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Commit 5fe3c49b authored by Lorenz Meier's avatar Lorenz Meier
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Merged multirotor branch

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.gitignore
+ 7
− 2
View file @ 5fe3c49b
......@@ -19,14 +19,19 @@ Archives/*
Build/*
core
cscope.out
dot.gdbinit
Firmware.sublime-workspace
Images/*.bin
Images/*.px4
mavlink/include/mavlink/v0.9/
/nuttx-configs/px4io-v2/src/.depend
/nuttx-configs/px4io-v2/src/Make.dep
/nuttx-configs/px4io-v2/src/libboard.a
/nuttx-configs/px4io-v1/src/.depend
/nuttx-configs/px4io-v1/src/Make.dep
/nuttx-configs/px4io-v1/src/libboard.a
/NuttX
/Documentation/doxy.log
/Documentation/html/
/Documentation/doxygen*objdb*tmp
.tags
.tags_sorted_by_file
\ No newline at end of file
.tags_sorted_by_file
Debug/PX4
+ 1
− 1
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......@@ -27,7 +27,7 @@ define _perf_print
# PC_COUNT
if $hdr->type == 0
set $count = (struct perf_ctr_count *)$hdr
printf "%llu events,\n", $count->event_count;
printf "%llu events\n", $count->event_count
end
# PC_ELPASED
if $hdr->type == 1
......
Debug/dot.gdbinit 0 → 100644
+ 13
− 0
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# copy the file to .gdbinit in your Firmware tree, and adjust the path
# below to match your system
# For example:
# target extended /dev/serial/by-id/usb-Black_Sphere_Technologies_Black_Magic_Probe_DDE5A1C4-if00
# target extended /dev/ttyACM4
monitor swdp_scan
attach 1
monitor vector_catch disable hard
set mem inaccessible-by-default off
set print pretty
source Debug/PX4
Debug/olimex-px4fmu-debug.cfg 0 → 100644
+ 22
− 0
View file @ 5fe3c49b
# program a bootable device load on a mavstation
# To run type openocd -f mavprogram.cfg
source [find interface/olimex-arm-usb-ocd-h.cfg]
source [find px4fmu-v1-board.cfg]
init
halt
# Find the flash inside this CPU
flash probe 0
# erase it (128 pages) then program and exit
#flash erase_sector 0 0 127
# stm32f1x mass_erase 0
# It seems that Pat's image has a start address offset of 0x1000 but the vectors need to be at zero, so fixbin.sh moves things around
#flash write_bank 0 fixed.bin 0
#flash write_image firmware.elf
#shutdown
Debug/openocd.gdbinit 0 → 100644
+ 21
− 0
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target remote :3333
# Don't let GDB get confused while stepping
define hook-step
mon cortex_m maskisr on
end
define hookpost-step
mon cortex_m maskisr off
end
mon init
mon stm32_init
# mon reset halt
mon poll
mon cortex_m maskisr auto
set mem inaccessible-by-default off
set print pretty
source Debug/PX4
echo PX4 resumed, press ctrl-c to interrupt\n
continue
Debug/px4fmu-v1-board.cfg 0 → 100644
+ 38
− 0
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# The latest defaults in OpenOCD 0.7.0 are actually prettymuch correct for the px4fmu
# increase working area to 32KB for faster flash programming
set WORKAREASIZE 0x8000
source [find target/stm32f4x.cfg]
# needed for px4
reset_config trst_only
proc stm32_reset {} {
reset halt
# FIXME - needed to init periphs on reset
# 0x40023800 RCC base
# 0x24 RCC_APB2 0x75933
# RCC_APB2 0
}
# perform init that is required on each connection to the target
proc stm32_init {} {
# force jtag to not shutdown during sleep
#uint32_t cr = getreg32(STM32_DBGMCU_CR);
#cr |= DBGMCU_CR_STANDBY | DBGMCU_CR_STOP | DBGMCU_CR_SLEEP;
#putreg32(cr, STM32_DBGMCU_CR);
mww 0xe0042004 00000007
}
# if srst is not fitted use SYSRESETREQ to
# perform a soft reset
cortex_m reset_config sysresetreq
