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add malolo (flightgear HIL flying wing) autostart config

This commit is contained in:
Thomas Gubler 2014-02-01 12:32:03 +01:00
parent 7bb3197871
commit c2911cbecf
2 changed files with 66 additions and 0 deletions
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61
ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil Normal file
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@ -0,0 +1,61 @@
#!nsh
#
# HIL Malolo 1 (Flightgear)
#
# Maintainers: Thomas Gubler <thomasgubler@gmail.com>
#
echo "HIL Malolo 1 starting.."
if [ $DO_AUTOCONFIG == yes ]
then
# Set all params here, then disable autoconfig
param set FW_AIRSPD_MIN 12
param set FW_AIRSPD_TRIM 25
param set FW_ATT_TC 0.3
param set FW_L1_DAMPING 0.74
param set FW_L1_PERIOD 15
param set FW_PR_FF 0.8
param set FW_PR_I 0.05
param set FW_PR_IMAX 0.2
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_RR_FF 0.6
param set FW_RR_I 0.02
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.1
param set FW_R_LIM 45
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_HRATE_P 0.02
param set FW_T_PTCH_DAMP 0
param set FW_T_RLL2THR 15
param set FW_T_SINK_MAX 5
param set FW_T_SINK_MIN 2
param set FW_T_SRATE_P 0.01
param set FW_T_TIME_CONST 3
param set FW_T_VERT_ACC 7
param set FW_YCO_VMIN 1000
param set FW_YR_FF 0.0
param set FW_YR_I 0
param set FW_YR_IMAX 0.2
param set FW_YR_P 0.0
param set FW_Y_RMAX 0
param set SYS_AUTOCONFIG 0
param save
fi
set HIL yes
set VEHICLE_TYPE fw
# Set the AERT mixer for HIL (even if the malolo is a flying wing)
set MIXER FMU_AERT

5
ROMFS/px4fmu_common/init.d/rc.autostart
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@ -46,6 +46,11 @@ then
sh /etc/init.d/1004_rc_fw_Rascal110.hil
fi
if param compare SYS_AUTOSTART 1005
then
sh /etc/init.d/1005_rc_fw_Malolo1.hil
fi
#
# Standard plane
#