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px4-firmware
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Merge branch 'beta' of https://github.com/PX4/Firmware into beta

This commit is contained in:
Anton Babushkin 2014-02-10 23:17:51 +01:00
parent a9e5e2e31a 1ecaebc50d
commit 268f3d757f
31 changed files with 152 additions and 574 deletions
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30
ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil
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@ -5,36 +5,10 @@
# Lorenz Meier <lm@inf.ethz.ch> # Lorenz Meier <lm@inf.ethz.ch>
# #
echo "HIL Rascal 110 starting.." sh /etc/init.d/rc.fw_defaults
if [ $DO_AUTOCONFIG == yes ] echo "HIL Rascal 110 starting.."
then
# Set all params here, then disable autoconfig
param set FW_P_D 0
param set FW_P_I 0
param set FW_P_IMAX 15
param set FW_P_LIM_MAX 50
param set FW_P_LIM_MIN -50
param set FW_P_P 60
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 1.1
param set FW_R_D 0
param set FW_R_I 5
param set FW_R_IMAX 20
param set FW_R_P 100
param set FW_R_RMAX 100
param set FW_THR_CRUISE 0.65
param set FW_T_SINK_MAX 5.0
param set FW_T_SINK_MIN 4.0
param set FW_Y_ROLLFF 1.1
param set FW_L1_PERIOD 16
param set RC_SCALE_ROLL 1.0
param set RC_SCALE_PITCH 1.0
fi
set HIL yes set HIL yes
set VEHICLE_TYPE fw
set MIXER FMU_AERT set MIXER FMU_AERT

41
ROMFS/px4fmu_common/init.d/10015_tbs_discovery
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@ -5,45 +5,8 @@
# Simon Wilks <sjwilks@gmail.com> # Simon Wilks <sjwilks@gmail.com>
# #
if [ $DO_AUTOCONFIG == yes ] sh /etc/init.d/rc.mc_defaults
then
#
# Default parameters for this platform
#
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_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0.0
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_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_w set MIXER FMU_quad_w
set PWM_OUTPUTS 1234 set PWM_OUTPUTS 1234
set PWM_RATE 400

38
ROMFS/px4fmu_common/init.d/10016_3dr_iris
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@ -5,51 +5,17 @@
# Anton Babushkin <anton.babushkin@me.com> # Anton Babushkin <anton.babushkin@me.com>
# #
sh /etc/init.d/rc.mc_defaults
if [ $DO_AUTOCONFIG == yes ] if [ $DO_AUTOCONFIG == yes ]
then then
# #
# Default parameters for this platform # Default parameters for this platform
# #
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_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0.0
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_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
param set BAT_V_SCALING 0.00989 param set BAT_V_SCALING 0.00989
param set BAT_C_SCALING 0.0124 param set BAT_C_SCALING 0.0124
fi fi
set VEHICLE_TYPE mc
set MIXER FMU_quad_w set MIXER FMU_quad_w
set PWM_OUTPUTS 1234 set PWM_OUTPUTS 1234
set PWM_RATE 400
set PWM_DISARMED 900
set PWM_MIN 1000
set PWM_MAX 2000

4
ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil
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@ -5,6 +5,8 @@
# Anton Babushkin <anton.babushkin@me.com> # Anton Babushkin <anton.babushkin@me.com>
# #
sh /etc/init.d/4001_quad_x sh /etc/init.d/rc.mc_defaults
set MIXER FMU_quad_x
set HIL yes set HIL yes

4
ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil
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@ -5,6 +5,8 @@
# Anton Babushkin <anton.babushkin@me.com> # Anton Babushkin <anton.babushkin@me.com>
# #
sh /etc/init.d/1001_rc_quad_x.hil sh /etc/init.d/rc.mc_defaults
set MIXER FMU_quad_+ set MIXER FMU_quad_+
set HIL yes