# Let GDB directly program elf binaries
gdb_memory_map enable
# doesn't work yet
gdb_flash_program disable
Debug/runopenocd.sh 0 → 100755
+ 5
− 0
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#!/bin/bash
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
openocd -f interface/olimex-arm-usb-ocd-h.cfg -f $DIR/px4fmu-v1-board.cfg
Debug/stm32f4x.cfg deleted 100644 → 0
+ 0
− 64
View file @ e44d134c
# script for stm32f2xxx
if { [info exists CHIPNAME] } {
set _CHIPNAME $CHIPNAME
} else {
set _CHIPNAME stm32f4xxx
}
if { [info exists ENDIAN] } {
set _ENDIAN $ENDIAN
} else {
set _ENDIAN little
}
# Work-area is a space in RAM used for flash programming
# By default use 64kB
if { [info exists WORKAREASIZE] } {
set _WORKAREASIZE $WORKAREASIZE
} else {
set _WORKAREASIZE 0x10000
}
# JTAG speed should be <= F_CPU/6. F_CPU after reset is 8MHz, so use F_JTAG = 1MHz
#
# Since we may be running of an RC oscilator, we crank down the speed a
# bit more to be on the safe side. Perhaps superstition, but if are
# running off a crystal, we can run closer to the limit. Note
# that there can be a pretty wide band where things are more or less stable.
jtag_khz 1000
jtag_nsrst_delay 100
jtag_ntrst_delay 100
#jtag scan chain
if { [info exists CPUTAPID ] } {
set _CPUTAPID $CPUTAPID
} else {
# See STM Document RM0033
# Section 32.6.3 - corresponds to Cortex-M3 r2p0
set _CPUTAPID 0x4ba00477
}
jtag newtap $_CHIPNAME cpu -irlen 4 -ircapture 0x1 -irmask 0xf -expected-id $_CPUTAPID
if { [info exists BSTAPID ] } {
set _BSTAPID $BSTAPID
} else {
# See STM Document RM0033
# Section 32.6.2
#
set _BSTAPID 0x06413041
}
jtag newtap $_CHIPNAME bs -irlen 5 -expected-id $_BSTAPID
set _TARGETNAME $_CHIPNAME.cpu
target create $_TARGETNAME cortex_m3 -endian $_ENDIAN -chain-position $_TARGETNAME -rtos auto
$_TARGETNAME configure -work-area-phys 0x20000000 -work-area-size $_WORKAREASIZE -work-area-backup 0
set _FLASHNAME $_CHIPNAME.flash
flash bank $_FLASHNAME stm32f2x 0 0 0 0 $_TARGETNAME
# if srst is not fitted use SYSRESETREQ to
# perform a soft reset
cortex_m3 reset_config sysresetreq
Documentation/flight_mode_state_machine.pdf
+ 0
− 0
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No preview for this file type
Documentation/rc_mode_switch.odg
+ 0
− 0
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No preview for this file type
Documentation/rc_mode_switch.pdf
+ 0
− 0
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No preview for this file type
Images/px4fmu-v2.prototype 0 → 100644
+ 12
− 0
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{
"board_id": 9,
"magic": "PX4FWv1",
"description": "Firmware for the PX4FMUv2 board",
"image": "",
"build_time": 0,
"summary": "PX4FMUv2",
"version": "0.1",
"image_size": 0,
"git_identity": "",
"board_revision": 0
}
Images/px4io-v2.prototype 0 → 100644
+ 12
− 0
View file @ 5fe3c49b
{
"board_id": 10,
"magic": "PX4FWv2",
"description": "Firmware for the PX4IOv2 board",
"image": "",
"build_time": 0,
"summary": "PX4IOv2",
"version": "2.0",
"image_size": 0,
"git_identity": "",
"board_revision": 0
}
Images/px4iov2.prototype 0 → 100644
+ 12
− 0
View file @ 5fe3c49b
{
"board_id": 10,
"magic": "PX4FWv2",
"description": "Firmware for the PX4IOv2 board",
"image": "",
"build_time": 0,
"summary": "PX4IOv2",
"version": "2.0",
"image_size": 0,
"git_identity": "",
"board_revision": 0
}
Makefile
+ 36
− 19
View file @ 5fe3c49b
......@@ -40,14 +40,16 @@ export PX4_BASE := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))/
