mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-16 23:57:34 +08:00
Merged master in yaw_acceptance_fix
This commit is contained in:
Lorenz Meier
@@ -18,9 +18,9 @@ then
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param set MC_PITCHRATE_P 0.13
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param set MC_PITCHRATE_I 0.0
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param set MC_PITCHRATE_D 0.004
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param set MC_YAW_P 0.5
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param set MC_YAWRATE_P 0.2
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param set MC_YAWRATE_I 0.1
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param set MC_YAW_P 2.5
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param set MC_YAWRATE_P 0.25
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param set MC_YAWRATE_I 0.25
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param set MC_YAWRATE_D 0.0
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param set BAT_V_SCALING 0.00989
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@@ -0,0 +1,35 @@
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#!nsh
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#
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# Steadidrone QU4D
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#
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# Thomas Gubler <thomasgubler@gmail.com>
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# Lorenz Meier <lm@inf.ethz.ch>
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#
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sh /etc/init.d/rc.mc_defaults
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if [ $DO_AUTOCONFIG == yes ]
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then
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# TODO tune roll/pitch separately
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param set MC_ROLL_P 7.0
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param set MC_ROLLRATE_P 0.13
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param set MC_ROLLRATE_I 0.0
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param set MC_ROLLRATE_D 0.004
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param set MC_PITCH_P 7.0
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param set MC_PITCHRATE_P 0.13
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param set MC_PITCHRATE_I 0.0
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param set MC_PITCHRATE_D 0.004
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param set MC_YAW_P 0.5
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param set MC_YAWRATE_P 0.2
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param set MC_YAWRATE_I 0.0
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param set MC_YAWRATE_D 0.0
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param set BAT_N_CELLS 4
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fi
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set MIXER FMU_quad_w
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set PWM_MIN 1210
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set PWM_MAX 2100
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set PWM_OUTPUTS 1234
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@@ -1,7 +1,5 @@
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#!nsh
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#
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# UNTESTED UNTESTED!
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#
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# Generic 10" Hexa coaxial geometry
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#
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# Lorenz Meier <lm@inf.ethz.ch>
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@@ -9,7 +7,7 @@
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sh /etc/init.d/rc.mc_defaults
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set MIXER hexa_cox
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set MIXER FMU_hexa_cox
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# We only can run one channel group with one rate, so set all 8 channels
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set PWM_OUTPUTS 12345678
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@@ -7,6 +7,6 @@
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sh /etc/init.d/rc.mc_defaults
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set MIXER octo_cox
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set MIXER FMU_octo_cox
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set PWM_OUTPUTS 12345678
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@@ -5,4 +5,4 @@
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sh /etc/init.d/rc.fw_defaults
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set MIXER FMU_RET
