Commit 16908f9a authored by Anton Babushkin's avatar Anton Babushkin
Browse files

autostart for multicopters: frame-specific default parameters reverted and cleaned up

parent 6f506874
...@@ -2,11 +2,28 @@ ...@@ -2,11 +2,28 @@
# #
# Team Blacksheep Discovery Quadcopter # Team Blacksheep Discovery Quadcopter
# #
# Simon Wilks <sjwilks@gmail.com> # Anton Babushkin <anton.babushkin@me.com>, Simon Wilks <sjwilks@gmail.com>
# #
sh /etc/init.d/rc.mc_defaults sh /etc/init.d/rc.mc_defaults
if [ $DO_AUTOCONFIG == yes ]
then
# TODO review MC_YAWRATE_I
param set MC_ROLL_P 8.0
param set MC_ROLLRATE_P 0.07
param set MC_ROLLRATE_I 0.05
param set MC_ROLLRATE_D 0.0017
param set MC_PITCH_P 8.0
param set MC_PITCHRATE_P 0.14
param set MC_PITCHRATE_I 0.1
param set MC_PITCHRATE_D 0.0025
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.28
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0.0
fi
set MIXER FMU_quad_w set MIXER FMU_quad_w
set PWM_OUTPUTS 1234 set PWM_OUTPUTS 1234
\ No newline at end of file
...@@ -9,9 +9,20 @@ sh /etc/init.d/rc.mc_defaults ...@@ -9,9 +9,20 @@ sh /etc/init.d/rc.mc_defaults
if [ $DO_AUTOCONFIG == yes ] if [ $DO_AUTOCONFIG == yes ]
then then
# # TODO tune roll/pitch separately
# Default parameters for this platform param set MC_ROLL_P 9.0
# param set MC_ROLLRATE_P 0.13
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.004
param set MC_PITCH_P 9.0
param set MC_PITCHRATE_P 0.13
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.004
param set MC_YAW_P 0.5
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0.0
param set BAT_V_SCALING 0.00989 param set BAT_V_SCALING 0.00989
param set BAT_C_SCALING 0.0124 param set BAT_C_SCALING 0.0124
fi fi
......
...@@ -7,33 +7,9 @@ ...@@ -7,33 +7,9 @@
# Lorenz Meier <lm@inf.ethz.ch> # Lorenz Meier <lm@inf.ethz.ch>
# #
if [ $DO_AUTOCONFIG == yes ] sh /etc/init.d/rc.mc_defaults
then
#
# Default parameters for this platform
#
param set MC_ATT_P 7.0
param set MC_ATT_I 0.0
param set MC_ATT_D 0.0
param set MC_ATTRATE_P 0.12
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_D 0.004
param set MC_YAWPOS_P 2.0
param set MC_YAWPOS_I 0.0
param set MC_YAWPOS_D 0.0
param set MC_YAWRATE_P 0.3
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0.005
# TODO add default MPC parameters
fi
set VEHICLE_TYPE mc
set MIXER hexa_cox set MIXER hexa_cox
# We only can run one channel group with one rate, so set all 8 channels
set PWM_OUTPUTS 12345678 set PWM_OUTPUTS 12345678
set PWM_RATE 400
# DJI ESC range
set PWM_DISARMED 900
set PWM_MIN 1200
set PWM_MAX 1900
...@@ -5,33 +5,8 @@ ...@@ -5,33 +5,8 @@
# Lorenz Meier <lm@inf.ethz.ch> # Lorenz Meier <lm@inf.ethz.ch>
# #
if [ $DO_AUTOCONFIG == yes ] sh /etc/init.d/rc.mc_defaults
then
#
# Default parameters for this platform
#
param set MC_ATT_P 7.0
param set MC_ATT_I 0.0
param set MC_ATT_D 0.0
param set MC_ATTRATE_P 0.12
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_D 0.004
param set MC_YAWPOS_P 2.0
param set MC_YAWPOS_I 0.0
param set MC_YAWPOS_D 0.0
param set MC_YAWRATE_P 0.3
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0.005
# TODO add default MPC parameters
fi
set VEHICLE_TYPE mc set MIXER octo_cox
set MIXER FMU_octo_cox
set PWM_OUTPUTS 12345678 set PWM_OUTPUTS 12345678
set PWM_RATE 400
# DJI ESC range
set PWM_DISARMED 900
set PWM_MIN 1200
set PWM_MAX 1900
...@@ -9,4 +9,4 @@ sh /etc/init.d/rc.mc_defaults ...@@ -9,4 +9,4 @@ sh /etc/init.d/rc.mc_defaults
set MIXER FMU_quad_x set MIXER FMU_quad_x
set PWM_OUTPUTS 1234 set PWM_OUTPUTS 1234
\ No newline at end of file
...@@ -7,4 +7,21 @@ ...@@ -7,4 +7,21 @@
sh /etc/init.d/4001_quad_x sh /etc/init.d/4001_quad_x
set PWM_MIN 1175 if [ $DO_AUTOCONFIG == yes ]