include $(PX4_BASE)makefiles/setup.mk
#
# Canned firmware configurations that we build.
# Canned firmware configurations that we (know how to) build.
#
CONFIGS ?= $(subst config_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)config_*.mk))))
KNOWN_CONFIGS := $(subst config_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)config_*.mk))))
CONFIGS ?= $(KNOWN_CONFIGS)
#
# Boards that we build NuttX export kits for.
# Boards that we (know how to) build NuttX export kits for.
#
BOARDS := $(subst board_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)board_*.mk))))
KNOWN_BOARDS := $(subst board_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)board_*.mk))))
BOARDS ?= $(KNOWN_BOARDS)
#
# Debugging
......@@ -87,10 +89,11 @@ endif
#
# Built products
#
STAGED_FIRMWARES = $(foreach config,$(CONFIGS),$(IMAGE_DIR)$(config).px4)
FIRMWARES = $(foreach config,$(CONFIGS),$(BUILD_DIR)$(config).build/firmware.px4)
DESIRED_FIRMWARES = $(foreach config,$(CONFIGS),$(IMAGE_DIR)$(config).px4)
STAGED_FIRMWARES = $(foreach config,$(KNOWN_CONFIGS),$(IMAGE_DIR)$(config).px4)
FIRMWARES = $(foreach config,$(KNOWN_CONFIGS),$(BUILD_DIR)$(config).build/firmware.px4)
all: $(STAGED_FIRMWARES)
all: $(DESIRED_FIRMWARES)
#
# Copy FIRMWARES into the image directory.
......@@ -114,13 +117,26 @@ $(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4:
@$(ECHO) %%%%
@$(ECHO) %%%% Building $(config) in $(work_dir)
@$(ECHO) %%%%
$(Q) mkdir -p $(work_dir)
$(Q) make -r -C $(work_dir) \
$(Q) $(MKDIR) -p $(work_dir)
$(Q) $(MAKE) -r -C $(work_dir) \
-f $(PX4_MK_DIR)firmware.mk \
CONFIG=$(config) \
WORK_DIR=$(work_dir) \
$(FIRMWARE_GOAL)
#
# Make FMU firmwares depend on the corresponding IO firmware.
#
# This is a pretty vile hack, since it hard-codes knowledge of the FMU->IO dependency
# and forces the _default config in all cases. There has to be a better way to do this...
#
FMU_VERSION = $(patsubst px4fmu-%,%,$(word 1, $(subst _, ,$(1))))
define FMU_DEP
$(BUILD_DIR)$(1).build/firmware.px4: $(IMAGE_DIR)px4io-$(call FMU_VERSION,$(1))_default.px4
endef
FMU_CONFIGS := $(filter px4fmu%,$(CONFIGS))
$(foreach config,$(FMU_CONFIGS),$(eval $(call FMU_DEP,$(config))))
#
# Build the NuttX export archives.
#
......@@ -147,12 +163,12 @@ $(ARCHIVE_DIR)%.export: configuration = nsh
$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC)
@$(ECHO) %% Configuring NuttX for $(board)
$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
$(Q) $(MAKE) -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(board) .)
$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration))
@$(ECHO) %% Exporting NuttX for $(board)
$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) CONFIG_ARCH_BOARD=$(board) export
$(Q) mkdir -p $(dir $@)
$(Q) $(MAKE) -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) CONFIG_ARCH_BOARD=$(board) export
$(Q) $(MKDIR) -p $(dir $@)
$(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@
$(Q) (cd $(NUTTX_SRC)/configs && $(RMDIR) $(board))
......@@ -168,11 +184,11 @@ BOARD = $(BOARDS)
menuconfig: $(NUTTX_SRC)
@$(ECHO) %% Configuring NuttX for $(BOARD)
$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
$(Q) $(MAKE) -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(BOARD) .)