32
ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil
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@ -5,38 +5,10 @@
# Thomas Gubler <thomasgubler@gmail.com> # Thomas Gubler <thomasgubler@gmail.com>
# #
echo "HIL Rascal 110 starting.." sh /etc/init.d/rc.fw_defaults
if [ $DO_AUTOCONFIG == yes ] echo "HIL Rascal 110 starting.."
then
# Set all params here, then disable autoconfig
param set FW_P_D 0
param set FW_P_I 0
param set FW_P_IMAX 15
param set FW_P_LIM_MAX 50
param set FW_P_LIM_MIN -50
param set FW_P_P 60
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 1.1
param set FW_R_D 0
param set FW_R_I 5
param set FW_R_IMAX 20
param set FW_R_P 100
param set FW_R_RMAX 100
param set FW_THR_CRUISE 0.65
param set FW_THR_MAX 1
param set FW_THR_MIN 0
param set FW_T_SINK_MAX 5.0
param set FW_T_SINK_MIN 4.0
param set FW_Y_ROLLFF 1.1
param set FW_L1_PERIOD 16
param set RC_SCALE_ROLL 1.0
param set RC_SCALE_PITCH 1.0
fi
set HIL yes set HIL yes
set VEHICLE_TYPE fw
set MIXER FMU_AERT set MIXER FMU_AERT

23
ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil
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@ -5,14 +5,13 @@
# Thomas Gubler <thomasgubler@gmail.com> # Thomas Gubler <thomasgubler@gmail.com>
# #
echo "HIL Malolo 1 starting.." sh /etc/init.d/rc.fw_defaults
if [ $DO_AUTOCONFIG == yes ] if [ $DO_AUTOCONFIG == yes ]
then then
# Set all params here, then disable autoconfig
param set FW_AIRSPD_MIN 12 param set FW_AIRSPD_MIN 12
param set FW_AIRSPD_TRIM 25 param set FW_AIRSPD_TRIM 25
param set FW_AIRSPD_MAX 40
param set FW_ATT_TC 0.3 param set FW_ATT_TC 0.3
param set FW_L1_DAMPING 0.74 param set FW_L1_DAMPING 0.74
param set FW_L1_PERIOD 15 param set FW_L1_PERIOD 15
@ -20,10 +19,6 @@ then
param set FW_PR_I 0.05 param set FW_PR_I 0.05
param set FW_PR_IMAX 0.2 param set FW_PR_IMAX 0.2
param set FW_PR_P 0.1 param set FW_PR_P 0.1
param set FW_P_LIM_MAX 45
param set FW_P_LIM_MIN -45
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 0 param set FW_P_ROLLFF 0
param set FW_RR_FF 0.6 param set FW_RR_FF 0.6
param set FW_RR_I 0.02 param set FW_RR_I 0.02
@ -31,9 +26,6 @@ then
param set FW_RR_P 0.1 param set FW_RR_P 0.1
param set FW_R_LIM 45 param set FW_R_LIM 45
param set FW_R_RMAX 0 param set FW_R_RMAX 0
param set FW_THR_CRUISE 0.6
param set FW_THR_MAX 1
param set FW_THR_MIN 0
param set FW_T_CLMB_MAX 5 param set FW_T_CLMB_MAX 5
param set FW_T_HRATE_P 0.02 param set FW_T_HRATE_P 0.02
param set FW_T_PTCH_DAMP 0 param set FW_T_PTCH_DAMP 0
@ -43,22 +35,13 @@ then
param set FW_T_SRATE_P 0.01 param set FW_T_SRATE_P 0.01
param set FW_T_TIME_CONST 3 param set FW_T_TIME_CONST 3
param set FW_T_VERT_ACC 7 param set FW_T_VERT_ACC 7
param set FW_YCO_VMIN 1000
param set FW_YR_FF 0.0 param set FW_YR_FF 0.0
param set FW_YR_I 0 param set FW_YR_I 0
param set FW_YR_IMAX 0.2 param set FW_YR_IMAX 0.2
param set FW_YR_P 0.0 param set FW_YR_P 0.0
param set FW_Y_RMAX 0
param set NAV_LAND_ALT 90
param set NAV_RTL_ALT 100
param set NAV_RTL_LAND_T -1
param set SYS_AUTOCONFIG 0
param save
fi fi
set HIL yes set HIL yes
set VEHICLE_TYPE fw
# Set the AERT mixer for HIL (even if the malolo is a flying wing) # Set the AERT mixer for HIL (even if the malolo is a flying wing)
set MIXER FMU_AERT set MIXER FMU_AERT

