forked from Archive/PX4-Autopilot
58 lines
1.0 KiB
Plaintext
58 lines
1.0 KiB
Plaintext
#!nsh
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echo "[init] 08_ardrone: PX4FMU on PX4IOAR carrier board"
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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 MC_ATTRATE_D 0
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param set MC_ATTRATE_I 0
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param set MC_ATTRATE_P 0.13
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param set MC_ATT_D 0
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param set MC_ATT_I 0.3
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param set MC_ATT_P 5
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param set MC_YAWPOS_D 0.1
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param set MC_YAWPOS_I 0.15
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param set MC_YAWPOS_P 1
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param set MC_YAWRATE_D 0
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param set MC_YAWRATE_I 0
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param set MC_YAWRATE_P 0.15
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param set SYS_AUTOCONFIG 0
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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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param set BAT_V_SCALING 0.008381
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#
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# Start MAVLink
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#
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mavlink start -d /dev/ttyS0 -b 57600
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usleep 5000
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#
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# Configure PX4FMU for operation with PX4IOAR
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#
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fmu mode_gpio_serial
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#
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# Fire up the AR.Drone interface.
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#
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ardrone_interface start -d /dev/ttyS1
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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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# Exit, because /dev/ttyS0 is needed for MAVLink
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exit
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