16_3dr_iris 1.32 KB
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#!nsh

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echo "[init] 3DR Iris Quad"
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#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
	# Set all params here, then disable autoconfig
	param set SYS_AUTOCONFIG 0

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	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
	param set MC_ATT_P 5.0
	param set MC_YAWPOS_D 0.0
	param set MC_YAWPOS_I 0.15
	param set MC_YAWPOS_P 0.5
	param set MC_YAWRATE_D 0.0
	param set MC_YAWRATE_I 0.0
	param set MC_YAWRATE_P 0.2
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	param save
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fi
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#
# Force some key parameters to sane values
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# MAV_TYPE     2 = quadrotor
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#
param set MAV_TYPE 2
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set EXIT_ON_END no
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#
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# Start and configure PX4IO or FMU interface
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#
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if px4io detect
then
	# Start MAVLink (depends on orb)
	mavlink start
	usleep 5000

	sh /etc/init.d/rc.io
	# Set PWM values for DJI ESCs
	px4io idle 900 900 900 900
	px4io min 1200 1200 1200 1200
	px4io max 1800 1800 1800 1800
else
	# Start MAVLink (on UART1 / ttyS0)
	mavlink start -d /dev/ttyS0
	usleep 5000
	fmu mode_pwm
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	param set BAT_V_SCALING 0.0098
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	set EXIT_ON_END yes
fi
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#
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# Load the mixer for a quad with wide arms
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#
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mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix
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#
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# Set PWM output frequency
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#
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pwm -u 400 -m 0xff
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#
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# Start common for all multirotors apps
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#
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sh /etc/init.d/rc.multirotor
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if [ $EXIT_ON_END == yes ]
then
	exit
fi