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rc scripts cleanup, avoid duplicating parameters, use inheritance instead

This commit is contained in:
Anton Babushkin 2014-01-31 11:36:25 +01:00
parent 282e0bb670
commit 103bece726
21 changed files with 164 additions and 410 deletions
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14
ROMFS/px4fmu_common/init.d/10015_tbs_discovery
View File

@ -10,13 +10,15 @@ then
#
# Default parameters for this platform
#
param set MC_ATT_P 5.0
param set MC_ATT_I 0.0
param set MC_ROLL_P 5.0
param set MC_ROLLRATE_P 0.17
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.006
param set MC_PITCH_P 5.0
param set MC_PITCHRATE_P 0.17
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.006
param set MC_YAW_P 0.5
param set MC_YAW_I 0.15
param set MC_ATTRATE_P 0.17
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_D 0.006
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0.0

14
ROMFS/px4fmu_common/init.d/10016_3dr_iris
View File

@ -10,13 +10,15 @@ then
#
# Default parameters for this platform
#
param set MC_ATT_P 9.0
param set MC_ATT_I 0.0
param set MC_ROLL_P 9.0
param set MC_ROLLRATE_P 0.13
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.004
param set MC_PITCH_P 9.0
param set MC_PITCHRATE_P 0.13
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.004
param set MC_YAW_P 0.5
param set MC_YAW_I 0.15
param set MC_ATTRATE_P 0.13
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_D 0.004
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0.0

34
ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil
View File

@ -5,38 +5,6 @@
# Maintainers: Anton Babushkin <anton.babushkin@me.com>
#
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
param set MC_ATT_P 7.0
param set MC_ATT_I 0.0
param set MC_YAW_P 2.0
param set MC_YAW_I 0.0
param set MC_ATTRATE_P 0.12
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_D 0.004
param set MC_YAWRATE_P 0.3
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0.005
param set MPC_TILT_MAX 1.0
param set MPC_THR_MAX 1.0
param set MPC_THR_MIN 0.1
param set MPC_XY_P 1.0
param set MPC_XY_VEL_D 0.01
param set MPC_XY_VEL_I 0.02
param set MPC_XY_VEL_MAX 5
param set MPC_XY_VEL_P 0.1
param set MPC_Z_P 1.0
param set MPC_Z_VEL_D 0.0
param set MPC_Z_VEL_I 0.02
param set MPC_Z_VEL_MAX 3
param set MPC_Z_VEL_P 0.1
fi
sh /etc/init.d/4001_quad_x
set HIL yes
set VEHICLE_TYPE mc
set MIXER FMU_quad_x

18
ROMFS/px4fmu_common/init.d/12001_octo_cox_pwm → ROMFS/px4fmu_common/init.d/12001_octo_cox
View File

@ -10,15 +10,15 @@ then
#
# Default parameters for this platform
#
param set MC_ATT_P 7.0
param set MC_ATT_I 0.0
param set MC_ATT_D 0.0
param set MC_ATTRATE_P 0.12
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_D 0.004
param set MC_YAWPOS_P 2.0
param set MC_YAWPOS_I 0.0
param set MC_YAWPOS_D 0.0
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.12
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.004
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.12
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.004
param set MC_YAW_P 2.0
param set MC_YAWRATE_P 0.3
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0.005

52
ROMFS/px4fmu_common/init.d/4001_quad_x Normal file
View File

@ -0,0 +1,52 @@
#!nsh
#
# Generic 10” Quad X geometry
#
# Maintainers: Lorenz Meier <lm@inf.ethz.ch>, Anton Babushkin <anton.babushkin@me.com>
#
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.12
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.004
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.12
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.004
param set MC_YAW_P 2.0
param set MC_YAWRATE_P 0.3
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0.005
param set MPC_THR_MAX 1.0
param set MPC_THR_MIN 0.1
param set MPC_XY_P 1.0
param set MPC_XY_VEL_P 0.1
param set MPC_XY_VEL_I 0.02
param set MPC_XY_VEL_D 0.01
param set MPC_XY_VEL_MAX 5
param set MPC_XY_FF 0.5
param set MPC_Z_P 1.0
param set MPC_Z_VEL_P 0.1
param set MPC_Z_VEL_I 0.02
param set MPC_Z_VEL_D 0.0
param set MPC_Z_VEL_MAX 3
param set MPC_Z_FF 0.5
param set MPC_TILT_MAX 1.0
param set MPC_LAND_SPEED 1.0
param set MPC_LAND_TILT 0.3
fi
set VEHICLE_TYPE mc
set MIXER FMU_quad_x
set PWM_OUTPUTS 1234
set PWM_RATE 400
set PWM_DISARMED 900
set PWM_MIN 1000
set PWM_MAX 2000

