forked from Archive/PX4-Autopilot
78 lines
1.4 KiB
Plaintext
78 lines
1.4 KiB
Plaintext
#!nsh
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echo "[init] PX4FMU v1, v2 with or without IO on DJI F330"
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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 0.004
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param set MC_ATTRATE_I 0.0
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param set MC_ATTRATE_P 0.12
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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 7.0
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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 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 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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# Start MAVLink (on UART1 / ttyS0)
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mavlink start -d /dev/ttyS0
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usleep 5000
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fmu mode_pwm
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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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mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
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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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