$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(BOARD)/nsh)
@$(ECHO) %% Running menuconfig for $(BOARD)
$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) menuconfig
$(Q) $(MAKE) -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) menuconfig
@$(ECHO) %% Saving configuration file
$(Q)$(COPY) $(NUTTX_SRC).config $(PX4_BASE)nuttx-configs/$(BOARD)/nsh/defconfig
else
......@@ -191,7 +207,7 @@ $(NUTTX_SRC):
# Testing targets
#
testbuild:
$(Q) (cd $(PX4_BASE) && make distclean && make archives && make -j8)
$(Q) (cd $(PX4_BASE) && $(MAKE) distclean && $(MAKE) archives && $(MAKE) -j8)
#
# Cleanup targets. 'clean' should remove all built products and force
......@@ -206,7 +222,8 @@ clean:
.PHONY: distclean
distclean: clean
$(Q) $(REMOVE) $(ARCHIVE_DIR)*.export
$(Q) make -C $(NUTTX_SRC) -r $(MQUIET) distclean
$(Q) $(MAKE) -C $(NUTTX_SRC) -r $(MQUIET) distclean
$(Q) (cd $(NUTTX_SRC)/configs && $(FIND) . -maxdepth 1 -type l -delete)
#
# Print some help text
......@@ -228,9 +245,9 @@ help:
@$(ECHO) " A limited set of configs can be built with CONFIGS=<list-of-configs>"
@$(ECHO) ""
@for config in $(CONFIGS); do \
echo " $$config"; \
echo " Build just the $$config firmware configuration."; \
echo ""; \
$(ECHO) " $$config"; \
$(ECHO) " Build just the $$config firmware configuration."; \
$(ECHO) ""; \
done
@$(ECHO) " clean"
@$(ECHO) " Remove all firmware build pieces."
......
ROMFS/px4fmu_common/init.d/01_fmu_quad_x
+ 15
− 58
View file @ 5fe3c49b
#!nsh
#
# Flight startup script for PX4FMU with PWM outputs.
#
# disable USB and autostart
set USB no
set MODE custom
echo "[init] doing PX4FMU Quad startup..."
#
# Start the ORB
#
uorb start
#
# Load microSD params
#
echo "[init] loading microSD params"
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
then
param load /fs/microsd/params
fi
echo "[init] 01_fmu_quad_x: PX4FMU Quad X with PWM outputs"
#
# Load default params for this platform
......@@ -52,56 +30,35 @@ fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
# MAV_TYPE 2 = quadrotor
#
param set MAV_TYPE 2
#
# Start MAVLink
#
mavlink start -d /dev/ttyS0 -b 57600
usleep 5000
#
# Start the sensors and test them.
#
sh /etc/init.d/rc.sensors
#
# Start the commander.
#
commander start
#
# Start GPS interface (depends on orb)
# Start PWM output
#
gps start
fmu mode_pwm
#
# Start the attitude estimator
# Load mixer
#
attitude_estimator_ekf start
echo "[init] starting PWM output"
fmu mode_pwm
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
pwm -u 400 -m 0xff
#
# Start attitude control
# Set PWM output frequency
#
multirotor_att_control start
pwm -u 400 -m 0xff
#
# Start logging
# Start common for all multirotors apps
#
sdlog2 start -r 50 -a -b 14
sh /etc/init.d/rc.multirotor
#
# Start system state
#
if blinkm start
then
blinkm systemstate
fi
# Exit, because /dev/ttyS0 is needed for MAVLink
exit
ROMFS/px4fmu_common/init.d/02_io_quad_x
+ 17
− 71
View file @ 5fe3c49b
#!nsh
#
# Flight startup script for PX4FMU+PX4IO
#
# disable USB and autostart
set USB no
set MODE custom
#
# Start the ORB (first app to start)
#
uorb start
#
# Load microSD params
#
echo "[init] loading microSD params"
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
then
param load /fs/microsd/params
fi
echo "[init] 02_io_quad_x: PX4FMU+PX4IO Quad X with PWM outputs"
