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Format and comment fw, mc, vtol, and ugv vehicle apps and default startup scripts.

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This commit is contained in:
mcsauder 2018-07-12 15:56:46 -06:00 committed by Beat Küng
parent 8537863848
commit 2512f6e30e
9 changed files with 78 additions and 38 deletions
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10
ROMFS/px4fmu_common/init.d/rc.fw_apps
View File

@ -2,6 +2,8 @@
#
# Standard apps for fixed wing
#
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
# LPE
if param compare SYS_MC_EST_GROUP 1
@ -12,22 +14,22 @@ then
fi
#
# Start the attitude and position estimator
# Start the attitude and position estimator.
#
ekf2 start
#
# Start attitude controller
# Start attitude controller.
#
fw_att_control start
fw_pos_control_l1 start
#
# Start Land Detector
# Start Land Detector.
#
land_detector start fixedwing
#
# Start Wind and Airspeed Scale Estimator
# Start Wind and Airspeed Scale Estimator.
#
#wind_estimator start

15
ROMFS/px4fmu_common/init.d/rc.fw_defaults
View File

@ -1,11 +1,16 @@
#!nsh
#
# Fixed wing default parameters
#
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
set VEHICLE_TYPE fw
if [ $AUTOCNF == yes ]
then
#
# Default parameters for FW
# Default parameters for fixed wing uavs.
#
param set COM_POS_FS_DELAY 5
param set COM_POS_FS_EPH 25
@ -23,8 +28,8 @@ then
param set RTL_DESCEND_ALT 100
param set RTL_LAND_DELAY -1
# FW uses L1 distance for acceptance radius
# set a smaller NAV_ACC_RAD for vertical acceptance distance
# FW uses L1 distance for acceptance radius,
# set a smaller NAV_ACC_RAD for vertical acceptance distance.
param set NAV_ACC_RAD 10
param set MIS_LTRMIN_ALT 25
@ -32,11 +37,11 @@ then
param set PWM_RATE 50
# FW takeoff acceleration can easily exceed ublox GPS 2G default
# FW takeoff acceleration can easily exceed ublox GPS 2G default.
param set GPS_UBX_DYNMODEL 8
fi
# This is the gimbal pass mixer
# This is the gimbal pass mixer.
set MIXER_AUX pass
set PWM_AUX_RATE 50
set PWM_AUX_OUT 1234

28
ROMFS/px4fmu_common/init.d/rc.mc_apps
View File

@ -1,14 +1,14 @@
#!nsh
#
# Standard apps for multirotors:
# att & pos estimator, att & pos control.
# Standard apps for multirotors. Attitude/Position estimator, Attitude/Position control.
#
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
#---------------------------------------
# Estimator group selction
#
# INAV (deprecated)
###############################################################################
# Begin Estimator Group Selection #
###############################################################################
# INAV (deprecated).
if param compare SYS_MC_EST_GROUP 0
then
echo "ERROR [init] Estimator INAV deprecated. Using EKF2"
@ -31,18 +31,26 @@ then
fi
fi
# EKF
# EKF2
if param compare SYS_MC_EST_GROUP 2
then
ekf2 start
fi
#---------------------------------------
###############################################################################
# End Estimator Group Selection #
###############################################################################
#
# Start Multicopter Attitude Controller.
#
mc_att_control start
#
# Start Multicopter Position Controller.
#
mc_pos_control start
#
# Start Land Detector
# Start Multicopter Land Detector.
#
land_detector start multicopter

16
ROMFS/px4fmu_common/init.d/rc.mc_defaults
View File

@ -1,20 +1,26 @@
#!nsh
#
# Multicopter default parameters.
#
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
set VEHICLE_TYPE mc
if [ $AUTOCNF == yes ]
then
param set NAV_ACC_RAD 2.0
param set RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 10.0
param set PWM_MIN 1075
param set PWM_MAX 1950
param set PWM_RATE 400
param set RTL_LAND_DELAY 0
param set PWM_MAX 1950
param set PWM_MIN 1075
param set PWM_RATE 400
fi
# This is the gimbal pass mixer
# This is the gimbal pass mixer.
set MIXER_AUX pass
set PWM_AUX_RATE 50
set PWM_AUX_OUT 1234

10
ROMFS/px4fmu_common/init.d/rc.ugv_apps
View File

@ -1,10 +1,12 @@
#!nsh
#
# Standard apps for unmanned ground vehicles (UGV)
# Standard apps for unmanned ground vehicles (UGV).
#
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
#
# Start the attitude and position estimator
# Start the attitude and position estimator.
#
ekf2 start
#attitude_estimator_q start
@ -12,13 +14,13 @@ ekf2 start
#
# Start attitude controllers
# Start attitude controllers.
#
gnd_att_control start
gnd_pos_control start
#
# Start Land Detector
# Start Land Detector.
#
land_detector start ugv

11
ROMFS/px4fmu_common/init.d/rc.ugv_defaults
View File

@ -1,4 +1,9 @@
#!nsh
#
# UGV default parameters.
#
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
set VEHICLE_TYPE ugv
@ -7,14 +12,14 @@ then
#
# Default parameters for UGVs
#
param set MIS_LTRMIN_ALT 0.01
param set MIS_TAKEOFF_ALT 0.01
param set NAV_DLL_ACT 0
param set NAV_ACC_RAD 2.0
# temporary
param set NAV_FW_ALT_RAD 1000
param set MIS_LTRMIN_ALT 0.01
param set MIS_TAKEOFF_ALT 0.01
fi
# Enable servo output on pins 3 and 4 (steering and thrust)

15
ROMFS/px4fmu_common/init.d/rc.vtol_apps
View File

@ -1,14 +1,14 @@
#!nsh
#
# Standard apps for vtol:
# att & pos estimator, att & pos control.
# Standard apps for vtol: Attitude/Position estimator, Attitude/Position control.
#
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
###############################################################################
# Begin Estimator group selection #
###############################################################################
#---------------------------------------
# Estimator group selction
#
# INAV (deprecated)
if param compare SYS_MC_EST_GROUP 0
then
@ -37,7 +37,10 @@ if param compare SYS_MC_EST_GROUP 2
then
ekf2 start
fi
#---------------------------------------
###############################################################################
# End Estimator group selection #
###############################################################################
vtol_att_control start

7
ROMFS/px4fmu_common/init.d/rc.vtol_defaults
View File

@ -1,4 +1,9 @@
#!nsh
#
# VTOL default parameters.
#
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
set VEHICLE_TYPE vtol
@ -18,5 +23,5 @@ then
param set RTL_LAND_DELAY 0
fi
# set environment variables (!= parameters)
# Set environment variables (!= parameters)
set PWM_RATE 400

4
ROMFS/px4fmu_common/init.d/rcS
View File

@ -129,10 +129,14 @@ then
#
uorb start
#
# Start tone driver
#
tone_alarm start
#
# play startup tone
#
tune_control play -t 1
#