From cc2f1d16fb671ed841b30a49fe28322dd3ef1870 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 22 Jul 2015 12:17:27 +0200 Subject: [PATCH 1/5] Caipi: Add default PWM min/max/disarmed params --- ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha | 3 +++ 1 file changed, 3 insertions(+) diff --git a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha index 5fce4ed226..4f3c593cab 100644 --- a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha +++ b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha @@ -30,6 +30,9 @@ then param set SYS_COMPANION 157600 param set PWM_MAIN_REV0 1 param set PWM_MAIN_REV1 1 + param set PWM_DISARMED 0 + param set PWM_MIN 900 + param set PWM_MAX 2100 fi set PWM_DISARMED p:PWM_DISARMED From ffc9668d5b24a9db9784ac192262624b98d6cebf Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 22 Jul 2015 12:24:37 +0200 Subject: [PATCH 2/5] PWM params: Doc fixes --- src/modules/sensors/sensor_params.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index 08c38de525..2a9852ab57 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -2273,7 +2273,7 @@ PARAM_DEFINE_INT32(SENS_EN_LL40LS, 0); * REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE * THE SYSTEM TO PUT CHANGES INTO EFFECT. * - * Set to 1000 for default or 900 to increase servo travel + * Set to 1000 for industry default or 900 to increase servo travel. * * @min 800 * @max 1400 @@ -2289,7 +2289,7 @@ PARAM_DEFINE_INT32(PWM_MIN, 1000); * REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE * THE SYSTEM TO PUT CHANGES INTO EFFECT. * - * Set to 2000 for default or 2100 to increase servo travel + * Set to 2000 for industry default or 2100 to increase servo travel. * * @min 1600 * @max 2200 From 0a44efa3c546ffa970037781199dcae76a0b94d3 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 22 Jul 2015 12:24:56 +0200 Subject: [PATCH 3/5] ROMFS: Doc fixes --- ROMFS/px4fmu_common/init.d/rc.mc_defaults | 1 + 1 file changed, 1 insertion(+) diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults index 6506ed8c3e..3482078165 100644 --- a/ROMFS/px4fmu_common/init.d/rc.mc_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults @@ -16,6 +16,7 @@ then param set RTL_DESCEND_ALT 10.0 fi +# set environment variables (!= parameters) set PWM_RATE 400 set PWM_DISARMED 900 set PWM_MIN 1075 From 19ba7be43d2f249b22a9dc3f64a07398efac7522 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 22 Jul 2015 12:25:24 +0200 Subject: [PATCH 4/5] F330 config: Force params to sane values if set to default --- ROMFS/px4fmu_common/init.d/4010_dji_f330 | 14 ++++++++++++++ 1 file changed, 14 insertions(+) diff --git a/ROMFS/px4fmu_common/init.d/4010_dji_f330 b/ROMFS/px4fmu_common/init.d/4010_dji_f330 index f297e270a0..50b8320613 100644 --- a/ROMFS/px4fmu_common/init.d/4010_dji_f330 +++ b/ROMFS/px4fmu_common/init.d/4010_dji_f330 @@ -26,6 +26,20 @@ then param set PWM_MAX 1950 fi +# Transitional support: ensure suitable PWM min/max param values +if param compare PWM_MIN 1000 +then + param set PWM_MIN 1230 +fi +if param compare PWM_MAX 2000 +then + param set PWM_MAX 1950 +fi +if param compare PWM_DISARMED 0 +then + param set PWM_DISARMED 900 +fi + set PWM_DISARMED p:PWM_DISARMED set PWM_MIN p:PWM_MIN set PWM_MAX p:PWM_MAX From fb85723e6b37395c710c420f0f0484f5c4f450b0 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 22 Jul 2015 12:28:13 +0200 Subject: [PATCH 5/5] F450 config: Force params to sane values if set to default --- ROMFS/px4fmu_common/init.d/4011_dji_f450 | 14 ++++++++++++++ 1 file changed, 14 insertions(+) diff --git a/ROMFS/px4fmu_common/init.d/4011_dji_f450 b/ROMFS/px4fmu_common/init.d/4011_dji_f450 index 3682381a19..1075a5376f 100644 --- a/ROMFS/px4fmu_common/init.d/4011_dji_f450 +++ b/ROMFS/px4fmu_common/init.d/4011_dji_f450 @@ -27,6 +27,20 @@ then param set PWM_MAX 1950 fi +# Transitional support: ensure suitable PWM min/max param values +if param compare PWM_MIN 1000 +then + param set PWM_MIN 1230 +fi +if param compare PWM_MAX 2000 +then + param set PWM_MAX 1950 +fi +if param compare PWM_DISARMED 0 +then + param set PWM_DISARMED 900 +fi + set PWM_DISARMED p:PWM_DISARMED set PWM_MIN p:PWM_MIN set PWM_MAX p:PWM_MAX