi fi
if param compare SYS_AUTOSTART 3034 if param compare SYS_AUTOSTART 3034 34
then then
sh /etc/init.d/3034_fx79 sh /etc/init.d/3034_fx79
fi fi
@ -101,41 +101,95 @@ fi
# Quad X # Quad X
# #
if param compare SYS_AUTOSTART 4008 if param compare SYS_AUTOSTART 4008 8
then then
#sh /etc/init.d/4008_ardrone #sh /etc/init.d/4008_ardrone
fi fi
if param compare SYS_AUTOSTART 4009 if param compare SYS_AUTOSTART 4009 9
then then
#sh /etc/init.d/4009_ardrone_flow #sh /etc/init.d/4009_ardrone_flow
fi fi
if param compare SYS_AUTOSTART 4010 if param compare SYS_AUTOSTART 4010 10
then then
sh /etc/init.d/4010_dji_f330 sh /etc/init.d/4010_dji_f330
fi fi
if param compare SYS_AUTOSTART 4011 if param compare SYS_AUTOSTART 4011 11
then then
sh /etc/init.d/4011_dji_f450 sh /etc/init.d/4011_dji_f450
fi fi
if param compare SYS_AUTOSTART 4012 if param compare SYS_AUTOSTART 4012 12
then then
sh /etc/init.d/4012_hk_x550 sh /etc/init.d/4012_hk_x550
fi fi
#
# Quad +
#
if param compare SYS_AUTOSTART 5001
then
sh /etc/init.d/5001_quad_+_pwm
fi
#
# Hexa X
#
if param compare SYS_AUTOSTART 6001
then
sh /etc/init.d/6001_hexa_x_pwm
fi
#
# Hexa +
#
if param compare SYS_AUTOSTART 7001
then
sh /etc/init.d/7001_hexa_+_pwm
fi
#
# Octo X
#
if param compare SYS_AUTOSTART 8001
then
sh /etc/init.d/8001_octo_x_pwm
fi
#
# Octo +
#
if param compare SYS_AUTOSTART 9001
then
sh /etc/init.d/9001_octo_+_pwm
fi
# #
# Wide arm / H frame # Wide arm / H frame
# #
if param compare SYS_AUTOSTART 10015 if param compare SYS_AUTOSTART 10015 15
then then
sh /etc/init.d/10015_tbs_discovery sh /etc/init.d/10015_tbs_discovery
fi fi
if param compare SYS_AUTOSTART 10016 if param compare SYS_AUTOSTART 10016 16
then then
sh /etc/init.d/10016_3dr_iris sh /etc/init.d/10016_3dr_iris
fi fi
#
# Octo Coaxial
#
if param compare SYS_AUTOSTART 12001
then
sh /etc/init.d/12001_octo_cox_pwm
fi

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