4
ROMFS/px4fmu_common/init.d/12001_octo_cox
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@ -5,6 +5,8 @@
# Lorenz Meier <lm@inf.ethz.ch>, Anton Babushkin <anton.babushkin@me.com> # Lorenz Meier <lm@inf.ethz.ch>, Anton Babushkin <anton.babushkin@me.com>
# #
sh /etc/init.d/8001_octo_x sh /etc/init.d/rc.mc_defaults
set MIXER FMU_octo_cox set MIXER FMU_octo_cox
set PWM_OUTPUTS 12345678

33
ROMFS/px4fmu_common/init.d/2100_mpx_easystar
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@ -2,38 +2,7 @@
# #
# MPX EasyStar Plane # MPX EasyStar Plane
# #
# Maintainers: ???
#
if [ $DO_AUTOCONFIG == yes ] sh /etc/init.d/rc.fw_defaults
then
#
# Default parameters for this platform
#
param set FW_P_D 0
param set FW_P_I 0
param set FW_P_IMAX 15
param set FW_P_LIM_MAX 50
param set FW_P_LIM_MIN -50
param set FW_P_P 60
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 1.1
param set FW_R_D 0
param set FW_R_I 5
param set FW_R_IMAX 20
param set FW_R_P 100
param set FW_R_RMAX 100
param set FW_THR_CRUISE 0.65
param set FW_THR_MAX 1
param set FW_THR_MIN 0
param set FW_T_SINK_MAX 5.0
param set FW_T_SINK_MIN 4.0
param set FW_Y_ROLLFF 1.1
param set FW_L1_PERIOD 16
param set RC_SCALE_ROLL 1.0
param set RC_SCALE_PITCH 1.0
fi
set VEHICLE_TYPE fw
set MIXER FMU_RET set MIXER FMU_RET

32
ROMFS/px4fmu_common/init.d/2101_hk_bixler
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@ -1,35 +1,5 @@
#!nsh #!nsh
if [ $DO_AUTOCONFIG == yes ] sh /etc/init.d/rc.fw_defaults
then
# Set all params here, then disable autoconfig
param set FW_P_D 0
param set FW_P_I 0
param set FW_P_IMAX 15
param set FW_P_LIM_MAX 50
param set FW_P_LIM_MIN -50
param set FW_P_P 60
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 1.1
param set FW_R_D 0
param set FW_R_I 5
param set FW_R_IMAX 20
param set FW_R_P 100
param set FW_R_RMAX 100
param set FW_THR_CRUISE 0.65
param set FW_THR_MAX 1
param set FW_THR_MIN 0
param set FW_T_SINK_MAX 5.0
param set FW_T_SINK_MIN 4.0
param set FW_Y_ROLLFF 1.1
param set FW_L1_PERIOD 16
param set RC_SCALE_ROLL 1.0
param set RC_SCALE_PITCH 1.0
param set SYS_AUTOCONFIG 0
param save
fi
set VEHICLE_TYPE fw
set MIXER FMU_AERT set MIXER FMU_AERT