57
ROMFS/px4fmu_common/init.d/4008_ardrone
View File

@ -1,57 +0,0 @@
#!nsh
echo "[init] 08_ardrone: PX4FMU on PX4IOAR carrier board"
#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
param set MC_ATTRATE_D 0
param set MC_ATTRATE_I 0
param set MC_ATTRATE_P 0.13
param set MC_ATT_D 0
param set MC_ATT_I 0.3
param set MC_ATT_P 5
param set MC_YAWPOS_D 0.1
param set MC_YAWPOS_I 0.15
param set MC_YAWPOS_P 1
param set MC_YAWRATE_D 0
param set MC_YAWRATE_I 0
param set MC_YAWRATE_P 0.15
param set SYS_AUTOCONFIG 0
param save
fi
#
# Force some key parameters to sane values
# MAV_TYPE 2 = quadrotor
#
param set MAV_TYPE 2
param set BAT_V_SCALING 0.008381
#
# Start MAVLink
#
mavlink start -d /dev/ttyS0 -b 57600
usleep 5000
#
# Configure PX4FMU for operation with PX4IOAR
#
fmu mode_gpio_serial
#
# Fire up the AR.Drone interface.
#
ardrone_interface start -d /dev/ttyS1
#
# Start common for all multirotors apps
#
sh /etc/init.d/rc.multirotor
# Exit, because /dev/ttyS0 is needed for MAVLink
exit

83
ROMFS/px4fmu_common/init.d/4009_ardrone_flow
View File

@ -1,83 +0,0 @@
#!nsh
echo "[init] 09_ardrone_flow: PX4FMU on PX4IOAR carrier board with PX4FLOW"
#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
param set MC_ATTRATE_D 0
param set MC_ATTRATE_I 0
param set MC_ATTRATE_P 0.13
param set MC_ATT_D 0
param set MC_ATT_I 0.3
param set MC_ATT_P 5
param set MC_YAWPOS_D 0.1
param set MC_YAWPOS_I 0.15
param set MC_YAWPOS_P 1
param set MC_YAWRATE_D 0
param set MC_YAWRATE_I 0
param set MC_YAWRATE_P 0.15
param set SYS_AUTOCONFIG 0
param save
fi
#
# Force some key parameters to sane values
# MAV_TYPE 2 = quadrotor
#
param set MAV_TYPE 2
param set BAT_V_SCALING 0.008381
#
# Start MAVLink and MAVLink Onboard (PX4FLOW Sensor)
#
mavlink start -d /dev/ttyS0 -b 57600
mavlink_onboard start -d /dev/ttyS3 -b 115200
usleep 5000
#
# Configure PX4FMU for operation with PX4IOAR
#
fmu mode_gpio_serial
#
# Fire up the AR.Drone interface.
#
ardrone_interface start -d /dev/ttyS1
#
# Start the sensors.
#
sh /etc/init.d/rc.sensors
#
# Start the attitude estimator
#
attitude_estimator_ekf start
#
# Start the position estimator
#
flow_position_estimator start
#
# Fire up the multi rotor attitude controller
#
mc_att_control_vector start
#
# Fire up the flow position controller
#
flow_position_control start
#
# Fire up the flow speed controller
#
flow_speed_control start
# Exit, because /dev/ttyS0 is needed for MAVLink
exit

14
ROMFS/px4fmu_common/init.d/4010_dji_f330
View File

@ -10,13 +10,15 @@ then
#
# Default parameters for this platform
#
param set MC_ATT_P 7.0
param set MC_ATT_I 0.0
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.12
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.004
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.12
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.004
param set MC_YAW_P 2.8
param set MC_YAW_I 0.0
param set MC_ATTRATE_P 0.12
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_D 0.004
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.05
param set MC_YAWRATE_D 0.0

14
ROMFS/px4fmu_common/init.d/4011_dji_f450
View File

@ -10,13 +10,15 @@ then
#
# Default parameters for this platform
#
param set MC_ATT_P 7.0
param set MC_ATT_I 0.0
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.12
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.004
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.12
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.004
param set MC_YAW_P 2.0
param set MC_YAW_I 0.0
param set MC_ATTRATE_P 0.12
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_D 0.004
param set MC_YAWRATE_P 0.3
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0.005

