10_io_f330 1.26 KB
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#!nsh

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echo "[init] 10_io_f330: PX4FMU+PX4IO on a DJI F330 quad frame"
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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	         0.004
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	param set MC_ATTRATE_I	         0.0
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	param set MC_ATTRATE_P	         0.12
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	param set MC_ATT_D	         0.0
	param set MC_ATT_I	         0.0
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	param set MC_ATT_P	         7.0
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	param set MC_RCLOSS_THR	         0.0
	param set MC_YAWPOS_D	         0.0
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	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
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	param save /fs/microsd/params
fi
 
#
# Force some key parameters to sane values
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# MAV_TYPE     2 = quadrotor
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#
param set MAV_TYPE 2
 
#
# Start MAVLink (depends on orb)
#
mavlink start
usleep 5000
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#
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# Start and configure PX4IO interface
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#
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sh /etc/init.d/rc.io
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#
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# Set PWM values for DJI ESCs
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#
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px4io idle 900 900 900 900
px4io min 1200 1200 1200 1200
px4io max 1800 1800 1800 1800
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#
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# Load mixer
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#
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mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.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