30
ROMFS/px4fmu_common/init.d/2102_3dr_skywalker
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@ -1,33 +1,5 @@
#!nsh #!nsh
if [ $DO_AUTOCONFIG == yes ] sh /etc/init.d/rc.fw_defaults
then
# Set all params here, then disable autoconfig
param set FW_P_D 0
param set FW_P_I 0
param set FW_P_IMAX 15
param set FW_P_LIM_MAX 50
param set FW_P_LIM_MIN -50
param set FW_P_P 60
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 1.1
param set FW_R_D 0
param set FW_R_I 5
param set FW_R_IMAX 20
param set FW_R_P 100
param set FW_R_RMAX 100
param set FW_THR_CRUISE 0.65
param set FW_T_SINK_MAX 5.0
param set FW_T_SINK_MIN 4.0
param set FW_Y_ROLLFF 1.1
param set FW_L1_PERIOD 16
param set RC_SCALE_ROLL 1.0
param set RC_SCALE_PITCH 1.0
param set SYS_AUTOCONFIG 0
param save
fi
set VEHICLE_TYPE fw
set MIXER FMU_AERT set MIXER FMU_AERT

35
ROMFS/px4fmu_common/init.d/3030_io_camflyer
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@ -1,38 +1,5 @@
#!nsh #!nsh
if [ $DO_AUTOCONFIG == yes ] sh /etc/init.d/rc.fw_defaults
then
#
# Default parameters for this platform
#
param set FW_AIRSPD_MIN 7
param set FW_AIRSPD_TRIM 9
param set FW_AIRSPD_MAX 14
param set FW_L1_PERIOD 10
param set FW_P_D 0
param set FW_P_I 0
param set FW_P_IMAX 20
param set FW_P_LIM_MAX 30
param set FW_P_LIM_MIN -20
param set FW_P_P 30
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 2
param set FW_R_D 0
param set FW_R_I 5
param set FW_R_IMAX 20
param set FW_R_P 60
param set FW_R_RMAX 60
param set FW_THR_CRUISE 0.65
param set FW_THR_MAX 1.0
param set FW_THR_MIN 0
param set FW_T_SINK_MAX 5
param set FW_T_SINK_MIN 2
param set FW_T_TIME_CONST 9
param set FW_Y_ROLLFF 2.0
param set RC_SCALE_ROLL 1.0
param set RC_SCALE_PITCH 1.0
fi
set VEHICLE_TYPE fw
set MIXER FMU_Q set MIXER FMU_Q

36
ROMFS/px4fmu_common/init.d/3031_phantom
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@ -5,40 +5,4 @@
# Simon Wilks <sjwilks@gmail.com> # Simon Wilks <sjwilks@gmail.com>
# #
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
param set FW_AIRSPD_MIN 11.4
param set FW_AIRSPD_TRIM 14
param set FW_AIRSPD_MAX 22
param set FW_L1_PERIOD 15
param set FW_P_D 0
param set FW_P_I 0
param set FW_P_IMAX 15
param set FW_P_LIM_MAX 45
param set FW_P_LIM_MIN -45
param set FW_P_P 60
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 2
param set FW_R_D 0
param set FW_R_I 5
param set FW_R_IMAX 15
param set FW_R_P 80
param set FW_R_RMAX 60
param set FW_THR_CRUISE 0.8
param set FW_THR_LND_MAX 0
param set FW_THR_MAX 1
param set FW_THR_MIN 0.5
param set FW_T_SINK_MAX 5.0
param set FW_T_SINK_MIN 2.0
param set FW_Y_ROLLFF 1.0
param set RC_SCALE_ROLL 0.6
param set RC_SCALE_PITCH 0.6
param set TRIM_PITCH 0.1
fi
set VEHICLE_TYPE fw
set MIXER FMU_Q set MIXER FMU_Q