14
ROMFS/px4fmu_common/init.d/4012_hk_x550
View File

@ -10,13 +10,15 @@ then
#
# Default parameters for this platform
#
param set MC_ATT_P 5.5
param set MC_ATT_I 0
param set MC_ROLL_P 5.5
param set MC_ROLLRATE_P 0.14
param set MC_ROLLRATE_I 0
param set MC_ROLLRATE_D 0.006
param set MC_PITCH_P 5.5
param set MC_PITCHRATE_P 0.14
param set MC_PITCHRATE_I 0
param set MC_PITCHRATE_D 0.006
param set MC_YAW_P 0.6
param set MC_YAW_I 0
param set MC_ATTRATE_P 0.14
param set MC_ATTRATE_I 0
param set MC_ATTRATE_D 0.006
param set MC_YAWRATE_P 0.08
param set MC_YAWRATE_I 0
param set MC_YAWRATE_D 0

10
ROMFS/px4fmu_common/init.d/5001_quad_+ Normal file
View File

@ -0,0 +1,10 @@
#!nsh
#
# Generic 10” Quad + geometry
#
# Maintainers: Lorenz Meier <lm@inf.ethz.ch>, Anton Babushkin <anton.babushkin@me.com>
#
sh /etc/init.d/4001_quad_x
set MIXER FMU_quad_+

37
ROMFS/px4fmu_common/init.d/5001_quad_+_pwm
View File

@ -1,37 +0,0 @@
#!nsh
#
# Generic 10” Quad + geometry
#
# Maintainers: Lorenz Meier <lm@inf.ethz.ch>
#
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
param set MC_ATT_P 7.0
param set MC_ATT_I 0.0
param set MC_ATT_D 0.0
param set MC_ATTRATE_P 0.12
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_D 0.004
param set MC_YAWPOS_P 2.0
param set MC_YAWPOS_I 0.0
param set MC_YAWPOS_D 0.0
param set MC_YAWRATE_P 0.3
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0.005
# TODO add default MPC parameters
fi
set VEHICLE_TYPE mc
set MIXER FMU_quad_+
set PWM_OUTPUTS 1234
set PWM_RATE 400
# DJI ESC range
set PWM_DISARMED 900
set PWM_MIN 1200
set PWM_MAX 1900

12
ROMFS/px4fmu_common/init.d/6001_hexa_x Normal file
View File

@ -0,0 +1,12 @@
#!nsh
#
# Generic 10” Hexa X geometry
#
# Maintainers: Lorenz Meier <lm@inf.ethz.ch>, Anton Babushkin <anton.babushkin@me.com>
#
sh /etc/init.d/4001_quad_x
set MIXER FMU_hexa_x
set PWM_OUTPUTS 123456

37
ROMFS/px4fmu_common/init.d/6001_hexa_x_pwm
View File

@ -1,37 +0,0 @@
#!nsh
#
# Generic 10” Hexa X geometry
#
# Maintainers: Lorenz Meier <lm@inf.ethz.ch>
#
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
param set MC_ATT_P 7.0
param set MC_ATT_I 0.0
param set MC_ATT_D 0.0
param set MC_ATTRATE_P 0.12
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_D 0.004
param set MC_YAWPOS_P 2.0
param set MC_YAWPOS_I 0.0
param set MC_YAWPOS_D 0.0
param set MC_YAWRATE_P 0.3
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0.005
# TODO add default MPC parameters
fi
set VEHICLE_TYPE mc
set MIXER FMU_hexa_x
set PWM_OUTPUTS 1234
set PWM_RATE 400
# DJI ESC range
set PWM_DISARMED 900
set PWM_MIN 1200
set PWM_MAX 1900

10
ROMFS/px4fmu_common/init.d/7001_hexa_+ Normal file
View File

@ -0,0 +1,10 @@
#!nsh
#
# Generic 10” Hexa + geometry
#
# Maintainers: Lorenz Meier <lm@inf.ethz.ch>, Anton Babushkin <anton.babushkin@me.com>
#
sh /etc/init.d/6001_hexa_x
set MIXER FMU_hexa_+

37
ROMFS/px4fmu_common/init.d/7001_hexa_+_pwm
View File

@ -1,37 +0,0 @@
#!nsh
#
# Generic 10” Hexa + geometry
#
# Maintainers: Lorenz Meier <lm@inf.ethz.ch>
#
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
param set MC_ATT_P 7.0
param set MC_ATT_I 0.0
param set MC_ATT_D 0.0
param set MC_ATTRATE_P 0.12
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_D 0.004
param set MC_YAWPOS_P 2.0
param set MC_YAWPOS_I 0.0
param set MC_YAWPOS_D 0.0
param set MC_YAWRATE_P 0.3
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0.005
# TODO add default MPC parameters
fi
set VEHICLE_TYPE mc
set MIXER FMU_hexa_+
set PWM_OUTPUTS 1234
set PWM_RATE 400
# DJI ESC range
set PWM_DISARMED 900
set PWM_MIN 1200
set PWM_MAX 1900