#
# Load default params for this platform
......@@ -28,74 +8,40 @@ fi
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
# TODO
param set SYS_AUTOCONFIG 0
param save /fs/microsd/params
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
# MAV_TYPE 2 = quadrotor
#
param set MAV_TYPE 2
#
# Start MAVLink (depends on orb)
# Start MAVLink
#
mavlink start -d /dev/ttyS1 -b 57600
usleep 5000
#
# Start the commander (depends on orb, mavlink)
#
commander start
#
# Start PX4IO interface (depends on orb, commander)
#
px4io start
#
# Allow PX4IO to recover from midair restarts.
# this is very unlikely, but quite safe and robust.
px4io recovery
#
# Disable px4io topic limiting
#
px4io limit 200
#
# Start the sensors (depends on orb, px4io)
#
sh /etc/init.d/rc.sensors
#
# Start GPS interface (depends on orb)
#
gps start
#
# Start the attitude estimator (depends on orb)
# Start and configure PX4IO interface
#
attitude_estimator_ekf start
sh /etc/init.d/rc.io
#
# Load mixer and start controllers (depends on px4io)
# Load mixer
#
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
pwm -u 400 -m 0xff
multirotor_att_control start
#
# Start logging
# Set PWM output frequency
#
sdlog2 start -r 50 -a -b 14
pwm -u 400 -m 0xff
#
# Start system state
# Start common for all multirotors apps
#
if blinkm start
then
blinkm systemstate
fi
sh /etc/init.d/rc.multirotor
ROMFS/px4fmu_common/init.d/08_ardrone
+ 16
− 70
View file @ 5fe3c49b
#!nsh
#
# Flight startup script for PX4FMU on PX4IOAR carrier board.
#
# Disable the USB interface
set USB no
# Disable autostarting other apps
set MODE ardrone
echo "[init] doing PX4IOAR startup..."
#
# Start the ORB
#
uorb start
echo "[init] 08_ardrone: PX4FMU on PX4IOAR carrier board"
#
# Load microSD params
# Load default params for this platform
#
echo "[init] loading microSD params"
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
if param compare SYS_AUTOCONFIG 1
then
param load /fs/microsd/params
# Set all params here, then disable autoconfig
# TODO
param set SYS_AUTOCONFIG 0
param save /fs/microsd/params
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
# MAV_TYPE 2 = quadrotor
#
param set MAV_TYPE 2
#
# Configure PX4FMU for operation with PX4IOAR
#
fmu mode_gpio_serial
#
# Start the sensors.
#
sh /etc/init.d/rc.sensors
#
# Start MAVLink
#
mavlink start -d /dev/ttyS0 -b 57600
usleep 5000
#
# Start the commander.
#
commander start
#
# Start the attitude estimator
#
attitude_estimator_ekf start
#
# Fire up the multi rotor attitude controller
# Configure PX4FMU for operation with PX4IOAR
#
multirotor_att_control start
fmu mode_gpio_serial
#
# Fire up the AR.Drone interface.
#
ardrone_interface start -d /dev/ttyS1
#
# Start logging
#
sdlog start -s 10
#
# Start GPS capture
#
gps start
#
# Start system state
#
if blinkm start
then
echo "using BlinkM for state indication"
blinkm systemstate
else
echo "no BlinkM found, OK."
fi
#
# startup is done; we don't want the shell because we
# use the same UART for telemetry
# Start common for all multirotors apps
#
echo "[init] startup done"
sh /etc/init.d/rc.multirotor
# Exit, because /dev/ttyS0 is needed for MAVLink
exit
ROMFS/px4fmu_common/init.d/09_ardrone_flow
+ 22
− 40
View file @ 5fe3c49b
#!nsh
#
# Flight startup script for PX4FMU on PX4IOAR carrier board.
#
# Disable the USB interface
set USB no
echo "[init] 09_ardrone_flow: PX4FMU on PX4IOAR carrier board with PX4FLOW"
# Disable autostarting other apps
set MODE ardrone
echo "[init] doing PX4IOAR startup..."