54
ROMFS/px4fmu_common/init.d/3032_skywalker_x5
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@ -5,39 +5,35 @@
# Thomas Gubler <thomasgubler@gmail.com>, Julian Oes <joes@student.ethz.ch> # Thomas Gubler <thomasgubler@gmail.com>, Julian Oes <joes@student.ethz.ch>
# #
sh /etc/init.d/rc.fw_defaults
if [ $DO_AUTOCONFIG == yes ] if [ $DO_AUTOCONFIG == yes ]
then then
# param set FW_AIRSPD_MIN 15
# Default parameters for this platform param set FW_AIRSPD_TRIM 20
# param set FW_AIRSPD_MAX 40
param set FW_AIRSPD_MIN 7 param set FW_ATT_TC 0.3
param set FW_AIRSPD_TRIM 9 param set FW_L1_DAMPING 0.74
param set FW_AIRSPD_MAX 14 param set FW_L1_PERIOD 15
param set FW_L1_PERIOD 10 param set FW_PR_FF 0.3
param set FW_P_D 0 param set FW_PR_I 0
param set FW_P_I 0 param set FW_PR_IMAX 0.2
param set FW_P_IMAX 20 param set FW_PR_P 0.03
param set FW_P_LIM_MAX 30 param set FW_P_LIM_MAX 45
param set FW_P_LIM_MIN -20 param set FW_P_LIM_MIN -45
param set FW_P_P 30
param set FW_P_RMAX_NEG 0 param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0 param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 2 param set FW_P_ROLLFF 0
param set FW_R_D 0 param set FW_RR_FF 0.3
param set FW_R_I 5 param set FW_RR_I 0
param set FW_R_IMAX 20 param set FW_RR_IMAX 0.2
param set FW_R_P 60 param set FW_RR_P 0.03
param set FW_R_RMAX 60 param set FW_R_LIM 60
param set FW_THR_CRUISE 0.65 param set FW_R_RMAX 0
param set FW_THR_MAX 0.7 param set FW_T_HRATE_P 0.01
param set FW_THR_MIN 0 param set FW_T_RLL2THR 15
param set FW_T_SINK_MAX 5 param set FW_T_SRATE_P 0.01
param set FW_T_SINK_MIN 2 param set FW_T_TIME_CONST 5
param set FW_T_TIME_CONST 9
param set FW_Y_ROLLFF 2.0
param set RC_SCALE_ROLL 1.0
param set RC_SCALE_PITCH 1.0
fi fi
set VEHICLE_TYPE fw
set MIXER FMU_X5 set MIXER FMU_X5

35
ROMFS/px4fmu_common/init.d/3033_wingwing
View File

@ -5,39 +5,6 @@
# Simon Wilks <sjwilks@gmail.com> # Simon Wilks <sjwilks@gmail.com>
# #
if [ $DO_AUTOCONFIG == yes ] sh /etc/init.d/rc.fw_defaults
then
#
# Default parameters for this platform
#
param set FW_AIRSPD_MIN 7
param set FW_AIRSPD_TRIM 9
param set FW_AIRSPD_MAX 14
param set FW_L1_PERIOD 10
param set FW_P_D 0
param set FW_P_I 0
param set FW_P_IMAX 20
param set FW_P_LIM_MAX 30
param set FW_P_LIM_MIN -20
param set FW_P_P 30
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 2
param set FW_R_D 0
param set FW_R_I 5
param set FW_R_IMAX 20
param set FW_R_P 60
param set FW_R_RMAX 60
param set FW_THR_CRUISE 0.65
param set FW_THR_MAX 0.7
param set FW_THR_MIN 0
param set FW_T_SINK_MAX 5
param set FW_T_SINK_MIN 2
param set FW_T_TIME_CONST 9
param set FW_Y_ROLLFF 2.0
param set RC_SCALE_ROLL 1.0
param set RC_SCALE_PITCH 1.0
fi
set VEHICLE_TYPE fw
set MIXER FMU_Q set MIXER FMU_Q