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set MIXER easystar
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@@ -10,8 +10,8 @@ sh /etc/init.d/rc.fw_defaults
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if [ $DO_AUTOCONFIG == yes ]
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then
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param set FW_AIRSPD_MIN 13
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param set FW_AIRSPD_TRIM 18
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param set FW_AIRSPD_MAX 40
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param set FW_AIRSPD_TRIM 15
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param set FW_AIRSPD_MAX 25
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param set FW_ATT_TC 0.3
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param set FW_L1_DAMPING 0.75
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param set FW_L1_PERIOD 15
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@@ -23,12 +23,12 @@ then
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param set FW_P_LIM_MIN -50
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param set FW_P_RMAX_NEG 0
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param set FW_P_RMAX_POS 0
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param set FW_P_ROLLFF 0
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param set FW_P_ROLLFF 1
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param set FW_RR_FF 0.5
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param set FW_RR_I 0.02
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param set FW_RR_IMAX 0.2
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param set FW_RR_P 0.08
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param set FW_R_LIM 70
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param set FW_R_LIM 50
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param set FW_R_RMAX 0
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param set FW_T_HRATE_P 0.01
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param set FW_T_RLL2THR 15
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@@ -37,3 +37,7 @@ then
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fi
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set MIXER FMU_Q
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# Provide ESC a constant 1000 us pulse
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set PWM_OUTPUTS 4
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set PWM_DISARMED 1000
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@@ -23,7 +23,7 @@ then
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param set FW_P_LIM_MIN -45
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param set FW_P_RMAX_NEG 0
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param set FW_P_RMAX_POS 0
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param set FW_P_ROLLFF 0
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param set FW_P_ROLLFF 1
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param set FW_RR_FF 0.3
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param set FW_RR_I 0
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param set FW_RR_IMAX 0.2
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@@ -14,19 +14,20 @@ sh /etc/init.d/rc.mc_defaults
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if [ $DO_AUTOCONFIG == yes ]
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then
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# Set all params here, then disable autoconfig
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param set MC_ROLL_P 5.0
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param set MC_ROLLRATE_P 0.13
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param set MC_ROLLRATE_I 0.0
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param set MC_ROLLRATE_D 0.0
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param set MC_PITCH_P 5.0
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param set MC_PITCHRATE_P 0.13
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param set MC_PITCHRATE_I 0.0
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param set MC_PITCHRATE_D 0.0
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param set MC_YAW_P 1.0
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param set MC_YAWRATE_P 0.15
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param set MC_YAWRATE_I 0.05
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param set MC_ROLL_P 6.0
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param set MC_ROLLRATE_P 0.14
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param set MC_ROLLRATE_I 0.1
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param set MC_ROLLRATE_D 0.002
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param set MC_PITCH_P 6.0
