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px4-firmware
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Merge branch 'master' of github.com:PX4/Firmware

This commit is contained in:
Lorenz Meier 2014-01-27 22:12:35 +01:00
parent fdc7aa3be2 7e855b5a23
commit fbafeab792
15 changed files with 386 additions and 267 deletions
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58
ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil
View File

@ -1,14 +1,13 @@
#!nsh
#
# USB HIL start
# HILStar / X-Plane
#
# Maintainers: Thomas Gubler <thomasgubler@gmail.com>
#
echo "[HIL] HILStar starting.."
echo "HIL Rascal 110 starting.."
#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
if [ $DO_AUTOCONFIG == yes ]
then
# Set all params here, then disable autoconfig
@ -40,48 +39,7 @@ then
param save
fi
# Allow USB some time to come up
sleep 1
# Tell MAVLink that this link is "fast"
mavlink start -b 230400 -d /dev/ttyACM0
# Create a fake HIL /dev/pwm_output interface
hil mode_pwm
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
#
param set MAV_TYPE 1
#
# Check if we got an IO
#
if px4io start
then
echo "IO started"
else
fmu mode_serial
echo "FMU started"
fi
#
# Start the sensors (depends on orb, px4io)
#
sh /etc/init.d/rc.sensors
#
# Start the attitude estimator (depends on orb)
#
att_pos_estimator_ekf start
#
# Load mixer and start controllers (depends on px4io)
#
mixer load /dev/pwm_output /etc/mixers/FMU_AET.mix
fw_pos_control_l1 start
fw_att_control start
echo "[HIL] setup done, running"
set HIL yes
set VEHICLE_TYPE fw
set MIXER FMU_AERT

56
ROMFS/px4fmu_common/init.d/1002_rc_fw_state.hil
View File

@ -1,14 +1,13 @@
#!nsh
#
# USB HIL start
# HIL Rascal 110 (Flightgear)
#
# Maintainers: Thomas Gubler <thomasgubler@gmail.com>
#
echo "[HIL] HILStar starting in state-HIL mode.."
echo "HIL Rascal 110 starting.."
#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
if [ $DO_AUTOCONFIG == yes ]
then
# Set all params here, then disable autoconfig
@ -32,48 +31,15 @@ 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 RC_SCALE_ROLL 1.0
param set RC_SCALE_PITCH 1.0
param set SYS_AUTOCONFIG 0
param save
fi
# Allow USB some time to come up
sleep 1
# Tell MAVLink that this link is "fast"
mavlink start -b 230400 -d /dev/ttyACM0
# Create a fake HIL /dev/pwm_output interface
hil mode_pwm
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
#
param set MAV_TYPE 1
#
# Check if we got an IO
#
if px4io start
then
echo "IO started"
else
fmu mode_serial
echo "FMU started"
fi
#
# Start the sensors (depends on orb, px4io)
#
sh /etc/init.d/rc.sensors
#
# Load mixer and start controllers (depends on px4io)
#
mixer load /dev/pwm_output /etc/mixers/FMU_AET.mix
fw_pos_control_l1 start
fw_att_control start
echo "[HIL] setup done, running"
set HIL yes
set VEHICLE_TYPE fw
set MIXER FMU_AERT

1
ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil
View File

@ -43,4 +43,3 @@ set HIL yes
set VEHICLE_TYPE fw
set MIXER FMU_AERT

37
ROMFS/px4fmu_common/init.d/12001_octo_cox_pwm Normal file
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@ -0,0 +1,37 @@
#!nsh
#
# Generic 10” Octo coaxial 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_cox
set PWM_OUTPUTS 1234
set PWM_RATE 400
# DJI ESC range
set PWM_DISARMED 900
set PWM_MIN 1200
set PWM_MAX 1900

