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Merge remote-tracking branch 'px4/master' into pwm_ioctls

Browse Source 
Conflicts:
	src/drivers/px4io/px4io.cpp
This commit is contained in:
Julian Oes
2013-10-11 14:05:11 +02:00
parent 326f241185 1306c9de7b
commit 2d23d5fd4e
51 changed files with 1097 additions and 210 deletions
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ROMFS/px4fmu_common/init.d/1000_rc_fw.hil
+1
View File
@@ -32,6 +32,7 @@ then
param set FW_T_SINK_MAX 5.0
param set FW_T_SINK_MIN 4.0
param set FW_Y_ROLLFF 1.1
param set FW_L1_PERIOD 16
param set SYS_AUTOCONFIG 0
param save
ROMFS/px4fmu_common/init.d/100_mpx_easystar
+21 -1
View File
@@ -8,7 +8,27 @@ echo "[init] PX4FMU v1, v2 with or without IO on EasyStar"
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
# TODO
param set FW_P_D 0
param set FW_P_I 0
param set FW_P_IMAX 15
param set FW_P_LIM_MAX 50
param set FW_P_LIM_MIN -50
param set FW_P_P 60
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 1.1
param set FW_R_D 0
param set FW_R_I 5
param set FW_R_IMAX 20
param set FW_R_P 100
param set FW_R_RMAX 100
param set FW_THR_CRUISE 0.65
param set FW_THR_MAX 1
param set FW_THR_MIN 0
param set FW_T_SINK_MAX 5.0
param set FW_T_SINK_MIN 4.0
param set FW_Y_ROLLFF 1.1
param set FW_L1_PERIOD 16
param set SYS_AUTOCONFIG 0
param save
ROMFS/px4fmu_common/init.d/101_hk_bixler
+21 -1
View File
@@ -8,7 +8,27 @@ echo "[init] PX4FMU v1, v2 with or without IO on HK Bixler"
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
# TODO
param set FW_P_D 0
param set FW_P_I 0
param set FW_P_IMAX 15
param set FW_P_LIM_MAX 50
param set FW_P_LIM_MIN -50
param set FW_P_P 60
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 1.1
param set FW_R_D 0
param set FW_R_I 5
param set FW_R_IMAX 20
param set FW_R_P 100
param set FW_R_RMAX 100
param set FW_THR_CRUISE 0.65
param set FW_THR_MAX 1
param set FW_THR_MIN 0
param set FW_T_SINK_MAX 5.0
param set FW_T_SINK_MIN 4.0
param set FW_Y_ROLLFF 1.1
param set FW_L1_PERIOD 16
param set SYS_AUTOCONFIG 0
param save
ROMFS/px4fmu_common/init.d/31_io_phantom
+21 -1
View File
@@ -8,7 +8,27 @@ echo "[init] PX4FMU v1, v2 with or without IO on Phantom FPV"
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
# TODO
param set FW_P_D 0
param set FW_P_I 0
param set FW_P_IMAX 15
param set FW_P_LIM_MAX 50
param set FW_P_LIM_MIN -50
param set FW_P_P 60
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 1.1
param set FW_R_D 0
param set FW_R_I 5
param set FW_R_IMAX 20
param set FW_R_P 100
param set FW_R_RMAX 100
param set FW_THR_CRUISE 0.65
param set FW_THR_MAX 1
param set FW_THR_MIN 0
param set FW_T_SINK_MAX 5.0
param set FW_T_SINK_MIN 4.0
param set FW_Y_ROLLFF 1.1
param set FW_L1_PERIOD 17
param set SYS_AUTOCONFIG 0
param save
ROMFS/px4fmu_common/init.d/cmp_test
+9
View File
@@ -0,0 +1,9 @@
#!nsh
cp /etc/extras/px4io-v2_default.bin /fs/microsd/px4io.loaded
if cmp /etc/extras/px4io-v2_default.bin /fs/microsd/px4io.loaded
then
echo "CMP returned true"
else
echo "CMP returned false"
fi
ROMFS/px4fmu_common/init.d/rc.custom_io_esc
+120
View File
@@ -0,0 +1,120 @@
#!nsh
#
# 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
param set MC_ATTRATE_D 0.002
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_P 0.09
param set MC_ATT_D 0.0
param set MC_ATT_I 0.0
param set MC_ATT_P 6.8
param set MC_YAWPOS_D 0.0
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
param set NAV_TAKEOFF_ALT 3.0
param set MPC_TILT_MAX 0.5
param set MPC_THR_MAX 0.7
param set MPC_THR_MIN 0.3
param set MPC_XY_D 0
param set MPC_XY_P 0.5
param set MPC_XY_VEL_D 0
param set MPC_XY_VEL_I 0
param set MPC_XY_VEL_MAX 3
param set MPC_XY_VEL_P 0.2
param set MPC_Z_D 0
param set MPC_Z_P 1
param set MPC_Z_VEL_D 0
param set MPC_Z_VEL_I 0.1
param set MPC_Z_VEL_MAX 2
param set MPC_Z_VEL_P 0.20
param save
fi
echo "RC script for PX4FMU + PX4IO + PPM-ESCs running"
#
# Force some key parameters to sane values
# MAV_TYPE 2 = quadrotor
#
param set MAV_TYPE 2
set EXIT_ON_END no
usleep 10000
#
# Start and configure PX4IO or FMU interface
#
if px4io detect
then
# Start MAVLink (depends on orb)
mavlink start -d /dev/ttyS1 -b 115200
usleep 5000
sh /etc/init.d/rc.io
if [ $ESC_MAKER = afro ]
then
# Set PWM values for Afro ESCs
px4io idle 1050 1050 1050 1050
px4io min 1080 1080 1080 1080
px4io max 1860 1860 1860 1860
else
# Set PWM values for typical ESCs
px4io idle 900 900 900 900
px4io min 1110 1100 1100 1100
px4io max 1800 1800 1800 1800
fi
else
fmu mode_pwm
# Start MAVLink (on UART1 / ttyS0)
mavlink start -d /dev/ttyS1 -b 115200
usleep 5000
param set BAT_V_SCALING 0.004593
set EXIT_ON_END yes
fi
#
# Load mixer
#
if [ $FRAME_GEOMETRY == x ]
then
echo "Frame geometry X"
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
else
if [ $FRAME_GEOMETRY == w ]
then
echo "Frame geometry W"
mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix
else
echo "Frame geometry +"
mixer load /dev/pwm_output /etc/mixers/FMU_quad_+.mix
fi
fi
#
# Set PWM output frequency
#
pwm -u 400 -m 0xff
#
# Start common for all multirotors apps
#
sh /etc/init.d/rc.multirotor
if [ $EXIT_ON_END == yes ]
then
exit
fi
echo "Script end"
ROMFS/px4fmu_common/init.d/rcS
+17
View File
@@ -225,6 +225,23 @@ then
sh /etc/init.d/rc.custom_dji_f330_mkblctrl
set MODE custom
fi
# PX4FMU v1 with IO + PPM-based ESCs on Quad X-shape frame
if param compare SYS_AUTOSTART 21
then
set FRAME_GEOMETRY x
set ESC_MAKER afro
sh /etc/init.d/rc.custom_io_esc
set MODE custom
fi
# PX4FMU v1 with IO + PPM-based ESCs on Quad X-shape frame
if param compare SYS_AUTOSTART 22
then
set FRAME_GEOMETRY w
sh /etc/init.d/rc.custom_io_esc
set MODE custom
fi
if param compare SYS_AUTOSTART 30
then