Commit 70e1bfa4 authored by Julian Oes's avatar Julian Oes
Browse files

Startup scripts: use rc.mc_defaults for default MC parameters

parent ce83f450
...@@ -5,45 +5,8 @@ ...@@ -5,45 +5,8 @@
# Simon Wilks <sjwilks@gmail.com> # Simon Wilks <sjwilks@gmail.com>
# #
if [ $DO_AUTOCONFIG == yes ] sh /etc/init.d/rc.mc_defaults
then
#
# Default parameters for this platform
#
param set MC_ROLL_P 5.0
param set MC_ROLLRATE_P 0.17
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.006
param set MC_PITCH_P 5.0
param set MC_PITCHRATE_P 0.17
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.006
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 MPC_THR_MAX 1.0
param set MPC_THR_MIN 0.1
param set MPC_XY_P 1.0
param set MPC_XY_VEL_P 0.1
param set MPC_XY_VEL_I 0.02
param set MPC_XY_VEL_D 0.01
param set MPC_XY_VEL_MAX 5
param set MPC_XY_FF 0.5
param set MPC_Z_P 1.0
param set MPC_Z_VEL_P 0.1
param set MPC_Z_VEL_I 0.02
param set MPC_Z_VEL_D 0.0
param set MPC_Z_VEL_MAX 3
param set MPC_Z_FF 0.5
param set MPC_TILT_MAX 1.0
param set MPC_LAND_SPEED 1.0
param set MPC_LAND_TILT 0.3
fi
set VEHICLE_TYPE mc
set MIXER FMU_quad_w set MIXER FMU_quad_w
set PWM_OUTPUTS 1234 set PWM_OUTPUTS 1234
set PWM_RATE 400 \ No newline at end of file
...@@ -5,51 +5,17 @@ ...@@ -5,51 +5,17 @@
# Anton Babushkin <anton.babushkin@me.com> # Anton Babushkin <anton.babushkin@me.com>
# #
sh /etc/init.d/rc.mc_defaults
if [ $DO_AUTOCONFIG == yes ] if [ $DO_AUTOCONFIG == yes ]
then then
# #
# Default parameters for this platform # 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 MPC_THR_MAX 1.0
param set MPC_THR_MIN 0.1
param set MPC_XY_P 1.0
param set MPC_XY_VEL_P 0.1
param set MPC_XY_VEL_I 0.02
param set MPC_XY_VEL_D 0.01
param set MPC_XY_VEL_MAX 5
param set MPC_XY_FF 0.5
param set MPC_Z_P 1.0
param set MPC_Z_VEL_P 0.1
param set MPC_Z_VEL_I 0.02
param set MPC_Z_VEL_D 0.0
param set MPC_Z_VEL_MAX 3
param set MPC_Z_FF 0.5
param set MPC_TILT_MAX 1.0
param set MPC_LAND_SPEED 1.0
param set MPC_LAND_TILT 0.3
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
set VEHICLE_TYPE mc
set MIXER FMU_quad_w set MIXER FMU_quad_w
set PWM_OUTPUTS 1234 set PWM_OUTPUTS 1234
set PWM_RATE 400
set PWM_DISARMED 900
set PWM_MIN 1000
set PWM_MAX 2000
...@@ -5,6 +5,8 @@ ...@@ -5,6 +5,8 @@
# Anton Babushkin <anton.babushkin@me.com> # Anton Babushkin <anton.babushkin@me.com>
# #
sh /etc/init.d/4001_quad_x sh /etc/init.d/rc.mc_defaults
set MIXER FMU_quad_x
set HIL yes set HIL yes
...@@ -5,6 +5,8 @@ ...@@ -5,6 +5,8 @@
# Anton Babushkin <anton.babushkin@me.com> # Anton Babushkin <anton.babushkin@me.com>
# #
sh /etc/init.d/1001_rc_quad_x.hil sh /etc/init.d/rc.mc_defaults
set MIXER FMU_quad_+ set MIXER FMU_quad_+
set HIL yes
\ No newline at end of file
...@@ -5,6 +5,8 @@ ...@@ -5,6 +5,8 @@
# Lorenz Meier <lm@inf.ethz.ch>, Anton Babushkin <anton.babushkin@me.com> # Lorenz Meier <lm@inf.ethz.ch>, Anton Babushkin <anton.babushkin@me.com>
# #
sh /etc/init.d/8001_octo_x sh /etc/init.d/rc.mc_defaults
set MIXER FMU_octo_cox set MIXER FMU_octo_cox