48
ROMFS/px4fmu_common/init.d/2101_hk_bixler
View File

@ -1,11 +1,11 @@
#!nsh
echo "[init] PX4FMU v1, v2 with or without IO on HK Bixler"
echo "[init] PX4FMU v1, v2 with or without IO on 3DR SkyWalker"
#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
if [ $DO_AUTOCONFIG == yes ]
then
# Set all params here, then disable autoconfig
param set FW_P_D 0
@ -35,46 +35,6 @@ then
param set SYS_AUTOCONFIG 0
param save
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing
#
param set MAV_TYPE 1
#
# Start and configure PX4IO or FMU interface
#
if px4io detect
then
# Start MAVLink (depends on orb)
mavlink start
sh /etc/init.d/rc.io
# Limit to 100 Hz updates and (implicit) 50 Hz PWM
px4io limit 100
else
# Start MAVLink (on UART1 / ttyS0)
mavlink start -d /dev/ttyS0
fmu mode_pwm
param set BAT_V_SCALING 0.004593
set EXIT_ON_END yes
fi
#
# Load mixer and start controllers (depends on px4io)
#
if [ -f /fs/microsd/etc/mixers/FMU_AERT.mix ]
then
echo "Using /fs/microsd/etc/mixers/FMU_AERT.mix"
mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_AERT.mix
else
echo "Using /etc/mixers/FMU_Q.mix"
mixer load /dev/pwm_output /etc/mixers/FMU_AERT.mix
fi
#
# Start common fixedwing apps
#
sh /etc/init.d/rc.fixedwing
set VEHICLE_TYPE fw
set MIXER FMU_AERT

48
ROMFS/px4fmu_common/init.d/2102_3dr_skywalker
View File

@ -5,7 +5,7 @@ echo "[init] PX4FMU v1, v2 with or without IO on 3DR SkyWalker"
#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
if [ $DO_AUTOCONFIG == yes ]
then
# Set all params here, then disable autoconfig
param set FW_P_D 0
@ -35,48 +35,6 @@ then
param set SYS_AUTOCONFIG 0
param save
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing
#
param set MAV_TYPE 1
#
# Start and configure PX4IO or FMU interface
#
if px4io detect
then
# Start MAVLink (depends on orb)
mavlink start
sh /etc/init.d/rc.io
# Limit to 100 Hz updates and (implicit) 50 Hz PWM
px4io limit 100
else
# Start MAVLink (on UART1 / ttyS0)
mavlink start -d /dev/ttyS0
fmu mode_pwm
param set BAT_V_SCALING 0.004593
set EXIT_ON_END yes
fi
pwm disarmed -c 3 -p 1056
#
# Load mixer and start controllers (depends on px4io)
#
if [ -f /fs/microsd/etc/mixers/FMU_AERT.mix ]
then
echo "Using /fs/microsd/etc/mixers/FMU_AERT.mix"
mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_AETR.mix
else
echo "Using /etc/mixers/FMU_Q.mix"
mixer load /dev/pwm_output /etc/mixers/FMU_AETR.mix
fi
#
# Start common fixedwing apps
#
sh /etc/init.d/rc.fixedwing
set VEHICLE_TYPE fw
set MIXER FMU_AERT

84
ROMFS/px4fmu_common/init.d/3030_io_camflyer
View File

@ -2,57 +2,39 @@
echo "[init] PX4FMU v1, v2 with or without IO on Camflyer"
#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
if [ $DO_AUTOCONFIG == yes ]
then
# Set all params here, then disable autoconfig
# TODO
param set SYS_AUTOCONFIG 0
param save
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing
#
param set MAV_TYPE 1
#
# Start and configure PX4IO or FMU interface
#
if px4io detect
then
# Start MAVLink (depends on orb)
mavlink start
sh /etc/init.d/rc.io
# Limit to 100 Hz updates and (implicit) 50 Hz PWM
px4io limit 100
else
# Start MAVLink (on UART1 / ttyS0)
mavlink start -d /dev/ttyS0
fmu mode_pwm
param set BAT_V_SCALING 0.004593
set EXIT_ON_END yes
#
# 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
#
# Load mixer and start controllers (depends on px4io)
#
if [ -f /fs/microsd/etc/mixers/FMU_Q.mix ]
then
echo "Using /fs/microsd/etc/mixers/FMU_Q.mix"
mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_Q.mix
else
echo "Using /etc/mixers/FMU_Q.mix"
mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
fi
#
# Start common fixedwing apps
#
sh /etc/init.d/rc.fixedwing
set VEHICLE_TYPE fw
set MIXER FMU_Q

33
ROMFS/px4fmu_common/init.d/3032_skywalker_x5
View File

@ -7,8 +7,37 @@
if [ $DO_AUTOCONFIG == yes ]
then
# TODO
#
# 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_X5

