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67 lines
1.3 KiB
67 lines
1.3 KiB
#!nsh |
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echo "[init] 15_io_tbs: PX4FMU+PX4IO on a Team Blacksheep Discovery quad" |
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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 SYS_AUTOCONFIG 0 |
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param set MC_ATTRATE_D 0.006 |
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param set MC_ATTRATE_I 0.0 |
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param set MC_ATTRATE_P 0.17 |
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param set MC_ATT_D 0.0 |
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param set MC_ATT_I 0.0 |
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param set MC_ATT_P 5.0 |
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param set MC_RCLOSS_THR 0.0 |
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param set MC_YAWPOS_D 0.0 |
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param set MC_YAWPOS_I 0.15 |
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param set MC_YAWPOS_P 0.5 |
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param set MC_YAWRATE_D 0.0 |
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param set MC_YAWRATE_I 0.0 |
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param set MC_YAWRATE_P 0.2 |
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param save /fs/microsd/params |
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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 2 = quadrotor |
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# |
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param set MAV_TYPE 2 |
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# |
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# Start MAVLink (depends on orb) |
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# |
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mavlink start |
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usleep 5000 |
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# |
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# Start and configure PX4IO interface |
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# |
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sh /etc/init.d/rc.io |
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# |
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# Set PWM values for DJI ESCs |
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# |
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px4io idle 900 900 900 900 |
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px4io min 1180 1180 1180 1180 |
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px4io max 1800 1800 1800 1800 |
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# |
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# Load the mixer for a quad with wide arms |
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# |
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mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix |
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# |
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# Set PWM output frequency |
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# |
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pwm -u 400 -m 0xff |
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# |
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# Start common for all multirotors apps |
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# |
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sh /etc/init.d/rc.multirotor
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