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101 lines
1.8 KiB
101 lines
1.8 KiB
#!nsh |
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echo "[init] PX4FMU v1, v2 with or without IO on Phantom FPV" |
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# |
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# Load default params for this platform |
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# |
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if param compare SYS_AUTOCONFIG 1 |
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then |
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# Set all params here, then disable autoconfig |
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param set FW_P_D 0 |
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param set FW_P_I 0 |
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param set FW_P_IMAX 15 |
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param set FW_P_LIM_MAX 50 |
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param set FW_P_LIM_MIN -50 |
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param set FW_P_P 60 |
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param set FW_P_RMAX_NEG 0 |
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param set FW_P_RMAX_POS 0 |
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param set FW_P_ROLLFF 1.1 |
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param set FW_R_D 0 |
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param set FW_R_I 5 |
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param set FW_R_IMAX 20 |
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param set FW_R_P 100 |
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param set FW_R_RMAX 100 |
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param set FW_THR_CRUISE 0.65 |
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param set FW_THR_MAX 1 |
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param set FW_THR_MIN 0 |
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param set FW_T_SINK_MAX 5.0 |
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param set FW_T_SINK_MIN 4.0 |
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param set FW_Y_ROLLFF 1.1 |
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param set FW_L1_PERIOD 17 |
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param set RC_SCALE_ROLL 1.0 |
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param set RC_SCALE_PITCH 1.0 |
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param set SYS_AUTOCONFIG 0 |
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param save |
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fi |
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# |
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# Force some key parameters to sane values |
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# MAV_TYPE 1 = fixed wing |
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# |
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param set MAV_TYPE 1 |
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set EXIT_ON_END no |
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# |
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# Start and configure PX4IO or FMU interface |
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# |
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if px4io detect |
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then |
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# Start MAVLink (depends on orb) |
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mavlink start |
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commander start |
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sh /etc/init.d/rc.io |
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# Limit to 100 Hz updates and (implicit) 50 Hz PWM |
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px4io limit 100 |
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else |
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# Start MAVLink (on UART1 / ttyS0) |
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mavlink start -d /dev/ttyS0 |
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commander start |
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fmu mode_pwm |
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param set BAT_V_SCALING 0.004593 |
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set EXIT_ON_END yes |
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fi |
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# |
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# Start the sensors and test them. |
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# |
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sh /etc/init.d/rc.sensors |
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# |
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# Start logging (depends on sensors) |
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# |
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sh /etc/init.d/rc.logging |
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# |
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# Start GPS interface (depends on orb) |
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# |
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gps start |
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# |
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# Start the attitude and position estimator |
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# |
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att_pos_estimator_ekf start |
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# |
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# Load mixer and start controllers (depends on px4io) |
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# |
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mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix |
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fw_att_control start |
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fw_pos_control_l1 start |
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if [ $EXIT_ON_END == yes ] |
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then |
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exit |
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fi
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