forked from Archive/PX4-Autopilot
93 lines
1.7 KiB
Plaintext
93 lines
1.7 KiB
Plaintext
#!nsh
|
|
#
|
|
# USB HIL start
|
|
#
|
|
|
|
echo "[HIL] HILStar starting.."
|
|
|
|
#
|
|
# Load default params for this platform
|
|
#
|
|
if param compare SYS_AUTOCONFIG 1
|
|
then
|
|
# Set all params here, then disable autoconfig
|
|
|
|
param set FW_P_D 0
|
|
param set FW_P_I 0
|
|
param set FW_P_IMAX 15
|
|
param set FW_P_LIM_MAX 50
|
|
param set FW_P_LIM_MIN -50
|
|
param set FW_P_P 60
|
|
param set FW_P_RMAX_NEG 0
|
|
param set FW_P_RMAX_POS 0
|
|
param set FW_P_ROLLFF 1.1
|
|
param set FW_R_D 0
|
|
param set FW_R_I 5
|
|
param set FW_R_IMAX 20
|
|
param set FW_R_P 100
|
|
param set FW_R_RMAX 100
|
|
param set FW_THR_CRUISE 0.65
|
|
param set FW_THR_MAX 1
|
|
param set FW_THR_MIN 0
|
|
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
|
|
|
|
#
|
|
# Start the commander (depends on orb, mavlink)
|
|
#
|
|
commander start
|
|
|
|
#
|
|
# 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"
|
|
|