forked from Archive/PX4-Autopilot
80 lines
1.5 KiB
Plaintext
80 lines
1.5 KiB
Plaintext
#!nsh
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#
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# USB HIL start
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#
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echo "[HIL] HILStar starting in state-HIL mode.."
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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 FW_P_D 0
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param set FW_P_I 0
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param set FW_P_IMAX 15
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param set FW_P_LIM_MAX 50
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param set FW_P_LIM_MIN -50
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param set FW_P_P 60
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param set FW_P_RMAX_NEG 0
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param set FW_P_RMAX_POS 0
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param set FW_P_ROLLFF 1.1
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param set FW_R_D 0
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param set FW_R_I 5
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param set FW_R_IMAX 20
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param set FW_R_P 100
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param set FW_R_RMAX 100
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param set FW_THR_CRUISE 0.65
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param set FW_THR_MAX 1
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param set FW_THR_MIN 0
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param set FW_T_SINK_MAX 5.0
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param set FW_T_SINK_MIN 4.0
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param set FW_Y_ROLLFF 1.1
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param set SYS_AUTOCONFIG 0
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param save
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fi
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# Allow USB some time to come up
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sleep 1
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# Tell MAVLink that this link is "fast"
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mavlink start -b 230400 -d /dev/ttyACM0
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# Create a fake HIL /dev/pwm_output interface
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hil mode_pwm
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#
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# Force some key parameters to sane values
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# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
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# see https://pixhawk.ethz.ch/mavlink/
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#
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param set MAV_TYPE 1
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#
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# Check if we got an IO
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#
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if px4io start
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then
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echo "IO started"
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else
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fmu mode_serial
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echo "FMU started"
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fi
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#
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# Start the sensors (depends on orb, px4io)
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#
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sh /etc/init.d/rc.sensors
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#
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# Load mixer and start controllers (depends on px4io)
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#
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mixer load /dev/pwm_output /etc/mixers/FMU_AET.mix
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fw_pos_control_l1 start
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fw_att_control start
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echo "[HIL] setup done, running"
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