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64 lines
1.3 KiB
64 lines
1.3 KiB
#!nsh |
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echo "[init] 666_fmu_q_x550: PX4FMU Quad X550 with PWM outputs" |
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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 MC_ATTRATE_P 0.14 |
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param set MC_ATTRATE_I 0 |
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param set MC_ATTRATE_D 0.006 |
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param set MC_ATT_P 5.5 |
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param set MC_ATT_I 0 |
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param set MC_ATT_D 0 |
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param set MC_YAWPOS_D 0 |
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param set MC_YAWPOS_I 0 |
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param set MC_YAWPOS_P 0.6 |
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param set MC_YAWRATE_D 0 |
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param set MC_YAWRATE_I 0 |
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param set MC_YAWRATE_P 0.08 |
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param set RC_SCALE_PITCH 1 |
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param set RC_SCALE_ROLL 1 |
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param set RC_SCALE_YAW 3 |
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param set SYS_AUTOCONFIG 0 |
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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 |
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# |
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mavlink start -d /dev/ttyS0 -b 57600 |
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usleep 5000 |
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# |
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# Start PWM output |
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# |
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fmu mode_pwm |
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# |
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# Load mixer |
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# |
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mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.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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# Exit, because /dev/ttyS0 is needed for MAVLink |
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exit
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