fly316/PX4-Autopilot
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scumaker pilotpi updates

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* replace default mag with qmc5883l
* fix rotation and quiet startup
* fixedwing script & Multi-EKF cfg
* set default params only when initial startup
This commit is contained in:
SalimTerryLi 2021-01-14 22:16:13 +08:00 committed by GitHub
parent 52b07a932a
commit 1ee98417f8
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GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 101 additions and 6 deletions
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1
boards/scumaker/pilotpi/arm64.cmake
View File

@ -27,6 +27,7 @@ px4_add_board(
#magnetometer # all available magnetometer drivers
magnetometer/hmc5883
magnetometer/isentek/ist8310
magnetometer/qmc5883l
pca9685_pwm_out
pwm_out_sim
rc_input

1
boards/scumaker/pilotpi/default.cmake
View File

@ -27,6 +27,7 @@ px4_add_board(
#magnetometer # all available magnetometer drivers
magnetometer/hmc5883
magnetometer/isentek/ist8310
magnetometer/qmc5883l
pca9685_pwm_out
pwm_out_sim
rc_input

83
posix-configs/rpi/pilotpi_fw.config Normal file
View File

@ -0,0 +1,83 @@
#!/bin/sh
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
. px4-alias.sh
uorb start
if [ -f eeprom/parameters ]
then
param load
fi
# system_power not implemented
param set CBRK_SUPPLY_CHK 894281
# broadcast to LAN
param set MAV_BROADCAST 1
# always keep current config
param set SYS_AUTOCONFIG 0
# useless but required for parameter completeness
param set MAV_TYPE 1
param set SYS_AUTOSTART 2100
# Multi-EKF
param set EKF2_MULTI_IMU 1
param set SENS_IMU_MODE 0
param set EKF2_MULTI_MAG 1
param set SENS_MAG_MODE 0
dataman start
load_mon start
battery_status start
# internal IMU
if ! icm42688p start -q -s -R 4
then
# some boards has ICM42605 instead
icm42605 start -s -R 4
fi
if ! ist8310 start -q -I -a 15 -R 4
then
# some boards has QMC5883l instead
qmc5883l start -I -R 6
fi
ms5611 start -I
# ADC
ads1115 start -I
# PWM
pca9685_pwm_out start
mixer load /dev/pwm_output0 etc/mixers/AAERTWF.main.mix
# external GPS & compass
gps start -d /dev/ttySC0 -i uart -p ubx -s
#hmc5883 start -X
#ist8310 start -X
# Airspeed
ms4525_airspeed start -X
rc_input start -d /dev/ttyAMA0
rc_update start
sensors start
commander start
navigator start
ekf2 start
airspeed_selector start
land_detector start fixedwing
flight_mode_manager start
fw_att_control start
fw_pos_control_l1 start
mavlink start -x -u 14556 -r 1000000
# Telem
mavlink start -x -Z -d /dev/ttySC1
logger start -t -b 200
mavlink boot_complete

22
posix-configs/rpi/pilotpi_mc.config
View File

@ -9,15 +9,21 @@ if [ -f eeprom/parameters ]
then
param load
fi
# system_power not implemented
param set CBRK_SUPPLY_CHK 894281
#param set SYS_AUTOSTART 4001
# broadcast to LAN
param set MAV_BROADCAST 1
# always keep current config
param set SYS_AUTOCONFIG 0
# useless but required for parameter completeness
param set MAV_TYPE 2
param set SYS_AUTOSTART 4001
# Multi-EKF
param set EKF2_MULTI_IMU 2
param set EKF2_MULTI_IMU 1
param set SENS_IMU_MODE 0
param set EKF2_MULTI_MAG 3
param set EKF2_MULTI_MAG 1
param set SENS_MAG_MODE 0
dataman start
@ -27,12 +33,16 @@ load_mon start
battery_status start
# internal IMU
if ! icm42688p start -s -R 4
if ! icm42688p start -q -s -R 4
then
# some boards has ICM42605 inside
# some boards has ICM42605 instead
icm42605 start -s -R 4
fi
ist8310 start -I -a 15 -R 4
if ! ist8310 start -q -I -a 15 -R 4
then
# some boards has QMC5883l instead
qmc5883l start -I -R 6
fi
ms5611 start -I
# ADC