px4-firmware/ROMFS/px4fmu_common/init.d/4070_aerofc

#!nsh
#
# @name Intel Aero Ready to Fly Drone
#
# @board px4fmu-v2 exclude
# @board px4fmu-v3 exclude
# @board px4fmu-v4 exclude
# @board px4fmu-v4pro exclude
# @board px4fmu-v5 exclude
#
# @type Quadrotor x
# @class Copter
#
# @maintainer Beat Kueng <beat@px4.io>
#

sh /etc/init.d/rc.mc_defaults

#
# Load default params for this platform
#
if [ $AUTOCNF == yes ]
then
	# Set all params here, then disable autoconfig

	param set COM_DISARM_LAND 3

	param set LNDMC_Z_VEL_MAX 2.0000

	param set MC_ROLL_P 8.0000
	param set MC_ROLLRATE_P 0.1300
	param set MC_ROLLRATE_I 0.07
	param set MC_ROLLRATE_D 0.0012
	param set MC_ROLLRATE_MAX 360
	param set MC_PITCH_P 8.0000
	param set MC_PITCHRATE_P 0.1300
	param set MC_PITCHRATE_I 0.07
	param set MC_PITCHRATE_D 0.0012
	param set MC_PITCHRATE_MAX 360
	param set MC_YAW_P 4.0
	param set MC_YAWRATE_P 0.119999997317790985
	param set MC_YAWRATE_I 0.050000000745058060
	param set MC_YAWRATE_D 0.0
	param set MC_YAW_FF 0.5

	param set MPC_LAND_SPEED 0.7000
	param set MPC_MANTHR_MIN 0.0400
	param set MPC_THR_HOVER 0.5000
	param set MPC_THR_MAX 0.9400
	param set MPC_THR_MIN 0.1000
	param set MPC_XY_CRUISE 8.0000
	param set MPC_XY_P 1.5000
	param set MPC_XY_VEL_P 0.1500
	param set MPC_Z_P 1.5000
	param set MPC_Z_VEL_I 0.1500
	param set MPC_Z_VEL_MAX_DN 4.0000
	param set MPC_Z_VEL_MAX_UP 5.0000
	param set MPC_Z_VEL_P 0.8000

	param set EKF2_GPS_POS_X -0.0600
	param set EKF2_GPS_POS_Z -0.1000
	param set EKF2_MIN_OBS_DT 50

	param set EKF2_BARO_GATE 10.0
	param set EKF2_BARO_NOISE 5.0
	param set EKF2_ACC_NOISE 0.7

	param set SYS_LOGGER 1
fi

tap_esc start -d /dev/ttyS0 -n 4
usleep 300000

set OUTPUT_MODE tap_esc
set MIXER quad_x
set USE_IO no

param set SYS_COMPANION 921600
set MAVLINK_COMPANION_DEVICE /dev/ttyS1
aerofc: Add autostart script As ASC use a non-standard UART for mavlink it is necessary check for the board name and set SYS_AUTOSTART to initialize mavlink on the right interface otherwise there is no way to change the SYS_AUTOSTART. 2016-09-09 14:42:26 -03:00			`#!nsh`
			`#`
aerofc airframe: RTF -> Ready to Fly Drone & add maintainer 2017-05-11 05:27:28 -03:00			`# @name Intel Aero Ready to Fly Drone`
aerofc: Add autostart script As ASC use a non-standard UART for mavlink it is necessary check for the board name and set SYS_AUTOSTART to initialize mavlink on the right interface otherwise there is no way to change the SYS_AUTOSTART. 2016-09-09 14:42:26 -03:00			`#`
Disable Aero on non-Aero boards 2016-12-20 13:17:54 -04:00			`# @board px4fmu-v2 exclude`
			`# @board px4fmu-v3 exclude`
			`# @board px4fmu-v4 exclude`
			`# @board px4fmu-v4pro exclude`
			`# @board px4fmu-v5 exclude`
			`#`
aerofc: Add autostart script As ASC use a non-standard UART for mavlink it is necessary check for the board name and set SYS_AUTOSTART to initialize mavlink on the right interface otherwise there is no way to change the SYS_AUTOSTART. 2016-09-09 14:42:26 -03:00			`# @type Quadrotor x`
Quad configs: add class field 2017-06-27 03:48:29 -03:00			`# @class Copter`
			`#`
Aero: Update maintainer 2018-01-06 07:19:31 -04:00			`# @maintainer Beat Kueng <beat@px4.io>`
aerofc airframe: RTF -> Ready to Fly Drone & add maintainer 2017-05-11 05:27:28 -03:00			`#`
aerofc: Add autostart script As ASC use a non-standard UART for mavlink it is necessary check for the board name and set SYS_AUTOSTART to initialize mavlink on the right interface otherwise there is no way to change the SYS_AUTOSTART. 2016-09-09 14:42:26 -03:00
			`sh /etc/init.d/rc.mc_defaults`

Add AUTOCNF to Intel Aero RTF Thanks to Beat Küng for improved tuning. 2016-11-16 14:30:27 -04:00			`#`
			`# Load default params for this platform`
			`#`
			`if [ $AUTOCNF == yes ]`
			`then`
			`# Set all params here, then disable autoconfig`
4070_aerofc: update MPC and LND parameters 2017-04-04 13:46:48 -03:00
			`param set COM_DISARM_LAND 3`

