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83 lines
1.4 KiB
83 lines
1.4 KiB
#!nsh |
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echo "[init] 09_ardrone_flow: PX4FMU on PX4IOAR carrier board with PX4FLOW" |
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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_D 0 |
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param set MC_ATTRATE_I 0 |
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param set MC_ATTRATE_P 0.13 |
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param set MC_ATT_D 0 |
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param set MC_ATT_I 0.3 |
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param set MC_ATT_P 5 |
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param set MC_YAWPOS_D 0.1 |
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param set MC_YAWPOS_I 0.15 |
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param set MC_YAWPOS_P 1 |
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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 0.15 |
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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 2 = quadrotor |
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# |
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param set MAV_TYPE 2 |
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param set BAT_V_SCALING 0.008381 |
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# |
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# Start MAVLink and MAVLink Onboard (PX4FLOW Sensor) |
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# |
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mavlink start -d /dev/ttyS0 -b 57600 |
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mavlink_onboard start -d /dev/ttyS3 -b 115200 |
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usleep 5000 |
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# |
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# Configure PX4FMU for operation with PX4IOAR |
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# |
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fmu mode_gpio_serial |
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# |
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# Fire up the AR.Drone interface. |
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# |
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ardrone_interface start -d /dev/ttyS1 |
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# |
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# Start the sensors. |
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# |
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sh /etc/init.d/rc.sensors |
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# |
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# Start the attitude estimator |
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# |
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attitude_estimator_ekf start |
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# |
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# Start the position estimator |
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# |
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flow_position_estimator start |
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# |
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# Fire up the multi rotor attitude controller |
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# |
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multirotor_att_control start |
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# |
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# Fire up the flow position controller |
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# |
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flow_position_control start |
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# |
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# Fire up the flow speed controller |
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# |
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flow_speed_control start |
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# Exit, because /dev/ttyS0 is needed for MAVLink |
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exit
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