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param set MC_PITCHRATE_P 0.14
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param set MC_PITCHRATE_I 0.1
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param set MC_PITCHRATE_D 0.002
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param set MC_YAW_P 2.0
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param set MC_YAWRATE_P 0.2
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param set MC_YAWRATE_I 0.2
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param set MC_YAWRATE_D 0.0
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param set MC_YAW_FF 0.15
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param set MC_YAW_FF 0.8
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param set BAT_V_SCALING 0.00838095238
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fi
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@@ -195,6 +195,11 @@ then
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sh /etc/init.d/10016_3dr_iris
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fi
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if param compare SYS_AUTOSTART 10017
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then
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sh /etc/init.d/10017_steadidrone_qu4d
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fi
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#
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# Hexa Coaxial
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#
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@@ -6,7 +6,7 @@
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#
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# Start the attitude and position estimator
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#
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fw_att_pos_estimator start
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ekf_att_pos_estimator start
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#
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# Start attitude controller
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@@ -11,6 +11,4 @@ then
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param set NAV_RTL_ALT 100
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param set NAV_RTL_LAND_T -1
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param set NAV_ACCEPT_RAD 50
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param set RC_SCALE_ROLL 1
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param set RC_SCALE_PITCH 1
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fi
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@@ -11,7 +11,7 @@ px4io recovery
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# Adjust PX4IO update rate limit
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#
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set PX4IO_LIMIT 400
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if hw_ver compare PX4FMU_V1
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if ver hwcmp PX4FMU_V1
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then
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set PX4IO_LIMIT 200
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fi
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@@ -5,12 +5,12 @@
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if [ -d /fs/microsd ]
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then
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if hw_ver compare PX4FMU_V1
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if ver hwcmp PX4FMU_V1
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then
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echo "Start sdlog2 at 50Hz"
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sdlog2 start -r 50 -a -b 8 -t
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sdlog2 start -r 50 -a -b 4 -t
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else
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echo "Start sdlog2 at 200Hz"
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sdlog2 start -r 200 -a -b 16 -t
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sdlog2 start -r 200 -a -b 22 -t
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fi
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fi
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@@ -5,6 +5,7 @@
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#
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attitude_estimator_ekf start
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#ekf_att_pos_estimator start
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position_estimator_inav start
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mc_att_control start
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@@ -32,9 +32,16 @@ then
