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Merge pull request PX4#584 from PX4/autostart_cleanup
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Autostart cleanup
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@LorenzMeier
LorenzMeier committed Jan 20, 2014
2 parents 13822b3 + f8c5a6c commit c58b68d
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Showing 44 changed files with 1,178 additions and 1,981 deletions.
85 changes: 21 additions & 64 deletions ROMFS/px4fmu_common/init.d/10015_tbs_discovery
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@@ -1,74 +1,31 @@
#!nsh

echo "[init] Team Blacksheep Discovery Quad"

#
# Load default params for this platform
# Team Blacksheep Discovery Quadcopter
#
# Maintainers: Simon Wilks <[email protected]>
#
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
param set SYS_AUTOCONFIG 0

param set MC_ATTRATE_D 0.006
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_P 0.17
param set MC_ATT_D 0.0
param set MC_ATT_I 0.0
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
param set MC_ATT_P 5.0
param set MC_YAWPOS_D 0.0
param set MC_YAWPOS_I 0.15
param set MC_ATT_I 0.0
param set MC_ATT_D 0.0
param set MC_ATTRATE_P 0.17
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_D 0.006
param set MC_YAWPOS_P 0.5
param set MC_YAWRATE_D 0.0
param set MC_YAWRATE_I 0.0
param set MC_YAWPOS_I 0.15
param set MC_YAWPOS_D 0.0
param set MC_YAWRATE_P 0.2

param save
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0.0
fi

#
# Force some key parameters to sane values
# MAV_TYPE 2 = quadrotor
#
param set MAV_TYPE 2
set VEHICLE_TYPE mc
set MIXER FMU_quad_w

#
# Start and configure PX4IO or FMU interface
#
if px4io detect
then
# Start MAVLink (depends on orb)
mavlink start
usleep 5000

sh /etc/init.d/rc.io
else
# Start MAVLink (on UART1 / ttyS0)
mavlink start -d /dev/ttyS0
usleep 5000
fmu mode_pwm
param set BAT_V_SCALING 0.004593
set EXIT_ON_END yes
fi

#
# Load the mixer for a quad with wide arms
#
mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix

#
# Set PWM output frequency
#
pwm rate -c 1234 -r 400

#
# Set disarmed, min and max PWM signals
#
pwm disarmed -c 1234 -p 900
pwm min -c 1234 -p 1100
pwm max -c 1234 -p 1900

#
# Start common for all multirotors apps
#
sh /etc/init.d/rc.multirotor
set PWM_OUTPUTS 1234
set PWM_RATE 400
106 changes: 43 additions & 63 deletions ROMFS/px4fmu_common/init.d/10016_3dr_iris
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@@ -1,73 +1,53 @@
#!nsh

echo "[init] 3DR Iris Quad"

#
# Load default params for this platform
# 3DR Iris Quadcopter
#
# Maintainers: Anton Babushkin <[email protected]>
#
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
param set SYS_AUTOCONFIG 0

param set MC_ATTRATE_D 0.004
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_P 0.13
param set MC_ATT_D 0.0
param set MC_ATT_I 0.0
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
param set MC_ATT_P 9.0
param set MC_YAWPOS_D 0.0
param set MC_YAWPOS_I 0.15
param set MC_ATT_I 0.0
param set MC_ATT_D 0.0
param set MC_ATTRATE_P 0.13
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_D 0.004
param set MC_YAWPOS_P 0.5
param set MC_YAWRATE_D 0.0
param set MC_YAWRATE_I 0.0
param set MC_YAWPOS_I 0.15
param set MC_YAWPOS_D 0.0
param set MC_YAWRATE_P 0.2

param save
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0.0

param set MPC_TILT_MAX 0.5
param set MPC_THR_MAX 0.8
param set MPC_THR_MIN 0.2
param set MPC_XY_D 0
param set MPC_XY_P 0.5
param set MPC_XY_VEL_D 0
param set MPC_XY_VEL_I 0
param set MPC_XY_VEL_MAX 3
param set MPC_XY_VEL_P 0.2
param set MPC_Z_D 0
param set MPC_Z_P 1
param set MPC_Z_VEL_D 0
param set MPC_Z_VEL_I 0.1
param set MPC_Z_VEL_MAX 2
param set MPC_Z_VEL_P 0.20

param set BAT_V_SCALING 0.00989
param set BAT_C_SCALING 0.0124
fi

#
# Force some key parameters to sane values
# MAV_TYPE 2 = quadrotor
#
param set MAV_TYPE 2
set VEHICLE_TYPE mc
set MIXER FMU_quad_w

#
# Start and configure PX4IO or FMU interface
#
if px4io detect
then
# Start MAVLink (depends on orb)
mavlink start
usleep 5000

sh /etc/init.d/rc.io
else
# Start MAVLink (on UART1 / ttyS0)
mavlink start -d /dev/ttyS0
usleep 5000
fmu mode_pwm
param set BAT_V_SCALING 0.0098
set EXIT_ON_END yes
fi

#
# Load the mixer for a quad with wide arms
#
mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix

#
# Set PWM output frequency
#
pwm rate -c 1234 -r 400

#
# Set disarmed, min and max PWM signals
#
pwm disarmed -c 1234 -p 900
pwm min -c 1234 -p 1050

#
# Start common for all multirotors apps
#
sh /etc/init.d/rc.multirotor
set PWM_OUTPUTS 1234
set PWM_RATE 400
set PWM_DISARMED 900
set PWM_MIN 1000
set PWM_MAX 2000
105 changes: 0 additions & 105 deletions ROMFS/px4fmu_common/init.d/1001_rc_quad.hil
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This file was deleted.

46 changes: 46 additions & 0 deletions ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil
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#!nsh
#
# HIL Quadcopter X
#
# Maintainers: Anton Babushkin <[email protected]>
#

if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
param set MC_ATTRATE_P 0.12
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_D 0.004
param set MC_ATT_P 7.0
param set MC_ATT_I 0.0
param set MC_ATT_D 0.0
param set MC_YAWPOS_P 2.0
param set MC_YAWPOS_I 0.0
param set MC_YAWPOS_D 0.0
param set MC_YAWRATE_P 0.3
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0.005

param set MPC_TILT_MAX 0.5
param set MPC_THR_MAX 0.8
param set MPC_THR_MIN 0.2
param set MPC_XY_D 0
param set MPC_XY_P 0.5
param set MPC_XY_VEL_D 0
param set MPC_XY_VEL_I 0
param set MPC_XY_VEL_MAX 3
param set MPC_XY_VEL_P 0.2
param set MPC_Z_D 0
param set MPC_Z_P 1
param set MPC_Z_VEL_D 0
param set MPC_Z_VEL_I 0.1
param set MPC_Z_VEL_MAX 2
param set MPC_Z_VEL_P 0.20
fi

set HIL yes

set VEHICLE_TYPE mc
set MIXER FMU_quad_x
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