#!/bin/sh # PX4 commands need the 'px4-' prefix in bash. # (px4-alias.sh is expected to be in the PATH) . px4-alias.sh # config for fixed wing (FW) # modified from ./px4.config, switch att/pos_control & mixer uorb start param load # Auto-start script index. Defines the auto-start script used to bootstrap the system. # It seems that SYS_AUTOSTART does not work as intended on posix platform. # For now, find the corresponding settings, and manually set them in ground control. # # 4001: Generic Quadrotor X; 4011: DJI Flame Wheel F450 param set SYS_AUTOSTART 4011 # DJI ESCs do not support calibration and need higher PWM_MIN # http://www.dji.com/e2000/info indicates E2000 Operating Pulse Width: 1120 to 1920 μs # It seems that all latest DJI ESC have the same range. # Note that the setting here applies to all PWM channels. # param set PWM_MIN 1120 # param set PWM_MAX 1920 # Not using DJI 430 LITE ESC anymore due to its hiccups: # each random motor stop would cause a scary flip in the fly # Replacing with 4 BLHeli32 (Wraith32 V2) ESCs solved the main problem in BBBlue porting # Broadcast heartbeats on local network. This allows a ground control station # to automatically find the drone on the local network. param set MAV_BROADCAST 1 # MAV_TYPE: 1 Fixed wing aircraft, 2 Quadrotor param set MAV_TYPE 2 # Three possible main power battery sources for BBBlue: # 1. onboard 2S LiPo battery connector, which is connect to ADC channel 6 # 2. onboard 9-18V DC Jack, which is connect to ADC channel 5. This is the board default. # 3. other power source (e.g., LiPo battery more than 4S/18V). # Scale the voltage to below 1.8V and connect it to ADC channel # 0, 1, 2 or 3. param set BAT_ADC_CHANNEL 5 # 12-bit 1.8V ADC, 1.8V / 2^12 = 0.000439453125 V/CNT param set BAT_CNT_V_VOLT 0.0004394531 # Battery voltage scale factor, from BBBlue schematics: (4.7K + 47K) / 4.7K = 11 param set BAT_V_DIV 11.0 #param set BAT_CNT_V_CURR 0.001 #param set BAT_A_PER_V 15.391030303 dataman start df_bmp280_wrapper start -D /dev/i2c-2 df_mpu9250_wrapper start # options: -R rotation gps start -d /dev/ttyS2 -s -p ubx #rgbled start -b 1 bbblue_adc start bbblue_adc test sensors start commander start navigator start ekf2 start #land_detector start multicopter #mc_pos_control start #mc_att_control start fw_att_control start fw_pos_control_l1 start mavlink start -n SoftAp -x -u 14556 -r 1000000 # -n name of wifi interface: SoftAp, wlan or your custom interface, # e.g., -n wlan . The default on BBBlue is SoftAp sleep 1 mavlink stream -u 14556 -s HIGHRES_IMU -r 20 mavlink stream -u 14556 -s ATTITUDE -r 20 mavlink stream -u 14556 -s MANUAL_CONTROL -r 10 linux_sbus start -d /dev/ttyS4 -c 16 # DSM2 port is mapped to /dev/ttyS4 (default for linux_sbus) # default: ROMFS/px4fmu_common/mixers/quad_x.main.mix, 8 output channels #linux_pwm_out start -p bbblue_rc -m ROMFS/px4fmu_common/mixers/quad_x.main.mix linux_pwm_out start -p bbblue_rc -m ROMFS/px4fmu_common/mixers/AETRFG.main.mix logger start -t -b 200 mavlink boot_complete