diff --git a/ROMFS/px4fmu_common/init.d/airframes/4250_teal b/ROMFS/px4fmu_common/init.d/airframes/4250_teal index 674f146aabab6906b379eb3e5a5a1f153a89db6f..da178fbc0c0ca7e0f52abe00634e78401191b38a 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4250_teal +++ b/ROMFS/px4fmu_common/init.d/airframes/4250_teal @@ -16,7 +16,6 @@ # @output MAIN4 motor 4 # # @maintainer Jacob Dahl <jacob.dahl@tealdrones.com> -# @maintainer Alex Klimaj <alex.klimaj@tealdrones.com> # echo "Executing 4250_teal script." @@ -25,10 +24,12 @@ sh /etc/init.d/rc.mc_defaults set MIXER quad_x set PWM_OUT 1234 -set MIXER_AUX none if [ $AUTOCNF = yes ] then + # First thing, reset all params to default... EXCEPT THIS LIST + param reset_nostart RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* CAL_MAG* SENS_BOARD* EKF2_MAGBIAS* + # battery param set BAT_CAPACITY 2750 param set BAT_CRIT_THR 0.15 @@ -42,17 +43,6 @@ then param set BAT_V_EMPTY 3.65 param set BAT_V_OFFS_CURR -0.0045 - # primary accel - param set CAL_ACC_PRIME 1442826 #mpu6500 - #param set CAL_ACC_PRIME 1445386 #mpu9250 - - # primary gyro - param set CAL_GYRO_PRIME 2360330 #mpu6500 - #param set CAL_GYRO_PRIME 2362890 #mpu9250 - - #primary Mag - #param set CAL_MAG_PRIME 265738 #mpu9250 - # sensor calibration param set CAL_MAG0_ROT 0 param set CAL_MAG_SIDES 63 @@ -65,36 +55,47 @@ then param set CBRK_USB_CHK 197848 # commander - param set COM_DISARM_LAND 1 + param set COM_DISARM_LAND 0.1 + # Return mode at critically low level, Land mode at current position if reaching dangerously low levels. param set COM_LOW_BAT_ACT 3 - param set COM_LOSS_LTR_T 20 # ekf2 param set EKF2_AID_MASK 1 + param set EKF2_MAG_TYPE 1 param set EKF2_GPS_CHECK 511 param set EKF2_GPS_POS_X -0.04 param set EKF2_IMU_POS_X -0.06 - param set EKF2_MIN_RNG 0.07 param set EKF2_PCOEF_XN 0.1 param set EKF2_PCOEF_XP -0.5 param set EKF2_RNG_AID 1 param set EKF2_RNG_A_VMAX 20 param set EKF2_RNG_NOISE 0.2 + param set EKF2_MIN_RNG 0.07 # gps param set GPS_UBX_DYNMODEL 7 # geofence + # Geofence violation action -- Warning. param set GF_ACTION 1 # land detector - param set LNDMC_THR_RANGE 0.50 param set LNDMC_XY_VEL_MAX 1 + # This is set high because we have lots of vibrations while in contact with ground. param set LNDMC_ROT_MAX 50 + # serial comms + param set SER_TEL1_BAUD 921600 + param set SER_TEL2_BAUD 921600 + # mavlink stream configuration + # TEL1 ttyS1 -- disabled. TX1 FTDI UART has issues. + param set MAV_0_CONFIG 0 + param set MAV_0_RATE 800000 + + # TEL2 ttyS2 -- Primary MAVLINK stream to companion computer. param set MAV_1_CONFIG 102 - param set MAV_1_RATE 20000 + param set MAV_1_RATE 800000 # mc_att_control param set MC_ACRO_P_MAX 360 @@ -107,6 +108,7 @@ then param set MC_ROLLRATE_D 0.0012 param set MC_ROLLRATE_MAX 180 + param set MC_PITCH_P 6.5 param set MC_PITCHRATE_P 0.06 param set MC_PITCHRATE_I 0.2 param set MC_PITCHRATE_D 0.0012 @@ -118,48 +120,62 @@ then param set MC_YAWRATE_D 0 param set MC_YAWRATE_MAX 180 + # Set to reduce voltage transients as seen by battery management system. param set MOT_SLEW_MAX 0.15 - # mc_pos_control - param set MPC_ACC_DOWN_MAX 10 - param set MPC_ACC_HOR 10 - param set MPC_ACC_HOR_MAX 15 - param set MPC_ACC_UP_MAX 10 - param set MPC_JERK_MAX 5 + #### CONTROLLER ### param set MPC_LAND_ALT1 8 param set MPC_LAND_ALT2 5 + param set MPC_TKO_RAMP_T 0.75 + param set MPC_TKO_SPEED 0.75 + param set MPC_TILTMAX_LND 18 + param set MPC_TILTMAX_AIR 45 + param set MPC_MAN_TILT_MAX 45 + param set MPC_MANTHR_MAX 0.85 param set MPC_MANTHR_MIN 0.15 - param set MPC_MAN_TILT_MAX 45 - param set MPC_MAN_Y_MAX 200 + # Full throttle