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

@ -0,0 +1,37 @@
#!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

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

@ -0,0 +1,37 @@
#!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

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

@ -0,0 +1,37 @@
#!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

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

@ -0,0 +1,37 @@
#!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

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

@ -0,0 +1,37 @@
#!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

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

@ -1,9 +0,0 @@
#!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

94
ROMFS/px4fmu_common/init.d/rc.autostart
View File

@ -33,7 +33,7 @@ fi
if param compare SYS_AUTOSTART 1002
then
#sh /etc/init.d/1002_rc_fw_state.hil
sh /etc/init.d/1002_rc_fw_state.hil
fi
if param compare SYS_AUTOSTART 1003
@ -52,47 +52,47 @@ fi
if param compare SYS_AUTOSTART 2100 100
then
#sh /etc/init.d/2100_mpx_easystar
#set MODE custom
sh /etc/init.d/2100_mpx_easystar
set MODE custom
fi
if param compare SYS_AUTOSTART 2101 101
then
#sh /etc/init.d/2101_hk_bixler
#set MODE custom
sh /etc/init.d/2101_hk_bixler
set MODE custom
fi
if param compare SYS_AUTOSTART 2102 102
then
#sh /etc/init.d/2102_3dr_skywalker
#set MODE custom
sh /etc/init.d/2102_3dr_skywalker
set MODE custom
fi
#
# Flying wing
#
if param compare SYS_AUTOSTART 3030
if param compare SYS_AUTOSTART 3030 30
then
#sh /etc/init.d/3030_io_camflyer
sh /etc/init.d/3030_io_camflyer
fi
if param compare SYS_AUTOSTART 3031
if param compare SYS_AUTOSTART 3031 31
then
sh /etc/init.d/3031_phantom
fi
if param compare SYS_AUTOSTART 3032
if param compare SYS_AUTOSTART 3032 32
then
sh /etc/init.d/3032_skywalker_x5
fi
if param compare SYS_AUTOSTART 3033
if param compare SYS_AUTOSTART 3033 33
then
sh /etc/init.d/3033_wingwing
fi
if param compare SYS_AUTOSTART 3034
if param compare SYS_AUTOSTART 3034 34
then
sh /etc/init.d/3034_fx79
fi
@ -101,41 +101,95 @@ fi
# Quad X
#
if param compare SYS_AUTOSTART 4008
if param compare SYS_AUTOSTART 4008 8
then
#sh /etc/init.d/4008_ardrone
fi
if param compare SYS_AUTOSTART 4009
if param compare SYS_AUTOSTART 4009 9
then
#sh /etc/init.d/4009_ardrone_flow
fi
if param compare SYS_AUTOSTART 4010
if param compare SYS_AUTOSTART 4010 10
then
sh /etc/init.d/4010_dji_f330
fi
if param compare SYS_AUTOSTART 4011
if param compare SYS_AUTOSTART 4011 11
then
sh /etc/init.d/4011_dji_f450
fi
if param compare SYS_AUTOSTART 4012
if param compare SYS_AUTOSTART 4012 12
then
sh /etc/init.d/4012_hk_x550
fi
#
# Quad +
#
if param compare SYS_AUTOSTART 5001
then
sh /etc/init.d/5001_quad_+_pwm
fi
#
# Hexa X
#
if param compare SYS_AUTOSTART 6001
then
sh /etc/init.d/6001_hexa_x_pwm
fi
#
# Hexa +
#
if param compare SYS_AUTOSTART 7001
then
sh /etc/init.d/7001_hexa_+_pwm
fi
#
# Octo X
#
if param compare SYS_AUTOSTART 8001
then
sh /etc/init.d/8001_octo_x_pwm
fi
#
# Octo +
#
if param compare SYS_AUTOSTART 9001
then
sh /etc/init.d/9001_octo_+_pwm
fi
#
# Wide arm / H frame
#
if param compare SYS_AUTOSTART 10015
if param compare SYS_AUTOSTART 10015 15
then
sh /etc/init.d/10015_tbs_discovery
fi
if param compare SYS_AUTOSTART 10016
if param compare SYS_AUTOSTART 10016 16
then
sh /etc/init.d/10016_3dr_iris
fi
#
# Octo Coaxial
#
if param compare SYS_AUTOSTART 12001
then
sh /etc/init.d/12001_octo_cox_pwm
fi