set PWM_OUTPUTS 12345678
\ No newline at end of file
...@@ -5,48 +5,8 @@ ...@@ -5,48 +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_ROLL_P 7.0
param set MC_ROLLRATE_P 0.12
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.004
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.12
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.004
param set MC_YAW_P 2.0
param set MC_YAWRATE_P 0.3
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0.005
param set MPC_THR_MAX 1.0
param set MPC_THR_MIN 0.1
param set MPC_XY_P 1.0
param set MPC_XY_VEL_P 0.1
param set MPC_XY_VEL_I 0.02
param set MPC_XY_VEL_D 0.01
param set MPC_XY_VEL_MAX 5
param set MPC_XY_FF 0.5
param set MPC_Z_P 1.0
param set MPC_Z_VEL_P 0.1
param set MPC_Z_VEL_I 0.02
param set MPC_Z_VEL_D 0.0
param set MPC_Z_VEL_MAX 3
param set MPC_Z_FF 0.5
param set MPC_TILT_MAX 1.0
param set MPC_LAND_SPEED 1.0
param set MPC_LAND_TILT 0.3
fi
set VEHICLE_TYPE mc
set MIXER FMU_quad_x set MIXER FMU_quad_x
set PWM_OUTPUTS 1234 set PWM_OUTPUTS 1234
set PWM_RATE 400 \ No newline at end of file
set PWM_DISARMED 900
set PWM_MIN 1100
set PWM_MAX 2000
...@@ -5,49 +5,6 @@ ...@@ -5,49 +5,6 @@
# Anton Babushkin <anton.babushkin@me.com> # Anton Babushkin <anton.babushkin@me.com>
# #
if [ $DO_AUTOCONFIG == yes ] sh /etc/init.d/4001_quad_x
then
#
# Default parameters for this platform
#
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.12
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.004
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.12
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.004
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.05
param set MC_YAWRATE_D 0.0
param set MPC_THR_MAX 1.0
param set MPC_THR_MIN 0.1
param set MPC_XY_P 1.0
param set MPC_XY_VEL_P 0.1
param set MPC_XY_VEL_I 0.02
param set MPC_XY_VEL_D 0.01
param set MPC_XY_VEL_MAX 5
param set MPC_XY_FF 0.5
param set MPC_Z_P 1.0
param set MPC_Z_VEL_P 0.1
param set MPC_Z_VEL_I 0.02
param set MPC_Z_VEL_D 0.0
param set MPC_Z_VEL_MAX 3
param set MPC_Z_FF 0.5
param set MPC_TILT_MAX 1.0
param set MPC_LAND_SPEED 1.0
param set MPC_LAND_TILT 0.3
fi
set VEHICLE_TYPE mc set PWM_MIN 1175
set MIXER FMU_quad_x \ No newline at end of file
set PWM_OUTPUTS 1234
set PWM_RATE 400
# DJI ESC range
set PWM_DISARMED 900
set PWM_MIN 1200
set PWM_MAX 1900
...@@ -5,49 +5,6 @@ ...@@ -5,49 +5,6 @@
# Lorenz Meier <lm@inf.ethz.ch> # Lorenz Meier <lm@inf.ethz.ch>
# #
if [ $DO_AUTOCONFIG == yes ] sh /etc/init.d/4001_quad_x
then
#
# Default parameters for this platform
#
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.12
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.004
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.12
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.004
param set MC_YAW_P 2.0
param set MC_YAWRATE_P 0.3
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0.005
param set MPC_THR_MAX 1.0
param set MPC_THR_MIN 0.1
param set MPC_XY_P 1.0
param set MPC_XY_VEL_P 0.1
param set MPC_XY_VEL_I 0.02
param set MPC_XY_VEL_D 0.01