35
ROMFS/px4fmu_common/init.d/3034_fx79
View File

@ -5,39 +5,6 @@
# Simon Wilks <sjwilks@gmail.com> # Simon Wilks <sjwilks@gmail.com>
# #
if [ $DO_AUTOCONFIG == yes ] sh /etc/init.d/rc.fw_defaults
then
#
# Default parameters for this platform
#
param set FW_AIRSPD_MAX 20
param set FW_AIRSPD_TRIM 12
param set FW_AIRSPD_MIN 15
param set FW_L1_PERIOD 12
param set FW_P_D 0
param set FW_P_I 0
param set FW_P_IMAX 15
param set FW_P_LIM_MAX 50
param set FW_P_LIM_MIN -50
param set FW_P_P 60
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 1.1
param set FW_R_D 0
param set FW_R_I 5
param set FW_R_IMAX 20
param set FW_R_P 80
param set FW_R_RMAX 100
param set FW_THR_CRUISE 0.75
param set FW_THR_MAX 1
param set FW_THR_MIN 0
param set FW_T_SINK_MAX 5.0
param set FW_T_SINK_MIN 4.0
param set FW_T_TIME_CONST 9
param set FW_Y_ROLLFF 1.1
param set RC_SCALE_ROLL 1.0
param set RC_SCALE_PITCH 1.0
fi
set VEHICLE_TYPE fw
set MIXER FMU_FX79 set MIXER FMU_FX79

44
ROMFS/px4fmu_common/init.d/4001_quad_x
View File

@ -5,48 +5,8 @@
# Lorenz Meier <lm@inf.ethz.ch> # Lorenz Meier <lm@inf.ethz.ch>
# #
if [ $DO_AUTOCONFIG == yes ] sh /etc/init.d/rc.mc_defaults
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 MIXER FMU_quad_x
set PWM_OUTPUTS 1234 set PWM_OUTPUTS 1234
set PWM_RATE 400
set PWM_DISARMED 900
set PWM_MIN 1100
set PWM_MAX 2000

47
ROMFS/px4fmu_common/init.d/4010_dji_f330
View File

@ -5,49 +5,6 @@
# Anton Babushkin <anton.babushkin@me.com> # Anton Babushkin <anton.babushkin@me.com>
# #
if [ $DO_AUTOCONFIG == yes ] sh /etc/init.d/4001_quad_x
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 2.8
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.05
param set MC_YAWRATE_D 0.0
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_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 PWM_MIN 1175
set MIXER FMU_quad_x
set PWM_OUTPUTS 1234
set PWM_RATE 400
# DJI ESC range
set PWM_DISARMED 900
set PWM_MIN 1200
set PWM_MAX 1900

47
ROMFS/px4fmu_common/init.d/4011_dji_f450
View File

@ -5,49 +5,6 @@
# Lorenz Meier <lm@inf.ethz.ch> # Lorenz Meier <lm@inf.ethz.ch>
# #
if [ $DO_AUTOCONFIG == yes ] sh /etc/init.d/4001_quad_x
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 PWM_MIN 1175
set MIXER FMU_quad_x
set PWM_OUTPUTS 1234
set PWM_RATE 400
# DJI ESC range
set PWM_DISARMED 900
set PWM_MIN 1200
set PWM_MAX 1900

6
ROMFS/px4fmu_common/init.d/4012_hk_x550
View File

@ -6,9 +6,3 @@
# #
sh /etc/init.d/4001_quad_x sh /etc/init.d/4001_quad_x
set PWM_OUTPUTS 1234
set PWM_RATE 400
set PWM_DISARMED 900
set PWM_MIN 1000
set PWM_MAX 2000

4
ROMFS/px4fmu_common/init.d/5001_quad_+
View File

@ -5,6 +5,8 @@
# Anton Babushkin <anton.babushkin@me.com> # Anton Babushkin <anton.babushkin@me.com>
# #
sh /etc/init.d/4001_quad_x sh /etc/init.d/rc.mc_defaults
set MIXER FMU_quad_+ set MIXER FMU_quad_+
set PWM_OUTPUTS 1234

