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107 lines
1.9 KiB
107 lines
1.9 KiB
#!nsh |
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# |
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# Flight startup script for PX4FMU with PWM outputs. |
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# |
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# disable USB and autostart |
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set USB no |
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set MODE custom |
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echo "[init] doing PX4FMU Quad startup..." |
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# |
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# Start the ORB |
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# |
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uorb start |
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# |
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# Load microSD params |
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echo "[init] loading microSD params" |
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param select /fs/microsd/params |
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if [ -f /fs/microsd/params ] |
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then |
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param load /fs/microsd/params |
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fi |
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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 1 = fixed wing, 2 = quadrotor, 13 = hexarotor |
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# see https://pixhawk.ethz.ch/mavlink/ |
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# |
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param set MAV_TYPE 2 |
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# Start MAVLink |
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mavlink start -d /dev/ttyS0 -b 57600 |
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usleep 5000 |
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# Start the sensors and test them. |
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sh /etc/init.d/rc.sensors |
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# Start the commander. |
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# |
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commander start |
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# Start GPS interface (depends on orb) |
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gps start |
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# Start the attitude estimator |
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attitude_estimator_ekf start |
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echo "[init] starting PWM output" |
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fmu mode_pwm |
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mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix |
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pwm -u 400 -m 0xff |
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# Start attitude control |
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multirotor_att_control start |
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# Start logging |
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# |
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sdlog2 start -r 50 -a -b 14 |
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# Start system state |
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# |
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if blinkm start |
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then |
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blinkm systemstate |
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fi
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