From 0c08b7035bf2e4b4ae63c2267dd73b5845270a3f Mon Sep 17 00:00:00 2001 From: mcsauder <mcsauder@gmail.com> Date: Mon, 3 Sep 2018 10:19:32 -0600 Subject: [PATCH] Edit the init.d-posix files to set MAV_TYPE script variables, and alphabetize lists in a few places. --- .../init.d-posix/1010_iris_opt_flow | 2 -- .../init.d-posix/1010_iris_opt_flow.post | 1 - .../init.d-posix/1011_iris_irlock | 2 -- .../init.d-posix/1012_iris_rplidar | 1 - .../init.d-posix/1013_iris_vision | 2 -- ROMFS/px4fmu_common/init.d-posix/1014_solo | 1 - .../init.d-posix/1020_hippocampus | 2 -- ROMFS/px4fmu_common/init.d-posix/1030_plane | 2 +- .../init.d-posix/1040_standard_vtol | 7 ++++--- .../px4fmu_common/init.d-posix/1041_tailsitter | 8 ++++---- .../px4fmu_common/init.d-posix/1042_tiltrotor | 9 ++++----- ROMFS/px4fmu_common/init.d-posix/1060_rover | 7 +++---- .../init.d-posix/6011_typhoon_h480 | 5 ++--- ROMFS/px4fmu_common/init.d-posix/rcS | 18 ++++++++++++------ ROMFS/px4fmu_common/init.d/4900_crazyflie | 1 - 15 files changed, 30 insertions(+), 38 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow b/ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow index d205874ecc..e042336d1b 100644 --- a/ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow +++ b/ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow @@ -9,7 +9,6 @@ sh /etc/init.d-posix/10016_iris if [ $AUTOCNF = yes ] then - param set EKF2_AID_MASK 2 param set EKF2_EV_DELAY 5 param set EKF2_EVP_NOISE 0.05 @@ -27,4 +26,3 @@ then param set MPC_ALT_MODE 2 fi - diff --git a/ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow.post b/ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow.post index 45635c9633..7806a8f2d0 100644 --- a/ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow.post +++ b/ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow.post @@ -2,4 +2,3 @@ # shellcheck disable=SC2154 mavlink stream -r 10 -s DISTANCE_SENSOR -u $udp_gcs_port_local mavlink stream -r 10 -s VISION_POSITION_ESTIMATE -u $udp_gcs_port_local - diff --git a/ROMFS/px4fmu_common/init.d-posix/1011_iris_irlock b/ROMFS/px4fmu_common/init.d-posix/1011_iris_irlock index 67f672fc21..ae880fdbc5 100644 --- a/ROMFS/px4fmu_common/init.d-posix/1011_iris_irlock +++ b/ROMFS/px4fmu_common/init.d-posix/1011_iris_irlock @@ -7,11 +7,9 @@ sh /etc/init.d-posix/10016_iris - if [ $AUTOCNF = yes ] then # enable fusion of landing target velocity param set LTEST_MODE 1 param set PLD_HACC_RAD 0.1 fi - diff --git a/ROMFS/px4fmu_common/init.d-posix/1012_iris_rplidar b/ROMFS/px4fmu_common/init.d-posix/1012_iris_rplidar index 8c40c7c74c..5de738803c 100644 --- a/ROMFS/px4fmu_common/init.d-posix/1012_iris_rplidar +++ b/ROMFS/px4fmu_common/init.d-posix/1012_iris_rplidar @@ -11,4 +11,3 @@ if [ $AUTOCNF = yes ] then param set LPE_FUSION 242 fi - diff --git a/ROMFS/px4fmu_common/init.d-posix/1013_iris_vision b/ROMFS/px4fmu_common/init.d-posix/1013_iris_vision index f0ce2e5707..99da9fc2d8 100644 --- a/ROMFS/px4fmu_common/init.d-posix/1013_iris_vision +++ b/ROMFS/px4fmu_common/init.d-posix/1013_iris_vision @@ -12,5 +12,3 @@ then param set EKF2_AID_MASK 8 param set EKF2_EV_DELAY 5 fi - - diff --git a/ROMFS/px4fmu_common/init.d-posix/1014_solo b/ROMFS/px4fmu_common/init.d-posix/1014_solo index 6a13b9d7cf..ea8cce6fb7 100644 --- a/ROMFS/px4fmu_common/init.d-posix/1014_solo +++ b/ROMFS/px4fmu_common/init.d-posix/1014_solo @@ -14,4 +14,3 @@ then fi set MIXER quad_x - diff --git a/ROMFS/px4fmu_common/init.d-posix/1020_hippocampus b/ROMFS/px4fmu_common/init.d-posix/1020_hippocampus index f24296adb1..ed753e4110 100644 --- a/ROMFS/px4fmu_common/init.d-posix/1020_hippocampus +++ b/ROMFS/px4fmu_common/init.d-posix/1020_hippocampus @@ -6,5 +6,3 @@ sh /etc/init.d/rc.mc_defaults set MIXER uuv_quad_x - - diff --git a/ROMFS/px4fmu_common/init.d-posix/1030_plane b/ROMFS/px4fmu_common/init.d-posix/1030_plane index 1904972b59..ef929e0d80 100644 --- a/ROMFS/px4fmu_common/init.d-posix/1030_plane +++ b/ROMFS/px4fmu_common/init.d-posix/1030_plane @@ -29,6 +29,7 @@ then param set MIS_LTRMIN_ALT 30 param set MIS_TAKEOFF_ALT 30 + param set NAV_ACC_RAD 15.0 param set NAV_DLL_ACT 2 param set NAV_LOITER_RAD 50 @@ -40,4 +41,3 @@ fi set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix set MIXER custom - diff --git a/ROMFS/px4fmu_common/init.d-posix/1040_standard_vtol b/ROMFS/px4fmu_common/init.d-posix/1040_standard_vtol index e7abc4d1d7..229c83082c 100644 --- a/ROMFS/px4fmu_common/init.d-posix/1040_standard_vtol +++ b/ROMFS/px4fmu_common/init.d-posix/1040_standard_vtol @@ -9,16 +9,16 @@ sh /etc/init.d/rc.vtol_defaults if [ $AUTOCNF = yes ] then - param set MAV_TYPE 22 - param set FW_AIRSPD_MAX 25 param set FW_AIRSPD_MIN 14 param set FW_AIRSPD_TRIM 16 param set MC_ROLLRATE_P 0.3 + param set MIS_LTRMIN_ALT 10 param set MIS_TAKEOFF_ALT 10 param set MIS_YAW_TMT 10 + param set MPC_ACC_HOR_MAX 2 param set MPC_ACC_HOR_MAX 2.0 param set MPC_THR_MIN 0.1 @@ -40,6 +40,7 @@ then param set WEST_EN 1 fi +set MAV_TYPE 22 + set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix set MIXER custom - diff --git a/ROMFS/px4fmu_common/init.d-posix/1041_tailsitter b/ROMFS/px4fmu_common/init.d-posix/1041_tailsitter index 9ba8f10b7b..e406ec3198 100644 --- a/ROMFS/px4fmu_common/init.d-posix/1041_tailsitter +++ b/ROMFS/px4fmu_common/init.d-posix/1041_tailsitter @@ -9,16 +9,16 @@ sh /etc/init.d/rc.vtol_defaults if [ $AUTOCNF = yes ] then - param set MAV_TYPE 20 - param set FW_AIRSPD_MAX 25 param set FW_AIRSPD_MIN 14 param set FW_AIRSPD_TRIM 16 param set MC_ROLLRATE_P 0.3 + param set MIS_LTRMIN_ALT 10 param set MIS_TAKEOFF_ALT 10 param set MIS_YAW_TMT 10 + param set MPC_ACC_HOR_MAX 2 param set MPC_ACC_HOR_MAX 2.0 param set MPC_THR_MIN 0.1 @@ -41,7 +41,7 @@ then param set WEST_EN 1 fi +set MAV_TYPE 20 + set MIXER_FILE etc/mixers-sitl/quad_x_vtol.main.mix set MIXER custom - - diff --git a/ROMFS/px4fmu_common/init.d-posix/1042_tiltrotor b/ROMFS/px4fmu_common/init.d-posix/1042_tiltrotor index bb000e1dda..de4321d96e 100644 --- a/ROMFS/px4fmu_common/init.d-posix/1042_tiltrotor +++ b/ROMFS/px4fmu_common/init.d-posix/1042_tiltrotor @@ -9,16 +9,16 @@ sh /etc/init.d/rc.vtol_defaults if [ $AUTOCNF = yes ] then - param set MAV_TYPE 21 - param set FW_AIRSPD_MAX 25 param set FW_AIRSPD_MIN 14 param set FW_AIRSPD_TRIM 16 param set MC_ROLLRATE_P 0.3 + param set MIS_LTRMIN_ALT 10 param set MIS_TAKEOFF_ALT 10 param set MIS_YAW_TMT 10 + param set MPC_ACC_HOR_MAX 2 param set MPC_ACC_HOR_MAX 2.0 param set MPC_THR_MIN 0.1 @@ -43,8 +43,7 @@ then param set WEST_EN 1 fi +set MAV_TYPE 21 + set MIXER_FILE etc/mixers-sitl/tiltrotor_sitl.main.mix set MIXER custom - - - diff --git a/ROMFS/px4fmu_common/init.d-posix/1060_rover