4
ROMFS/px4fmu_common/init.d/6001_hexa_x
View File

@ -5,10 +5,10 @@
# Anton Babushkin <anton.babushkin@me.com> # Anton Babushkin <anton.babushkin@me.com>
# #
sh /etc/init.d/4001_quad_x sh /etc/init.d/rc.mc_defaults
set MIXER FMU_hexa_x set MIXER FMU_hexa_x
# We only can run one channel group with one rate, # We only can run one channel group with one rate,
# so all 8 at 400 Hz # so all 8 at 400 Hz
set PWM_OUTPUTS 12345678 set PWM_OUTPUTS 12345678

6
ROMFS/px4fmu_common/init.d/7001_hexa_+
View File

@ -5,6 +5,10 @@
# Anton Babushkin <anton.babushkin@me.com> # Anton Babushkin <anton.babushkin@me.com>
# #
sh /etc/init.d/6001_hexa_x sh /etc/init.d/rc.mc_defaults
set MIXER FMU_hexa_+ set MIXER FMU_hexa_+
# We only can run one channel group with one rate,
# so all 8 at 400 Hz
set PWM_OUTPUTS 12345678

4
ROMFS/px4fmu_common/init.d/8001_octo_x
View File

@ -5,8 +5,8 @@
# Anton Babushkin <anton.babushkin@me.com> # Anton Babushkin <anton.babushkin@me.com>
# #
sh /etc/init.d/4001_quad_x sh /etc/init.d/rc.mc_defaults
set MIXER FMU_octo_x set MIXER FMU_octo_x
set PWM_OUTPUTS 12345678 set PWM_OUTPUTS 12345678

4
ROMFS/px4fmu_common/init.d/9001_octo_+
View File

@ -5,6 +5,8 @@
# Anton Babushkin <anton.babushkin@me.com> # Anton Babushkin <anton.babushkin@me.com>
# #
sh /etc/init.d/8001_octo_x sh /etc/init.d/rc.mc_defaults
set MIXER FMU_octo_+ set MIXER FMU_octo_+
set PWM_OUTPUTS 12345678

13
ROMFS/px4fmu_common/init.d/rc.fw_defaults Normal file
View File

@ -0,0 +1,13 @@
#!nsh
set VEHICLE_TYPE fw
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for FW
#
param set NAV_LAND_ALT 90
param set NAV_RTL_ALT 100
param set NAV_RTL_LAND_T -1
fi

45
ROMFS/px4fmu_common/init.d/rc.mc_defaults Normal file
View File

@ -0,0 +1,45 @@
#!nsh
set VEHICLE_TYPE mc
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for MC
#
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 PWM_RATE 400
set PWM_DISARMED 900
set PWM_MIN 1075
set PWM_MAX 2000

28
ROMFS/px4fmu_common/init.d/rcS
View File

@ -464,16 +464,20 @@ then
if [ $MIXER == none ] if [ $MIXER == none ]
then then
# Set default mixer for multicopter if not defined echo "Default mixer for multicopter not defined"
set MIXER quad_x
fi fi
if [ $MAV_TYPE == none ] if [ $MAV_TYPE == none ]
then then
# Use MAV_TYPE = 2 (quadcopter) if not defined
set MAV_TYPE 2
# Use mixer to detect vehicle type # Use mixer to detect vehicle type
if [ $MIXER == FMU_quad_x -o $MIXER == FMU_quad_+ ]
then
set MAV_TYPE 2
fi
if [ $MIXER == FMU_quad_w ]
then
set MAV_TYPE 2
fi
if [ $MIXER == FMU_hexa_x -o $MIXER == FMU_hexa_+ ] if [ $MIXER == FMU_hexa_x -o $MIXER == FMU_hexa_+ ]
then then
set MAV_TYPE 13 set MAV_TYPE 13
@ -487,8 +491,14 @@ then
set MAV_TYPE 14 set MAV_TYPE 14
fi fi
fi fi
param set MAV_TYPE $MAV_TYPE # Still no MAV_TYPE found
if [ $MAV_TYPE == none ]
then
echo "Unknown MAV_TYPE"
else
param set MAV_TYPE $MAV_TYPE
fi
# Load mixer and configure outputs # Load mixer and configure outputs
sh /etc/init.d/rc.interface sh /etc/init.d/rc.interface
@ -502,10 +512,8 @@ then
# #
if [ $VEHICLE_TYPE == none ] if [ $VEHICLE_TYPE == none ]
then then
echo "[init] Vehicle type: GENERIC" echo "[init] Vehicle type: No autostart ID found"
# Load mixer and configure outputs
sh /etc/init.d/rc.interface
fi fi
# Start any custom addons # Start any custom addons