#
# Start the ORB
# Load default params for this platform
#
uorb start
#
# Load microSD params
#
echo "[init] loading microSD params"
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
if param compare SYS_AUTOCONFIG 1
then
param load /fs/microsd/params
# Set all params here, then disable autoconfig
# TODO
param set SYS_AUTOCONFIG 0
param save /fs/microsd/params
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
# MAV_TYPE 2 = quadrotor
#
param set MAV_TYPE 2
#
# Start MAVLink and MAVLink Onboard (PX4FLOW Sensor)
#
mavlink start -d /dev/ttyS0 -b 57600
mavlink_onboard start -d /dev/ttyS3 -b 115200
usleep 5000
#
# Configure PX4FMU for operation with PX4IOAR
#
fmu mode_gpio_serial
#
# Fire up the AR.Drone interface.
#
ardrone_interface start -d /dev/ttyS1
#
# Start the sensors.
#
sh /etc/init.d/rc.sensors
#
# Start MAVLink and MAVLink Onboard (Flow Sensor)
#
mavlink start -d /dev/ttyS0 -b 57600
mavlink_onboard start -d /dev/ttyS3 -b 115200
usleep 5000
#
# Start the commander.
#
......@@ -79,16 +71,6 @@ flow_position_control start
# Fire up the flow speed controller
#
flow_speed_control start
#
# Fire up the AR.Drone interface.
#
ardrone_interface start -d /dev/ttyS1
#
# startup is done; we don't want the shell because we
# use the same UART for telemetry
#
echo "[init] startup done"
# Exit, because /dev/ttyS0 is needed for MAVLink
exit
ROMFS/px4fmu_common/init.d/10_io_f330
+ 21
− 70
View file @ 5fe3c49b
#!nsh
#
# Flight startup script for PX4FMU+PX4IO
#
# disable USB and autostart
set USB no
set MODE custom
echo "[init] 10_io_f330: PX4FMU+PX4IO on a DJI F330 quad frame"
#
# Load default params for this platform
......@@ -15,27 +10,26 @@ then
# Set all params here, then disable autoconfig
param set SYS_AUTOCONFIG 0
param set MC_ATTRATE_D 0.005
param set MC_ATTRATE_D 0.004
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_P 0.1
param set MC_ATTRATE_P 0.12
param set MC_ATT_D 0.0
param set MC_ATT_I 0.0
param set MC_ATT_P 4.5
param set MC_ATT_P 7.0
param set MC_RCLOSS_THR 0.0
param set MC_YAWPOS_D 0.0
param set MC_YAWPOS_I 0.3
param set MC_YAWPOS_P 0.6
param set MC_YAWRATE_D 0.0
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_P 0.1
param set MC_YAWPOS_I 0.0
param set MC_YAWPOS_P 2.0
param set MC_YAWRATE_D 0.005
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_P 0.3
param save /fs/microsd/params
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
# MAV_TYPE 2 = quadrotor
#
param set MAV_TYPE 2
......@@ -44,73 +38,30 @@ param set MAV_TYPE 2
#
mavlink start
usleep 5000
#
# Start PX4IO interface (depends on orb, commander)
#
px4io start
pwm -u 400 -m 0xff
#
# Allow PX4IO to recover from midair restarts.
# this is very unlikely, but quite safe and robust.
px4io recovery
#
# Disable px4io topic limiting
# Start and configure PX4IO interface
#
px4io limit 200
sh /etc/init.d/rc.io
#
# This sets a PWM right after startup (regardless of safety button)
# Set PWM values for DJI ESCs
#
px4io idle 900 900 900 900
#
# The values are for spinning motors when armed using DJI ESCs
#
px4io min 1200 1200 1200 1200
#
# Upper limits could be higher, this is on the safe side
#
px4io max 1800 1800 1800 1800
#
# Start the sensors (depends on orb, px4io)
#
sh /etc/init.d/rc.sensors
#
# Start the commander (depends on orb, mavlink)
#
commander start
#
# Start GPS interface (depends on orb)
#
gps start
#
# Start the attitude estimator (depends on orb)
#
attitude_estimator_ekf start
#
# Load mixer and start controllers (depends on px4io)
# Load mixer
#
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
multirotor_att_control start
#
# Start logging
# Set PWM output frequency
#
sdlog2 start -r 20 -a -b 16
pwm -u 400 -m 0xff
#
# Start system state
# Start common for all multirotors apps
#
if blinkm start
then
blinkm systemstate
fi
sh /etc/init.d/rc.multirotor
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