\ No newline at end of file then
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.1
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.003
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.1
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.003
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0.0
fi
set PWM_MIN 1175
set PWM_MAX 1900
...@@ -7,4 +7,22 @@ ...@@ -7,4 +7,22 @@
sh /etc/init.d/4001_quad_x sh /etc/init.d/4001_quad_x
set PWM_MIN 1175 if [ $DO_AUTOCONFIG == yes ]
\ No newline at end of file then
# TODO REVIEW
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.1
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.003
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.1
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.003
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0.0
fi
set PWM_MIN 1175
set PWM_MAX 1900
#!nsh
#
# HobbyKing X550 Quadcopter
#
# Todd Stellanova <tstellanova@gmail.com>
#
sh /etc/init.d/4001_quad_x
...@@ -9,4 +9,4 @@ sh /etc/init.d/rc.mc_defaults ...@@ -9,4 +9,4 @@ sh /etc/init.d/rc.mc_defaults
set MIXER FMU_quad_+ set MIXER FMU_quad_+
set PWM_OUTPUTS 1234 set PWM_OUTPUTS 1234
\ No newline at end of file
...@@ -9,6 +9,5 @@ sh /etc/init.d/rc.mc_defaults ...@@ -9,6 +9,5 @@ sh /etc/init.d/rc.mc_defaults
set MIXER FMU_hexa_x set MIXER FMU_hexa_x
# We only can run one channel group with one rate, # We only can run one channel group with one rate, so set all 8 channels
# so all 8 at 400 Hz set PWM_OUTPUTS 12345678
set PWM_OUTPUTS 12345678
\ No newline at end of file
...@@ -9,6 +9,5 @@ sh /etc/init.d/rc.mc_defaults ...@@ -9,6 +9,5 @@ sh /etc/init.d/rc.mc_defaults
set MIXER FMU_hexa_+ set MIXER FMU_hexa_+
# We only can run one channel group with one rate, # We only can run one channel group with one rate, so set all 8 channels
# so all 8 at 400 Hz set PWM_OUTPUTS 12345678
set PWM_OUTPUTS 12345678
\ No newline at end of file
...@@ -9,4 +9,4 @@ sh /etc/init.d/rc.mc_defaults ...@@ -9,4 +9,4 @@ sh /etc/init.d/rc.mc_defaults
set MIXER FMU_octo_x set MIXER FMU_octo_x
set PWM_OUTPUTS 12345678 set PWM_OUTPUTS 12345678
\ No newline at end of file
...@@ -116,11 +116,6 @@ then ...@@ -116,11 +116,6 @@ then
sh /etc/init.d/4011_dji_f450 sh /etc/init.d/4011_dji_f450
fi fi
if param compare SYS_AUTOSTART 4012 12
then
sh /etc/init.d/4012_hk_x550
fi
# #
# Quad + # Quad +
# #
......
...@@ -4,22 +4,20 @@ set VEHICLE_TYPE mc ...@@ -4,22 +4,20 @@ set VEHICLE_TYPE mc
if [ $DO_AUTOCONFIG == yes ] if [ $DO_AUTOCONFIG == yes ]
then then
#
# Default parameters for MC
#
param set MC_ROLL_P 7.0 param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.12 param set MC_ROLLRATE_P 0.1
param set MC_ROLLRATE_I 0.0 param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.004 param set MC_ROLLRATE_D 0.003
param set MC_PITCH_P 7.0 param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.12 param set MC_PITCHRATE_P 0.1
param set MC_PITCHRATE_I 0.0 param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.004 param set MC_PITCHRATE_D 0.003
param set MC_YAW_P 2.0 param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.3 param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.2 param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0.005 param set MC_YAWRATE_D 0.0
param set MC_YAW_FF 0.5
param set MPC_THR_MAX 1.0 param set MPC_THR_MAX 1.0
param set MPC_THR_MIN 0.1 param set MPC_THR_MIN 0.1
param set MPC_XY_P 1.0 param set MPC_XY_P 1.0
...@@ -42,4 +40,4 @@ fi ...@@ -42,4 +40,4 @@ fi
set PWM_RATE 400 set PWM_RATE 400
set PWM_DISARMED 900 set PWM_DISARMED 900
set PWM_MIN 1075 set PWM_MIN 1075
set PWM_MAX 2000 set PWM_MAX 2000
\ No newline at end of file
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