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94 lines
1.7 KiB
94 lines
1.7 KiB
#!nsh |
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echo "[init] PX4FMU v1, v2 with or without IO on DJI F330" |
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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 0.002 |
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param set MC_ATTRATE_I 0.0 |
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param set MC_ATTRATE_P 0.09 |
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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 6.8 |
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param set MC_YAWPOS_D 0.0 |
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param set MC_YAWPOS_I 0.0 |
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param set MC_YAWPOS_P 2.0 |
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param set MC_YAWRATE_D 0.005 |
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param set MC_YAWRATE_I 0.2 |
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param set MC_YAWRATE_P 0.3 |
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param set NAV_TAKEOFF_ALT 3.0 |
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param set MPC_TILT_MAX 0.5 |
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param set MPC_THR_MAX 0.7 |
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param set MPC_THR_MIN 0.3 |
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param set MPC_XY_D 0 |
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param set MPC_XY_P 0.5 |
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param set MPC_XY_VEL_D 0 |
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param set MPC_XY_VEL_I 0 |
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param set MPC_XY_VEL_MAX 3 |
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param set MPC_XY_VEL_P 0.2 |
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param set MPC_Z_D 0 |
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param set MPC_Z_P 1 |
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param set MPC_Z_VEL_D 0 |
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param set MPC_Z_VEL_I 0.1 |
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param set MPC_Z_VEL_MAX 2 |
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param set MPC_Z_VEL_P 0.20 |
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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 2 = quadrotor |
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# |
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param set MAV_TYPE 2 |
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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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usleep 5000 |
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sh /etc/init.d/rc.io |
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# Set PWM values for DJI ESCs |
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px4io idle 900 900 900 900 |
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px4io min 1200 1200 1200 1200 |
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px4io max 1800 1800 1800 1800 |
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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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usleep 5000 |
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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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# 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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if [ $EXIT_ON_END == yes ] |
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then |
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exit |
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fi
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