param set MPC_XY_VEL_MAX 5
param set MPC_XY_FF 0.5
param set MPC_Z_P 1.0
param set MPC_Z_VEL_P 0.1
param set MPC_Z_VEL_I 0.02
param set MPC_Z_VEL_D 0.0
param set MPC_Z_VEL_MAX 3
param set MPC_Z_FF 0.5
param set MPC_TILT_MAX 1.0
param set MPC_LAND_SPEED 1.0
param set MPC_LAND_TILT 0.3
fi
set VEHICLE_TYPE mc set PWM_MIN 1175
set MIXER FMU_quad_x \ No newline at end of file
set PWM_OUTPUTS 1234
set PWM_RATE 400
# DJI ESC range
set PWM_DISARMED 900
set PWM_MIN 1200
set PWM_MAX 1900
...@@ -6,9 +6,3 @@ ...@@ -6,9 +6,3 @@
# #
sh /etc/init.d/4001_quad_x sh /etc/init.d/4001_quad_x
set PWM_OUTPUTS 1234
set PWM_RATE 400
set PWM_DISARMED 900
set PWM_MIN 1000
set PWM_MAX 2000
...@@ -5,6 +5,8 @@ ...@@ -5,6 +5,8 @@
# Anton Babushkin <anton.babushkin@me.com> # Anton Babushkin <anton.babushkin@me.com>
# #
sh /etc/init.d/4001_quad_x sh /etc/init.d/rc.mc_defaults
set MIXER FMU_quad_+ set MIXER FMU_quad_+
set PWM_OUTPUTS 1234
\ No newline at end of file
...@@ -5,10 +5,10 @@ ...@@ -5,10 +5,10 @@
# Anton Babushkin <anton.babushkin@me.com> # Anton Babushkin <anton.babushkin@me.com>
# #
sh /etc/init.d/4001_quad_x 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 all 8 at 400 Hz # so all 8 at 400 Hz
set PWM_OUTPUTS 12345678 set PWM_OUTPUTS 12345678
\ No newline at end of file
...@@ -5,6 +5,10 @@ ...@@ -5,6 +5,10 @@
# Anton Babushkin <anton.babushkin@me.com> # Anton Babushkin <anton.babushkin@me.com>
# #
sh /etc/init.d/6001_hexa_x 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,
# so all 8 at 400 Hz
set PWM_OUTPUTS 12345678
\ No newline at end of file
...@@ -5,8 +5,8 @@ ...@@ -5,8 +5,8 @@
# Anton Babushkin <anton.babushkin@me.com> # Anton Babushkin <anton.babushkin@me.com>
# #
sh /etc/init.d/4001_quad_x 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
...@@ -5,6 +5,8 @@ ...@@ -5,6 +5,8 @@
# Anton Babushkin <anton.babushkin@me.com> # Anton Babushkin <anton.babushkin@me.com>
# #
sh /etc/init.d/8001_octo_x sh /etc/init.d/rc.mc_defaults
set MIXER FMU_octo_+ set MIXER FMU_octo_+
set PWM_OUTPUTS 12345678
\ No newline at end of file
#!nsh
set VEHICLE_TYPE mc
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.12
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.004
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.12
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.004
param set MC_YAW_P 2.0
param set MC_YAWRATE_P 0.3
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0.005
param set MPC_THR_MAX 1.0
param set MPC_THR_MIN 0.1
param set MPC_XY_P 1.0
param set MPC_XY_VEL_P 0.1
param set MPC_XY_VEL_I 0.02
param set MPC_XY_VEL_D 0.01
param set MPC_XY_VEL_MAX 5
param set MPC_XY_FF 0.5
param set MPC_Z_P 1.0
param set MPC_Z_VEL_P 0.1
param set MPC_Z_VEL_I 0.02
param set MPC_Z_VEL_D 0.0
param set MPC_Z_VEL_MAX 3
param set MPC_Z_FF 0.5
param set MPC_TILT_MAX 1.0
param set MPC_LAND_SPEED 1.0
param set MPC_LAND_TILT 0.3
fi
set PWM_RATE 400
set PWM_DISARMED 900
set PWM_MIN 1075
set PWM_MAX 2000
\ No newline at end of file
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment