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84 lines
2.5 KiB
84 lines
2.5 KiB
#!/bin/sh |
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# PX4 commands need the 'px4-' prefix in bash. |
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# (px4-alias.sh is expected to be in the PATH) |
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. px4-alias.sh |
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# config for fixed wing (FW) |
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# modified from ./px4.config, switch att/pos_control & mixer |
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param load |
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param set CBRK_SUPPLY_CHK 894281 |
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# Auto-start script index. Defines the auto-start script used to bootstrap the system. |
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# It seems that SYS_AUTOSTART does not work as intended on posix platform. |
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# For now, find the corresponding settings, and manually set them in ground control. |
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# |
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# 4001: Generic Quadrotor X; 4011: DJI Flame Wheel F450 |
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param set SYS_AUTOSTART 4011 |
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# DJI ESCs do not support calibration and need higher PWM_MIN |
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# http://www.dji.com/e2000/info indicates E2000 Operating Pulse Width: 1120 to 1920 μs |
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# It seems that all latest DJI ESC have the same range. |
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# Note that the setting here applies to all PWM channels. |
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# param set PWM_MAIN_MIN 1120 |
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# param set PWM_MAIN_MAX 1920 |
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# Not using DJI 430 LITE ESC anymore due to its hiccups: |
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# each random motor stop would cause a scary flip in the fly |
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# Replacing with 4 BLHeli32 (Wraith32 V2) ESCs solved the main problem in BBBlue porting |
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# Broadcast heartbeats on local network. This allows a ground control station |
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# to automatically find the drone on the local network. |
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# MAV_TYPE: 1 Fixed wing aircraft, 2 Quadrotor |
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param set MAV_TYPE 2 |
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# Three possible main power battery sources for BBBlue: |
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# 1. onboard 2S LiPo battery connector, which is connect to ADC channel 6 |
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# 2. onboard 9-18V DC Jack, which is connect to ADC channel 5. This is the board default. |
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# 3. other power source (e.g., LiPo battery more than 4S/18V). |
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# Scale the voltage to below 1.8V and connect it to ADC channel # 0, 1, 2 or 3. |
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param set BAT1_V_CHANNEL 5 |
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# Battery voltage scale factor, from BBBlue schematics: (4.7K + 47K) / 4.7K = 11 |
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param set BAT1_V_DIV 11.0 |
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dataman start |
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bmp280 -I start |
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mpu9250_i2c -I start |
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# options: -R rotation |
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gps start -d /dev/ttyS2 -s -p ubx |
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#rgbled start -I -b 1 |
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board_adc start |
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battery_status start |
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rc_update start |
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sensors start |
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commander start |
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navigator start |
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ekf2 start |
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land_detector start fixedwing |
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fw_att_control start |
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fw_pos_control_l1 start |
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mavlink start -n SoftAp -x -u 14556 -r 1000000 -p |
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# -n name of wifi interface: SoftAp, wlan or your custom interface, |
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# e.g., -n wlan . The default on BBBlue is SoftAp |
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sleep 1 |
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# RC port is mapped to /dev/ttyS4 (auto-detected) |
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rc_input start -d /dev/ttyS4 |
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linux_pwm_out start |
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mixer load /dev/pwm_out etc/mixers/AETRFG.main.mix |
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logger start -t -b 200 |
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mavlink boot_complete
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