From 1fd3636ab3d03ee6ae11905a49b49ecfc80c1407 Mon Sep 17 00:00:00 2001
From: Dennis Shtatnov <densht@gmail.com>
Date: Sun, 28 Aug 2016 09:39:30 -0400
Subject: [PATCH] Flyable gains for CF2
---
ROMFS/px4fmu_common/init.d/4900_crazyflie | 12 ++++++++++++
ROMFS/px4fmu_common/init.d/rcS | 6 ++++++
src/modules/syslink/syslink_main.cpp | 4 ++++
3 files changed, 22 insertions(+)
diff --git a/ROMFS/px4fmu_common/init.d/4900_crazyflie b/ROMFS/px4fmu_common/init.d/4900_crazyflie
index c10a473cf6..d8486d3a2f 100644
--- a/ROMFS/px4fmu_common/init.d/4900_crazyflie
+++ b/ROMFS/px4fmu_common/init.d/4900_crazyflie
@@ -18,6 +18,18 @@ then
param set PWM_DISARMED 0
param set PWM_MIN 0
param set PWM_MAX 255
+
+ param set SYS_COMPANION 20
+
+ param set MC_PITCHRATE_D 0.0028
+ param set MC_PITCHRATE_P 0.075
+ param set MC_PITCH_P 4.0
+ param set MC_ROLLRATE_D 0.0028
+ param set MC_ROLLRATE_P 0.075
+ param set MC_ROLL_P 4.0
+
+ param set CBRK_SUPPLY_CHK 894281
+ param set CBRK_USB_CHK 197848
fi
set PWM_MIN none
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 7d6c48560f..5e16675adf 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -168,6 +168,12 @@ then
if ver hwcmp CRAZYFLIE
then
set USE_IO no
+
+ if param compare SYS_AUTOSTART 0
+ then
+ param set SYS_AUTOSTART 4900
+ set AUTOCNF yes
+ fi
fi
else
set USE_IO no
diff --git a/src/modules/syslink/syslink_main.cpp b/src/modules/syslink/syslink_main.cpp
index eeb49293c3..91d7aec861 100644
--- a/src/modules/syslink/syslink_main.cpp
+++ b/src/modules/syslink/syslink_main.cpp
@@ -131,6 +131,10 @@ Syslink::set_address(uint64_t addr)
int
Syslink::open_serial(const char *dev)
{
+#ifndef B1000000
+#define B1000000 1000000
+#endif
+
int rate = B1000000;
// open uart
--
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