forked from Archive/PX4-Autopilot
140 lines
2.8 KiB
Plaintext
140 lines
2.8 KiB
Plaintext
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#!nsh
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#
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# Flight startup script for PX4FMU+PX4IO
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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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#
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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 0.007
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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 7.0
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param set MC_POS_P 0.1
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param set MC_RCLOSS_THR 0.0
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param set MC_YAWPOS_D 0.0
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param set MC_YAWPOS_I 0.5
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param set MC_YAWPOS_P 1.0
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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 /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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#
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# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
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#
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if [ -f /fs/microsd/px4io2.bin ]
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then
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echo "PX4IO Firmware found. Checking Upgrade.."
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if cmp /fs/microsd/px4io2.bin /fs/microsd/px4io2.cur
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then
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echo "No newer version, skipping upgrade."
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else
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echo "Loading /fs/microsd/px4io2.bin"
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if px4io update /fs/microsd/px4io2.bin > /fs/microsd/px4io2.log
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then
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cp /fs/microsd/px4io2.bin /fs/microsd/px4io2.cur
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echo "Flashed /fs/microsd/px4io2.bin OK" >> /fs/microsd/px4io2.log
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else
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echo "Failed flashing /fs/microsd/px4io2.bin" >> /fs/microsd/px4io2.log
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echo "Failed to upgrade PX4IO2 firmware - check if PX4IO2 is in bootloader mode"
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fi
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fi
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fi
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#
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# Start MAVLink (depends on orb)
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#
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mavlink start
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usleep 5000
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#
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# Start PX4IO interface (depends on orb, commander)
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#
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px4io start
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pwm -u 400 -m 0xff
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#
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# Allow PX4IO to recover from midair restarts.
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# this is very unlikely, but quite safe and robust.
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px4io recovery
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#
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# Disable px4io topic limiting
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#
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px4io limit 200
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#
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# This sets a PWM right after startup (regardless of safety button)
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#
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px4io idle 900 900 900 900
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#
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# The values are for spinning motors when armed using DJI ESCs
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#
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px4io min 1200 1200 1200 1200
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#
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# Upper limits could be higher, this is on the safe side
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#
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px4io max 1800 1800 1800 1800
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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 commander (depends on orb, mavlink)
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#
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commander start
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#
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# Start GPS interface (depends on orb)
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#
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gps start
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#
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# Start the attitude estimator (depends on orb)
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#
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attitude_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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mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
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multirotor_att_control start
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#
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# Start logging
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#
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sdlog2 start -r 20 -a -b 14
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#
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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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