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98 lines
1.9 KiB
98 lines
1.9 KiB
#!nsh |
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# |
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# USB HIL start |
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# |
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echo "[HIL] HILStar starting.." |
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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 FW_P_D 0 |
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param set FW_P_I 0 |
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param set FW_P_IMAX 15 |
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param set FW_P_LIM_MAX 50 |
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param set FW_P_LIM_MIN -50 |
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param set FW_P_P 60 |
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param set FW_P_RMAX_NEG 0 |
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param set FW_P_RMAX_POS 0 |
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param set FW_P_ROLLFF 1.1 |
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param set FW_R_D 0 |
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param set FW_R_I 5 |
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param set FW_R_IMAX 20 |
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param set FW_R_P 100 |
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param set FW_R_RMAX 100 |
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param set FW_THR_CRUISE 0.65 |
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param set FW_THR_MAX 1 |
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param set FW_THR_MIN 0 |
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param set FW_T_SINK_MAX 5.0 |
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param set FW_T_SINK_MIN 4.0 |
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param set FW_Y_ROLLFF 1.1 |
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param set FW_L1_PERIOD 16 |
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param set RC_SCALE_ROLL 1.0 |
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param set RC_SCALE_PITCH 1.0 |
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param set SYS_AUTOCONFIG 0 |
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param save |
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fi |
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# Allow USB some time to come up |
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sleep 1 |
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# Tell MAVLink that this link is "fast" |
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mavlink start -b 230400 -d /dev/ttyACM0 |
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# Create a fake HIL /dev/pwm_output interface |
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hil mode_pwm |
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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 1 |
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# |
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# Check if we got an IO |
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# |
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if px4io start |
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then |
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echo "IO started" |
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else |
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fmu mode_serial |
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echo "FMU started" |
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fi |
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# |
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# Start the sensors (depends on orb, px4io) |
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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 (depends on orb) |
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att_pos_estimator_ekf start |
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# |
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# Load mixer and start controllers (depends on px4io) |
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# |
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set MODE autostart |
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mixer load /dev/pwm_output /etc/mixers/FMU_AERT.mix |
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if [ -f /fs/microsd/etc/mixers/FMU_AERT.mix ] |
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then |
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echo "Using /fs/microsd/etc/mixers/FMU_AERT.mix" |
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mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_AERT.mix |
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else |
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echo "Using /etc/mixers/FMU_AERT.mix" |
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mixer load /dev/pwm_output /etc/mixers/FMU_AERT.mix |
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fi |
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fw_pos_control_l1 start |
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fw_att_control start |
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echo "[HIL] setup done, running" |
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