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param set MPC_Z_VEL_D 0.0
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param set MPC_Z_VEL_MAX 3
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param set MPC_Z_FF 0.5
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param set MPC_TILT_MAX 1.0
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param set MPC_TILTMAX_AIR 45.0
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param set MPC_TILTMAX_LND 15.0
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param set MPC_LAND_SPEED 1.0
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param set MPC_LAND_TILT 0.3
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param set PE_VELNE_NOISE 0.5
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param set PE_VELD_NOISE 0.7
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param set PE_POSNE_NOISE 0.5
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param set PE_POSD_NOISE 1.0
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param set NAV_ACCEPT_RAD 2.0
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fi
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set PWM_RATE 400
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@@ -22,7 +22,7 @@ then
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echo "[init] Using L3GD20(H)"
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fi
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if hw_ver compare PX4FMU_V2
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if ver hwcmp PX4FMU_V2
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then
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if lsm303d start
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then
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@@ -3,16 +3,22 @@
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# USB MAVLink start
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#
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echo "Starting MAVLink on this USB console"
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mavlink start -r 10000 -d /dev/ttyACM0
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mavlink start -r 10000 -d /dev/ttyACM0 -x
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# Enable a number of interesting streams we want via USB
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mavlink stream -d /dev/ttyACM0 -s NAMED_VALUE_FLOAT -r 10
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usleep 100000
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mavlink stream -d /dev/ttyACM0 -s OPTICAL_FLOW -r 10
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usleep 100000
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mavlink stream -d /dev/ttyACM0 -s VFR_HUD -r 20
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usleep 100000
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mavlink stream -d /dev/ttyACM0 -s ATTITUDE -r 20
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usleep 100000
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mavlink stream -d /dev/ttyACM0 -s ATTITUDE_CONTROLS -r 30
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mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 10
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usleep 100000
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mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 20
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usleep 100000
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mavlink stream -d /dev/ttyACM0 -s GLOBAL_POSITION_SETPOINT_INT -r 20
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usleep 100000
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# Exit shell to make it available to MAVLink
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exit
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@@ -20,7 +20,7 @@ echo "[init] Looking for microSD..."
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if mount -t vfat /dev/mmcsd0 /fs/microsd
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then
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set LOG_FILE /fs/microsd/bootlog.txt
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echo "[init] microSD card mounted at /fs/microsd"
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echo "[init] microSD mounted: /fs/microsd"
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# Start playing the startup tune
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tone_alarm start
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else
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@@ -65,12 +65,12 @@ then
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# Start CDC/ACM serial driver
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#
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sercon
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#
