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73 lines
1.2 KiB
73 lines
1.2 KiB
#!nsh |
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echo "[init] 3DR Iris 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 0.004 |
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param set MC_ATTRATE_I 0.0 |
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param set MC_ATTRATE_P 0.13 |
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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 9.0 |
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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 |
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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 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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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 0.0098 |
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set EXIT_ON_END yes |
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fi |
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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 rate -c 1234 -r 400 |
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# |
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# Set disarmed, min and max PWM signals |
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# |
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pwm disarmed -c 1234 -p 900 |
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pwm min -c 1234 -p 1050 |
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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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