b/ROMFS/px4fmu_common/init.d-posix/1060_rover index ed9636b92e..86c1841e61 100644 --- a/ROMFS/px4fmu_common/init.d-posix/1060_rover +++ b/ROMFS/px4fmu_common/init.d-posix/1060_rover @@ -7,8 +7,6 @@ sh /etc/init.d/rc.ugv_defaults if [ $AUTOCNF = yes ] then - param set MAV_TYPE 10 - param set GND_L1_DIST 5 param set GND_SP_CTRL_MODE 1 param set GND_SPEED_D 3 @@ -16,11 +14,11 @@ then param set GND_SPEED_IMAX 0.125 param set GND_SPEED_P 0.25 param set GND_SPEED_THR_SC 1 + param set GND_SPEED_TRIM 4 param set GND_THR_CRUISE 0.3 param set GND_THR_IDLE 0 param set GND_THR_MAX 0.5 param set GND_THR_MIN 0 - param set GND_SPEED_TRIM 4 param set GND_WR_D 1.2 param set GND_WR_I 0.9674 param set GND_WR_IMAX 0.1 @@ -34,5 +32,6 @@ then param set CBRK_AIRSPD_CHK 162128 fi -set MIXER_FILE etc/mixers-sitl/rover_sitl.main.mix +set MAV_TYPE 10 +set MIXER_FILE etc/mixers-sitl/rover_sitl.main.mix diff --git a/ROMFS/px4fmu_common/init.d-posix/6011_typhoon_h480 b/ROMFS/px4fmu_common/init.d-posix/6011_typhoon_h480 index 4013b4cd34..3daad5c43a 100644 --- a/ROMFS/px4fmu_common/init.d-posix/6011_typhoon_h480 +++ b/ROMFS/px4fmu_common/init.d-posix/6011_typhoon_h480 @@ -9,8 +9,6 @@ sh /etc/init.d/rc.mc_defaults if [ $AUTOCNF = yes ] then - param set MAV_TYPE 13 - param set MC_PITCHRATE_P 0.1 param set MC_ROLLRATE_P 0.05 param set MPC_XY_VEL_I 0.2 @@ -25,5 +23,6 @@ then param set MAV_PROTO_VER 2 fi -set MIXER hexa_x +set MAV_TYPE 13 +set MIXER hexa_x diff --git a/ROMFS/px4fmu_common/init.d-posix/rcS b/ROMFS/px4fmu_common/init.d-posix/rcS index 55e00e9f67..14b1c07a39 100644 --- a/ROMFS/px4fmu_common/init.d-posix/rcS +++ b/ROMFS/px4fmu_common/init.d-posix/rcS @@ -92,6 +92,7 @@ then param set SYS_AUTOSTART $REQUESTED_AUTOSTART param set BAT_N_CELLS 3 + param set CAL_ACC0_ID 1376264 param set CAL_ACC0_XOFF 0.01 param set CAL_ACC0_XSCALE 1.01 @@ -105,7 +106,7 @@ then param set CAL_GYRO0_XOFF 0.01 param set CAL_MAG0_ID 196616 param set CAL_MAG0_XOFF 0.01 - param set SENS_DPRES_OFF 0.001 + param set CBRK_AIRSPD_CHK 0 param set COM_DISARM_LAND 0.1 @@ -116,21 +117,28 @@ then param set EKF2_AID_MASK 1 param set EKF2_ANGERR_INIT 0.01 - param set EKF2_GBIAS_INIT 0.01 param set EKF2_HGT_MODE 0 + param set EKF2_GBIAS_INIT 0.01 param set EKF2_MAG_TYPE 1 + # LPE: GPS only mode + param set LPE_FUSION 145 + + param set MIS_TAKEOFF_ALT 2.5 + param set MC_PITCH_P 6 param set MC_PITCHRATE_P 0.2 param set MC_ROLL_P 6 param set MC_ROLLRATE_P 0.2 - param set MIS_TAKEOFF_ALT 2.5 + param set MPC_ALT_MODE 0 param set MPC_HOLD_MAX_Z 2.0 param set MPC_Z_VEL_I 0.15 param set MPC_Z_VEL_P 0.6 + param set NAV_ACC_RAD 2.0 param set NAV_DLL_ACT 2 + param set RTL_DESCEND_ALT 5.0 param set RTL_LAND_DELAY 5 param set RTL_RETURN_ALT 30.0 @@ -138,11 +146,9 @@ then param set SDLOG_DIRS_MAX 7 param set SENS_BOARD_ROT 0 param set SENS_BOARD_X_OFF 0.000001 + param set SENS_DPRES_OFF 0.001 param set SYS_RESTART_TYPE 2 - # LPE: GPS only mode - param set LPE_FUSION 145 - param set WEST_EN 0 fi diff --git a/ROMFS/px4fmu_common/init.d/4900_crazyflie b/ROMFS/px4fmu_common/init.d/4900_crazyflie index e5b02ea127..37547e146c 100644 --- a/ROMFS/px4fmu_common/init.d/4900_crazyflie +++ b/ROMFS/px4fmu_common/init.d/4900_crazyflie @@ -71,7 +71,6 @@ then fi -# TODO - These values overwrite param sets above. Can they be removed? set PWM_DISARMED none set PWM_MAX none set PWM_MIN none -- GitLab