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

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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
#
Change drone name This is the file to set things related to the Intel Aero RTF.
2016-11-16 13:53:58 -04:00
# @name Intel Aero RTF
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
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
param set MC_ROLL_P 8.0000
param set MC_ROLLRATE_P 0.1300
Aero: Add integrator gains for attitude control
2016-12-02 17:20:26 -04:00
param set MC_ROLLRATE_I 0.05
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
param set MC_PITCH_P 8.0000
param set MC_PITCHRATE_P 0.1300
Aero: Add integrator gains for attitude control
2016-12-02 17:20:26 -04:00
param set MC_PITCHRATE_I 0.05
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
param set MC_YAW_P 3.0
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
aerofc: use logger when autoconfig
2016-12-05 06:48:02 -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: start mavlink to communicate with Aero Compute Board
2016-11-10 19:39:21 -04:00
param set SYS_COMPANION 1500000
set MAVLINK_COMPANION_DEVICE /dev/ttyS1