can trip over current protection on BMS. param set MPC_THR_MAX 0.85 param set MPC_THR_MIN 0.15 - param set MPC_TILTMAX_AIR 45 - param set MPC_TKO_RAMP_T 0.75 - param set MPC_TKO_SPEED 0.75 + param set MPC_VEL_MANUAL 26.5 + # RTL speed, it was too fast and scaring people. param set MPC_XY_CRUISE 15 + + param set MPC_MAN_Y_MAX 200 + + param set MPC_JERK_MAX 5 + param set MPC_ACC_UP_MAX 10 + param set MPC_ACC_DOWN_MAX 10 + param set MPC_ACC_HOR 10 + param set MPC_ACC_HOR_MAX 15 + param set MPC_XY_P 1.15 param set MPC_XY_VEL_P 0.14 param set MPC_XY_VEL_I 0.014 param set MPC_XY_VEL_D 0.014 param set MPC_XY_VEL_MAX 26.5 - param set MPC_Z_P 0.8 - param set MPC_TILTMAX_LND 18 + param set MPC_Z_P 0.85 + param set MPC_Z_VEL_P 0.25 + param set MPC_Z_VEL_I 0.085 param set MPC_Z_VEL_D 0.02 + # Documentation says limit is 8.0, but does not seem to be enforced in code. + param set MPC_Z_VEL_MAX_UP 20 param set MPC_Z_VEL_MAX_DN 2.5 - param set MPC_Z_VEL_MAX_UP 6 + #### CONTROLLER ### # navigator param set NAV_ACC_RAD 2.5 + # RC loss failsafe behavior -- hold mode. param set NAV_RCL_ACT 1 # pwm control param set PWM_DISARMED 900 param set PWM_MAX 1850 param set PWM_MIN 1075 - param set PWM_RATE 400 + # Oneshot125 + param set PWM_RATE 0 # rtl param set RTL_DESCEND_ALT 5 @@ -167,11 +183,26 @@ then param set RTL_MIN_DIST 7.5 param set RTL_RETURN_ALT 25 - # sensors - param set SENS_EN_PGA460 1 - param set SENS_EN_THERMAL 1 + # calibration + param set CAL_ACC0_EN 1 + param set CAL_ACC1_EN 0 + #mpu6500 + param set CAL_ACC_PRIME 1442826 - # serial comms - param set SER_TEL2_BAUD 921600 + param set CAL_GYRO0_EN 1 + param set CAL_GYRO1_EN 0 + #mpu6500 + param set CAL_GYRO_PRIME 2360330 + + param set CAL_MAG0_EN 1 + param set CAL_MAG1_EN 0 + param set CAL_MAG_PRIME 265738 fi + +# Do not start frsky_telemetry on port ttyS6 by default, PGA460 lives there. 500 is in arbitrary unused number. +param set TEL_FRSKY_CONFIG 500 +# We want to make sure these always start +param set SENS_EN_PGA460 1 +param set SENS_EN_THERMAL 1 +param set SENS_EN_BATT 1 diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors index d15365afd339e2d5f2a6064f0175313160a77db6..e151d2cb36cbab0279ca6258e6541bdca5a1b128 100644 --- a/ROMFS/px4fmu_common/init.d/rc.sensors +++ b/ROMFS/px4fmu_common/init.d/rc.sensors @@ -55,6 +55,11 @@ then fi fi +if param compare SENS_EN_BATT 1 +then + batt_smbus start -X +fi + # Sensors on the PWM interface bank if param compare SENS_EN_LL40LS 1 then diff --git a/boards/px4/fmu-v4/init/rc.board b/boards/px4/fmu-v4/init/rc.board index 9c35de5a59c44299a57293f4a60e4509feedb1a0..a9f65abe3cb2cdf17925abca3505200d3768e0bc 100644 --- a/boards/px4/fmu-v4/init/rc.board +++ b/boards/px4/fmu-v4/init/rc.board @@ -44,6 +44,13 @@ bmp280 -I start # expansion i2c used for BMM150 rotated by 90deg bmm150 -R 2 start +# For Teal One airframe +if param compare SYS_AUTOSTART 4250 +then + mpu9250 -s -R 14 start + mpu9250 -t -R 14 start +fi + # hmc5883 internal SPI bus is rotated 90 deg yaw if ! hmc5883 -C -T -S -R 2 start then diff --git a/src/drivers/batt_smbus/parameters.c b/src/drivers/batt_smbus/parameters.c new file mode 100644 index 0000000000000000000000000000000000000000..bd6cabc90cbab6ac291094160908109a96743e9a --- /dev/null +++ b/src/drivers/batt_smbus/parameters.c @@ -0,0 +1,42 @@ +/**************************************************************************** + * + * Copyright (c) 2018 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * SMBUS Smart battery driver (BQ40Z50) + * + * @reboot_required true + * + * @boolean + * @group Sensors + */ +PARAM_DEFINE_INT32(SENS_EN_BATT, 0);