12
ROMFS/px4fmu_common/init.d/8001_octo_x Normal file
View File

@ -0,0 +1,12 @@
#!nsh
#
# Generic 10” Octo X geometry
#
# Maintainers: Lorenz Meier <lm@inf.ethz.ch>, Anton Babushkin <anton.babushkin@me.com>
#
sh /etc/init.d/4001_quad_x
set MIXER FMU_octo_x
set PWM_OUTPUTS 12345678

37
ROMFS/px4fmu_common/init.d/8001_octo_x_pwm
View File

@ -1,37 +0,0 @@
#!nsh
#
# Generic 10” Octo X geometry
#
# Maintainers: Lorenz Meier <lm@inf.ethz.ch>
#
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
param set MC_ATT_P 7.0
param set MC_ATT_I 0.0
param set MC_ATT_D 0.0
param set MC_ATTRATE_P 0.12
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_D 0.004
param set MC_YAWPOS_P 2.0
param set MC_YAWPOS_I 0.0
param set MC_YAWPOS_D 0.0
param set MC_YAWRATE_P 0.3
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0.005
# TODO add default MPC parameters
fi
set VEHICLE_TYPE mc
set MIXER FMU_octo_x
set PWM_OUTPUTS 1234
set PWM_RATE 400
# DJI ESC range
set PWM_DISARMED 900
set PWM_MIN 1200
set PWM_MAX 1900

10
ROMFS/px4fmu_common/init.d/9001_octo_+ Normal file
View File

@ -0,0 +1,10 @@
#!nsh
#
# Generic 10” Octo + geometry
#
# Maintainers: Lorenz Meier <lm@inf.ethz.ch>, Anton Babushkin <anton.babushkin@me.com>
#
sh /etc/init.d/8001_octo_x
set MIXER FMU_octo_+

37
ROMFS/px4fmu_common/init.d/9001_octo_+_pwm
View File

@ -1,37 +0,0 @@
#!nsh
#
# Generic 10” Octo + geometry
#
# Maintainers: Lorenz Meier <lm@inf.ethz.ch>
#
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
param set MC_ATT_P 7.0
param set MC_ATT_I 0.0
param set MC_ATT_D 0.0
param set MC_ATTRATE_P 0.12
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_D 0.004
param set MC_YAWPOS_P 2.0
param set MC_YAWPOS_I 0.0
param set MC_YAWPOS_D 0.0
param set MC_YAWRATE_P 0.3
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0.005
# TODO add default MPC parameters
fi
set VEHICLE_TYPE mc
set MIXER FMU_octo_+
set PWM_OUTPUTS 1234
set PWM_RATE 400
# DJI ESC range
set PWM_DISARMED 900
set PWM_MIN 1200
set PWM_MAX 1900

21
ROMFS/px4fmu_common/init.d/rc.autostart
View File

@ -101,14 +101,9 @@ fi
# Quad X
#
if param compare SYS_AUTOSTART 4008 8
if param compare SYS_AUTOSTART 4001
then
#sh /etc/init.d/4008_ardrone
fi
if param compare SYS_AUTOSTART 4009 9
then
#sh /etc/init.d/4009_ardrone_flow
sh /etc/init.d/4001_quad_x
fi
if param compare SYS_AUTOSTART 4010 10
@ -132,7 +127,7 @@ fi
if param compare SYS_AUTOSTART 5001
then
sh /etc/init.d/5001_quad_+_pwm
sh /etc/init.d/5001_quad_+
fi
#
@ -141,7 +136,7 @@ fi
if param compare SYS_AUTOSTART 6001
then
sh /etc/init.d/6001_hexa_x_pwm
sh /etc/init.d/6001_hexa_x
fi
#
@ -150,7 +145,7 @@ fi
if param compare SYS_AUTOSTART 7001
then
sh /etc/init.d/7001_hexa_+_pwm
sh /etc/init.d/7001_hexa_+
fi
#
@ -159,7 +154,7 @@ fi
if param compare SYS_AUTOSTART 8001
then
sh /etc/init.d/8001_octo_x_pwm
sh /etc/init.d/8001_octo_x
fi
#
@ -168,7 +163,7 @@ fi
if param compare SYS_AUTOSTART 9001
then
sh /etc/init.d/9001_octo_+_pwm
sh /etc/init.d/9001_octo_+
fi
#
@ -191,5 +186,5 @@ fi
if param compare SYS_AUTOSTART 12001
then
sh /etc/init.d/12001_octo_cox_pwm
sh /etc/init.d/12001_octo_cox
fi