forked from Archive/PX4-Autopilot
106 lines
2.1 KiB
Plaintext
106 lines
2.1 KiB
Plaintext
#!nsh
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#
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# USB HIL start
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#
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echo "[HIL] HILS quadrotor + starting.."
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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 0.0
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param set MC_ATTRATE_I 0.0
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param set MC_ATTRATE_P 0.05
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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 3.0
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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 2.1
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param set MC_YAWRATE_D 0.0
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param set MC_YAWRATE_I 0.0
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param set MC_YAWRATE_P 0.05
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param set NAV_TAKEOFF_ALT 3.0
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param set MPC_TILT_MAX 0.5
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param set MPC_THR_MAX 0.5
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param set MPC_THR_MIN 0.1
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param set MPC_XY_D 0
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param set MPC_XY_P 0.5
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param set MPC_XY_VEL_D 0
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param set MPC_XY_VEL_I 0
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param set MPC_XY_VEL_MAX 3
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param set MPC_XY_VEL_P 0.2
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param set MPC_Z_D 0
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param set MPC_Z_P 1
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param set MPC_Z_VEL_D 0
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param set MPC_Z_VEL_I 0.1
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param set MPC_Z_VEL_MAX 2
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param set MPC_Z_VEL_P 0.20
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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 2
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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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# Start the attitude estimator (depends on orb)
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#
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att_pos_estimator_ekf start
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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_quad_+.mix
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#
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# Start position estimator
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#
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position_estimator_inav start
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#
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# Start attitude control
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#
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multirotor_att_control start
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#
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# Start position control
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#
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multirotor_pos_control start
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echo "[HIL] setup done, running"
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