4
nuttx-configs/px4fmu-v2/include/board.h
View File

@ -209,8 +209,8 @@
#define GPIO_USART3_RX GPIO_USART3_RX_3 #define GPIO_USART3_RX GPIO_USART3_RX_3
#define GPIO_USART3_TX GPIO_USART3_TX_3 #define GPIO_USART3_TX GPIO_USART3_TX_3
#define GPIO_USART2_RTS GPIO_USART2_RTS_2 #define GPIO_USART3_RTS GPIO_USART3_RTS_2
#define GPIO_USART2_CTS GPIO_USART2_CTS_2 #define GPIO_USART3_CTS GPIO_USART3_CTS_2
#define GPIO_UART4_RX GPIO_UART4_RX_1 #define GPIO_UART4_RX GPIO_UART4_RX_1
#define GPIO_UART4_TX GPIO_UART4_TX_1 #define GPIO_UART4_TX GPIO_UART4_TX_1

2
src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
View File

@ -168,7 +168,7 @@ PARAM_DEFINE_FLOAT(FW_T_SINK_MAX, 5.0f);
PARAM_DEFINE_FLOAT(FW_T_HRATE_P, 0.05f); PARAM_DEFINE_FLOAT(FW_T_HRATE_P, 0.05f);
PARAM_DEFINE_FLOAT(FW_T_SRATE_P, 0.05f); PARAM_DEFINE_FLOAT(FW_T_SRATE_P, 0.05f);
PARAM_DEFINE_FLOAT(FW_LND_ANG, 10.0f); PARAM_DEFINE_FLOAT(FW_LND_ANG, 5.0f);
PARAM_DEFINE_FLOAT(FW_LND_SLLR, 0.9f); PARAM_DEFINE_FLOAT(FW_LND_SLLR, 0.9f);
PARAM_DEFINE_FLOAT(FW_LND_HVIRT, 10.0f); PARAM_DEFINE_FLOAT(FW_LND_HVIRT, 10.0f);
PARAM_DEFINE_FLOAT(FW_LND_FLALT, 15.0f); PARAM_DEFINE_FLOAT(FW_LND_FLALT, 15.0f);

2
src/modules/navigator/navigator_params.c
View File

@ -55,7 +55,7 @@
PARAM_DEFINE_FLOAT(NAV_MIN_ALT, 50.0f); PARAM_DEFINE_FLOAT(NAV_MIN_ALT, 50.0f);
PARAM_DEFINE_FLOAT(NAV_ACCEPT_RAD, 10.0f); PARAM_DEFINE_FLOAT(NAV_ACCEPT_RAD, 10.0f);
PARAM_DEFINE_FLOAT(NAV_LOITER_RAD, 100.0f); PARAM_DEFINE_FLOAT(NAV_LOITER_RAD, 50.0f);
PARAM_DEFINE_INT32(NAV_ONB_MIS_EN, 0); PARAM_DEFINE_INT32(NAV_ONB_MIS_EN, 0);
PARAM_DEFINE_FLOAT(NAV_TAKEOFF_ALT, 10.0f); // default TAKEOFF altitude PARAM_DEFINE_FLOAT(NAV_TAKEOFF_ALT, 10.0f); // default TAKEOFF altitude
PARAM_DEFINE_FLOAT(NAV_LAND_ALT, 5.0f); // slow descend from this altitude when landing PARAM_DEFINE_FLOAT(NAV_LAND_ALT, 5.0f); // slow descend from this altitude when landing