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Added useful default gains

This commit is contained in:
Lorenz Meier 2013-10-08 09:12:03 +02:00
parent 81e9c06129
commit 69fda8a059
5 changed files with 73 additions and 3 deletions
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1
ROMFS/px4fmu_common/init.d/1000_rc_fw.hil
View File

@ -32,6 +32,7 @@ then
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 SYS_AUTOCONFIG 0
param save

22
ROMFS/px4fmu_common/init.d/100_mpx_easystar
View File

@ -8,7 +8,27 @@ echo "[init] PX4FMU v1, v2 with or without IO on EasyStar"
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
# TODO
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 SYS_AUTOCONFIG 0
param save

22
ROMFS/px4fmu_common/init.d/101_hk_bixler
View File

@ -8,7 +8,27 @@ echo "[init] PX4FMU v1, v2 with or without IO on HK Bixler"
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
# TODO
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 SYS_AUTOCONFIG 0
param save

22
ROMFS/px4fmu_common/init.d/31_io_phantom
View File

@ -8,7 +8,27 @@ echo "[init] PX4FMU v1, v2 with or without IO on Phantom FPV"
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
# TODO
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 17
param set SYS_AUTOCONFIG 0
param save

9
ROMFS/px4fmu_common/init.d/cmp_test Normal file
View File

@ -0,0 +1,9 @@
#!nsh
cp /etc/extras/px4io-v2_default.bin /fs/microsd/px4io.loaded
if cmp /etc/extras/px4io-v2_default.bin /fs/microsd/px4io.loaded
then
echo "CMP returned true"
else
echo "CMP returned false"
fi