forked from Archive/PX4-Autopilot
mkblctrl fix and qgroundcontrol2 startup script for different frametypes
This commit is contained in:
marco
parent
7ad2654b2d
commit
318abfabcb
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@ -0,0 +1,122 @@
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#!nsh
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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 0.002
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param set MC_ATTRATE_I 0.0
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param set MC_ATTRATE_P 0.09
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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 6.8
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param set MC_YAWPOS_D 0.0
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param set MC_YAWPOS_I 0.0
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param set MC_YAWPOS_P 2.0
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param set MC_YAWRATE_D 0.005
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param set MC_YAWRATE_I 0.2
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param set MC_YAWRATE_P 0.3
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param set NAV_TAKEOFF_ALT 3.0
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param set MPC_TILT_MAX 0.5
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param set MPC_THR_MAX 0.7
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param set MPC_THR_MIN 0.3
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param set MPC_XY_D 0
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param set MPC_XY_P 0.5
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param set MPC_XY_VEL_D 0
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param set MPC_XY_VEL_I 0
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param set MPC_XY_VEL_MAX 3
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param set MPC_XY_VEL_P 0.2
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param set MPC_Z_D 0
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param set MPC_Z_P 1
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param set MPC_Z_VEL_D 0
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param set MPC_Z_VEL_I 0.1
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param set MPC_Z_VEL_MAX 2
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param set MPC_Z_VEL_P 0.20
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param save
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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 2 = quadrotor
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#
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param set MAV_TYPE 2
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set EXIT_ON_END no
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#
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# Start the Mikrokopter ESC driver
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#
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if [ $MKBLCTRL_MODE == yes ]
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then
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if [ $MKBLCTRL_FRAME == x ]
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then
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echo "[init] PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 X Frame Mikrokopter-Addressing"
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mkblctrl -mkmode x
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else
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echo "[init] PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 + Frame Mikrokopter-Addressing"
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mkblctrl -mkmode +
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fi
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else
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if [ $MKBLCTRL_FRAME == x ]
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then
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echo "[init] PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 X Frame"
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else
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echo "[init] PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 + Frame"
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fi
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mkblctrl
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fi
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usleep 10000
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#
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# Start and configure PX4IO or FMU interface
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#
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if px4io detect
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then
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# Start MAVLink (depends on orb)
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mavlink start
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usleep 5000
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sh /etc/init.d/rc.io
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# Set PWM values for DJI ESCs
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px4io idle 900 900 900 900
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px4io min 1200 1200 1200 1200
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px4io max 1800 1800 1800 1800
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else
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fmu mode_pwm
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# Start MAVLink (on UART1 / ttyS0)
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mavlink start -d /dev/ttyS0
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usleep 5000
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param set BAT_V_SCALING 0.004593
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set EXIT_ON_END yes
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fi
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#
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# Load mixer
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#
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if [ $MKBLCTRL_FRAME == x ]
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then
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mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
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else
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mixer load /dev/pwm_output /etc/mixers/FMU_quad_+.mix
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fi
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#
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# Set PWM output frequency
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#
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#pwm -u 400 -m 0xff
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#
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# Start common for all multirotors apps
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#
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sh /etc/init.d/rc.multirotor
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if [ $EXIT_ON_END == yes ]
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then
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exit
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fi
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@ -172,6 +172,42 @@ then
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sh /etc/init.d/16_3dr_iris
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set MODE custom
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fi
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# PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 X Frame
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if param compare SYS_AUTOSTART 17
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then
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set MKBLCTRL_MODE no
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set MKBLCTRL_FRAME x
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sh /etc/init.d/rc.custom_dji_f330_mkblctrl
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set MODE custom
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fi
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# PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 + Frame
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if param compare SYS_AUTOSTART 18
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then
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set MKBLCTRL_MODE no
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set MKBLCTRL_FRAME +
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sh /etc/init.d/rc.custom_dji_f330_mkblctrl
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set MODE custom
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fi
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# PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 X Frame Mikrokopter-Addressing
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if param compare SYS_AUTOSTART 19
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then
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set MKBLCTRL_MODE yes
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set MKBLCTRL_FRAME x
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sh /etc/init.d/rc.custom_dji_f330_mkblctrl
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set MODE custom
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fi
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# PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 + Frame Mikrokopter-Addressing
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if param compare SYS_AUTOSTART 20
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then
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set MKBLCTRL_MODE yes
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set MKBLCTRL_FRAME +
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sh /etc/init.d/rc.custom_dji_f330_mkblctrl
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set MODE custom
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fi
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if param compare SYS_AUTOSTART 30
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then
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@ -96,9 +96,10 @@ class MK : public device::I2C
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{
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public:
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enum Mode {
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MODE_NONE,
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MODE_2PWM,
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MODE_4PWM,
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MODE_NONE
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MODE_6PWM,
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};
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enum MappingMode {
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@ -1023,9 +1024,11 @@ MK::ioctl(file *filp, int cmd, unsigned long arg)
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return ret;
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/* if we are in valid PWM mode, try it as a PWM ioctl as well */
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/*
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switch (_mode) {
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case MODE_2PWM:
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case MODE_4PWM:
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case MODE_6PWM:
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ret = pwm_ioctl(filp, cmd, arg);
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break;
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@ -1033,6 +1036,8 @@ MK::ioctl(file *filp, int cmd, unsigned long arg)
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debug("not in a PWM mode");
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break;
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}
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*/
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ret = pwm_ioctl(filp, cmd, arg);
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/* if nobody wants it, let CDev have it */
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if (ret == -ENOTTY)
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