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# Start the ORB (first app to start)
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#
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uorb start
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||||
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#
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# Load parameters
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#
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@@ -79,29 +79,33 @@ then
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then
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set PARAM_FILE /fs/mtd_params
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||||
fi
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||||
|
||||
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param select $PARAM_FILE
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if param load
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||||
then
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||||
echo "[init] Parameters loaded: $PARAM_FILE"
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echo "[init] Params loaded: $PARAM_FILE"
|
||||
else
|
||||
echo "[init] ERROR: Parameters loading failed: $PARAM_FILE"
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echo "[init] ERROR: Params loading failed: $PARAM_FILE"
|
||||
fi
|
||||
|
||||
|
||||
#
|
||||
# Start system state indicator
|
||||
#
|
||||
if rgbled start
|
||||
then
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||||
echo "[init] Using external RGB Led"
|
||||
echo "[init] RGB Led"
|
||||
else
|
||||
if blinkm start
|
||||
then
|
||||
echo "[init] Using blinkm"
|
||||
echo "[init] BlinkM"
|
||||
blinkm systemstate
|
||||
fi
|
||||
fi
|
||||
|
||||
|
||||
if pca8574 start
|
||||
then
|
||||
fi
|
||||
|
||||
#
|
||||
# Set default values
|
||||
#
|
||||
@@ -120,7 +124,9 @@ then
|
||||
set EXIT_ON_END no
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||||
set MAV_TYPE none
|
||||
set LOAD_DEFAULT_APPS yes
|
||||
|
||||
set GPS yes
|
||||
set GPS_FAKE no
|
||||
|
||||
#
|
||||
# Set DO_AUTOCONFIG flag to use it in AUTOSTART scripts
|
||||
#
|
||||
@@ -130,7 +136,7 @@ then
|
||||
else
|
||||
set DO_AUTOCONFIG no
|
||||
fi
|
||||
|
||||
|
||||
#
|
||||
# Set USE_IO flag
|
||||
#
|
||||
@@ -140,13 +146,13 @@ then
|
||||
else
|
||||
set USE_IO no
|
||||
fi
|
||||
|
||||
|
||||
#
|
||||
# Set parameters and env variables for selected AUTOSTART
|
||||
#
|
||||
if param compare SYS_AUTOSTART 0
|
||||
then
|
||||
echo "[init] Don't try to find autostart script"
|
||||
echo "[init] No autostart"
|
||||
else
|
||||
sh /etc/init.d/rc.autostart
|
||||
fi
|
||||
@@ -156,10 +162,10 @@ then
|
||||
#
|
||||
if [ -f $CONFIG_FILE ]
|
||||
then
|
||||
echo "[init] Reading config: $CONFIG_FILE"
|
||||
echo "[init] Config: $CONFIG_FILE"
|
||||
sh $CONFIG_FILE
|
||||
else
|
||||
echo "[init] Config file not found: $CONFIG_FILE"
|
||||
echo "[init] Config not found: $CONFIG_FILE"
|
||||
fi
|
||||
|
||||
#
|
||||
@@ -170,9 +176,9 @@ then
|
||||
param set SYS_AUTOCONFIG 0
|
||||
param save
|
||||
fi
|
||||
|
||||
|
||||
set IO_PRESENT no
|
||||
|
||||
|
||||
if [ $USE_IO == yes ]
|
||||
then
|
||||
#
|
||||
@@ -184,19 +190,19 @@ then
|
||||
else
|
||||
set IO_FILE /etc/extras/px4io-v1_default.bin
|
||||
fi
|
||||
|
||||
|
||||
if px4io checkcrc $IO_FILE
|
||||
then
|
||||
echo "[init] PX4IO CRC OK"
|
||||
echo "PX4IO CRC OK" >> $LOG_FILE
|
||||
|
||||
|
||||
set IO_PRESENT yes
|
||||
else
|
||||
echo "[init] Trying to update"
|
||||
echo "PX4IO Trying to update" >> $LOG_FILE
|
||||
|
||||
|
||||
tone_alarm MLL32CP8MB
|
||||
|
||||
|
||||
if px4io forceupdate 14662 $IO_FILE
|
||||
then
|
||||
usleep 500000
|
||||
@@ -205,7 +211,7 @@ then
|
||||
echo "[init] PX4IO CRC OK, update successful"
|
||||
echo "PX4IO CRC OK after updating" >> $LOG_FILE
|
||||
tone_alarm MLL8CDE
|
||||
|
||||
|
||||
set IO_PRESENT yes
|
||||
else
|
||||
echo "[init] ERROR: PX4IO update failed"
|
||||
@@ -218,14 +224,14 @@ then
|
||||
tone_alarm $TUNE_OUT_ERROR
|
||||
fi
|
||||
fi
|
||||
|
||||
|
||||
if [ $IO_PRESENT == no ]
|
||||
then
|
||||
echo "[init] ERROR: PX4IO not found"
|
||||
tone_alarm $TUNE_OUT_ERROR
|
||||
fi
|
||||
fi
|
||||
|
||||
|
||||
#
|
||||
# Set default output if not set
|
||||
#
|
||||
@@ -244,9 +250,9 @@ then
|
||||
# Need IO for output but it not present, disable output
|
||||
set OUTPUT_MODE none
|
||||
echo "[init] ERROR: PX4IO not found, disabling output"
|
||||
|
||||
|
||||
# Avoid using ttyS0 for MAVLink on FMUv1
|
||||
if hw_ver compare PX4FMU_V1
|
||||
if ver hwcmp PX4FMU_V1
|
||||
then
|
||||
set FMU_MODE serial
|
||||
fi
|
||||
@@ -260,25 +266,25 @@ then
|
||||
if [ $HIL == yes ]
|
||||
then
|
||||
set OUTPUT_MODE hil
|
||||
if hw_ver compare PX4FMU_V1
|
||||
if ver hwcmp PX4FMU_V1
|
||||
then
|
||||
set FMU_MODE serial
|
||||