			`param set LNDMC_Z_VEL_MAX 2.0000`

Add AUTOCNF to Intel Aero RTF Thanks to Beat Küng for improved tuning. 2016-11-16 14:30:27 -04:00			`param set MC_ROLL_P 8.0000`
			`param set MC_ROLLRATE_P 0.1300`
4070_aerofc: update MPC and LND parameters 2017-04-04 13:46:48 -03:00			`param set MC_ROLLRATE_I 0.07`
Add AUTOCNF to Intel Aero RTF Thanks to Beat Küng for improved tuning. 2016-11-16 14:30:27 -04:00			`param set MC_ROLLRATE_D 0.0012`
aerofc config: update default parameters for attitude & position controllers 2016-12-05 11:37:03 -04:00			`param set MC_ROLLRATE_MAX 360`
Add AUTOCNF to Intel Aero RTF Thanks to Beat Küng for improved tuning. 2016-11-16 14:30:27 -04:00			`param set MC_PITCH_P 8.0000`
			`param set MC_PITCHRATE_P 0.1300`
4070_aerofc: update MPC and LND parameters 2017-04-04 13:46:48 -03:00			`param set MC_PITCHRATE_I 0.07`
Add AUTOCNF to Intel Aero RTF Thanks to Beat Küng for improved tuning. 2016-11-16 14:30:27 -04:00			`param set MC_PITCHRATE_D 0.0012`
aerofc config: update default parameters for attitude & position controllers 2016-12-05 11:37:03 -04:00			`param set MC_PITCHRATE_MAX 360`
			`param set MC_YAW_P 4.0`
Add AUTOCNF to Intel Aero RTF Thanks to Beat Küng for improved tuning. 2016-11-16 14:30:27 -04:00			`param set MC_YAWRATE_P 0.119999997317790985`
			`param set MC_YAWRATE_I 0.050000000745058060`
			`param set MC_YAWRATE_D 0.0`
			`param set MC_YAW_FF 0.5`
4070_aerofc: update MPC and LND parameters 2017-04-04 13:46:48 -03:00
			`param set MPC_LAND_SPEED 0.7000`
			`param set MPC_MANTHR_MIN 0.0400`
			`param set MPC_THR_HOVER 0.5000`
			`param set MPC_THR_MAX 0.9400`
			`param set MPC_THR_MIN 0.1000`
			`param set MPC_XY_CRUISE 8.0000`
			`param set MPC_XY_P 1.5000`
			`param set MPC_XY_VEL_P 0.1500`
			`param set MPC_Z_P 1.5000`
			`param set MPC_Z_VEL_I 0.1500`
			`param set MPC_Z_VEL_MAX_DN 4.0000`
			`param set MPC_Z_VEL_MAX_UP 5.0000`
			`param set MPC_Z_VEL_P 0.8000`

			`param set EKF2_GPS_POS_X -0.0600`
			`param set EKF2_GPS_POS_Z -0.1000`
			`param set EKF2_MIN_OBS_DT 50`
ROMFS: aerofc: Switch from sdlog2 to logger Logger have adds support of ULog over MAVLink and it will be used in AeroFC. 2017-01-24 22:02:25 -04:00
ROMFS: aerofc: set default EKF2 params 2017-03-24 19:52:04 -03:00			`param set EKF2_BARO_GATE 10.0`
			`param set EKF2_BARO_NOISE 5.0`
			`param set EKF2_ACC_NOISE 0.7`

ROMFS: aerofc: Switch from sdlog2 to logger Logger have adds support of ULog over MAVLink and it will be used in AeroFC. 2017-01-24 22:02:25 -04:00			`param set SYS_LOGGER 1`
Add AUTOCNF to Intel Aero RTF Thanks to Beat Küng for improved tuning. 2016-11-16 14:30:27 -04:00			`fi`

aerofc: Add autostart script As ASC use a non-standard UART for mavlink it is necessary check for the board name and set SYS_AUTOSTART to initialize mavlink on the right interface otherwise there is no way to change the SYS_AUTOSTART. 2016-09-09 14:42:26 -03:00			`tap_esc start -d /dev/ttyS0 -n 4`
aerofc: Sleep for some time to wait tap_esc startup Or mixer load will fail 2016-09-26 17:57:05 -03:00			`usleep 300000`

Fix setting output mode in the wrong place Make it common with other boards 2016-11-16 13:45:33 -04:00			`set OUTPUT_MODE tap_esc`
aerofc: Add autostart script As ASC use a non-standard UART for mavlink it is necessary check for the board name and set SYS_AUTOSTART to initialize mavlink on the right interface otherwise there is no way to change the SYS_AUTOSTART. 2016-09-09 14:42:26 -03:00			`set MIXER quad_x`
aerofc: Fixes for init 2016-09-12 21:10:55 -03:00			`set USE_IO no`
aerofc: Add autostart script As ASC use a non-standard UART for mavlink it is necessary check for the board name and set SYS_AUTOSTART to initialize mavlink on the right interface otherwise there is no way to change the SYS_AUTOSTART. 2016-09-09 14:42:26 -03:00
aerofc: switch companion baud to 921600 2017-08-28 14:26:59 -03:00			`param set SYS_COMPANION 921600`
aerofc: start mavlink to communicate with Aero Compute Board 2016-11-10 19:39:21 -04:00			`set MAVLINK_COMPANION_DEVICE /dev/ttyS1`