10_io_f330 1.44 KB
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#!nsh

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echo "[init] PX4FMU v1, v2 with or without IO on DJI F330"
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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
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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
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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
	set EXIT_ON_END yes
fi
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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
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if [ $EXIT_ON_END == yes ]
then
	exit
fi