fi
|
||||
else
|
||||
# Try to get an USB console if not in HIL mode
|
||||
nshterm /dev/ttyACM0 &
|
||||
fi
|
||||
|
||||
|
||||
# Try to get an USB console
|
||||
nshterm /dev/ttyACM0 &
|
||||
|
||||
#
|
||||
# Start the Commander (needs to be this early for in-air-restarts)
|
||||
#
|
||||
commander start
|
||||
|
||||
|
||||
#
|
||||
# Start primary output
|
||||
#
|
||||
set TTYS1_BUSY no
|
||||
|
||||
|
||||
# If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output
|
||||
if [ $OUTPUT_MODE != none ]
|
||||
then
|
||||
@@ -294,6 +300,7 @@ then
|
||||
tone_alarm $TUNE_OUT_ERROR
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == ardrone ]
|
||||
then
|
||||
echo "[init] Use FMU as primary output"
|
||||
@@ -304,8 +311,8 @@ then
|
||||
echo "[init] ERROR: FMU mode_$FMU_MODE start failed"
|
||||
tone_alarm $TUNE_OUT_ERROR
|
||||
fi
|
||||
|
||||
if hw_ver compare PX4FMU_V1
|
||||
|
||||
if ver hwcmp PX4FMU_V1
|
||||
then
|
||||
if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ]
|
||||
then
|
||||
@@ -317,6 +324,7 @@ then
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ $OUTPUT_MODE == mkblctrl ]
|
||||
then
|
||||
echo "[init] Use MKBLCTRL as primary output"
|
||||
@@ -329,7 +337,7 @@ then
|
||||
then
|
||||
set MKBLCTRL_ARG "-mkmode +"
|
||||
fi
|
||||
|
||||
|
||||
if mkblctrl $MKBLCTRL_ARG
|
||||
then
|
||||
echo "[init] MKBLCTRL started"
|
||||
@@ -337,8 +345,9 @@ then
|
||||
echo "[init] ERROR: MKBLCTRL start failed"
|
||||
tone_alarm $TUNE_OUT_ERROR
|
||||
fi
|
||||
|
||||
fi
|
||||
|
||||
fi
|
||||
|
||||
if [ $OUTPUT_MODE == hil ]
|
||||
then
|
||||
echo "[init] Use HIL as primary output"
|
||||
@@ -350,7 +359,7 @@ then
|
||||
tone_alarm $TUNE_OUT_ERROR
|
||||
fi
|
||||
fi
|
||||
|
||||
|
||||
#
|
||||
# Start IO or FMU for RC PPM input if needed
|
||||
#
|
||||
@@ -377,8 +386,8 @@ then
|
||||
echo "[init] ERROR: FMU mode_$FMU_MODE start failed"
|
||||
tone_alarm $TUNE_OUT_ERROR
|
||||
fi
|
||||
|
||||
if hw_ver compare PX4FMU_V1
|
||||
|
||||
if ver hwcmp PX4FMU_V1
|
||||
then
|
||||
if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ]
|
||||
then
|
||||
@@ -392,64 +401,50 @@ then
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
|
||||
#
|
||||
# MAVLink
|
||||
#
|
||||
|
||||
if [ $MAVLINK_FLAGS == default ]
|
||||
then
|
||||
if [ $HIL == yes ]
|
||||
# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s
|
||||
if [ $TTYS1_BUSY == yes ]
|
||||
then
|
||||
sleep 1
|
||||
set MAVLINK_FLAGS "-r 10000 -d /dev/ttyACM0"
|
||||
usleep 5000
|
||||
# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else
|
||||
set MAVLINK_FLAGS "-r 1000 -d /dev/ttyS0"
|
||||
|
||||
# Exit from nsh to free port for mavlink
|
||||
set EXIT_ON_END yes
|
||||
else
|
||||
# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s
|
||||
if [ $TTYS1_BUSY == yes ]
|
||||
then
|
||||
# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else
|
||||
set MAVLINK_FLAGS "-r 1000 -d /dev/ttyS0"
|
||||
usleep 5000
|
||||
|
||||
# Exit from nsh to free port for mavlink
|
||||
set EXIT_ON_END yes
|
||||
else
|
||||
# Start MAVLink on default port: ttyS1
|
||||
set MAVLINK_FLAGS "-r 1000"
|
||||
usleep 5000
|
||||
fi
|
||||
# Start MAVLink on default port: ttyS1
|
||||
set MAVLINK_FLAGS "-r 1000"
|
||||
fi
|
||||
fi
|
||||
|
||||
mavlink start $MAVLINK_FLAGS
|
||||
usleep 5000
|
||||
|
||||
#
|
||||
# Start the datamanager
|
||||
#
|
||||
dataman start
|
||||
|
||||
#
|
||||
# Start the navigator
|
||||
#
|
||||
navigator start
|
||||
|
||||
|
||||
#
|
||||
# Sensors, Logging, GPS
|
||||
#
|
||||
echo "[init] Start sensors"
|
||||
sh /etc/init.d/rc.sensors
|
||||
|
||||
if [ $HIL == no ]
|
||||
#
|
||||
# Start logging in all modes, including HIL
|
||||
#
|
||||
sh /etc/init.d/rc.logging
|
||||
|
||||
if [ $GPS == yes ]
|
||||
then
|
||||
echo "[init] Start logging"
|
||||
sh /etc/init.d/rc.logging
|
||||
|
||||
echo "[init] Start GPS"
|
||||
gps start
|
||||
if [ $GPS_FAKE == yes ]
|
||||
then
|
||||
echo "[init] Faking GPS"
|
||||
gps start -f
|
||||
else
|
||||
gps start
|
||||
fi
|
||||
fi
|
||||
|
||||
|
||||
#
|
||||
# Start up ARDrone Motor interface
|
||||
#
|
||||
@@ -464,24 +459,24 @@ then
|
||||
if [ $VEHICLE_TYPE == fw ]
|
||||
then
|
||||
echo "[init] Vehicle type: FIXED WING"
|
||||
|
||||
|
||||
if [ $MIXER == none ]
|
||||
then
|
||||
# Set default mixer for fixed wing if not defined
|
||||
set MIXER FMU_AERT
|
||||
fi
|
||||
|
||||
|
||||
if [ $MAV_TYPE == none ]
|
||||
then
|
||||
# Use MAV_TYPE = 1 (fixed wing) if not defined
|
||||
set MAV_TYPE 1
|
||||
fi
|
||||
|
||||
|
||||
param set MAV_TYPE $MAV_TYPE
|
||||
|
||||
|
||||
# Load mixer and configure outputs
|
||||
sh /etc/init.d/rc.interface
|
||||
|
||||
|
||||
# Start standard fixedwing apps
|
||||
if [ $LOAD_DEFAULT_APPS == yes ]
|
||||
then
|
||||
@@ -516,7 +511,7 @@ then
|
||||
then
|
||||
set MAV_TYPE 13
|
||||
fi
|
||||
if [ $MIXER == hexa_cox ]
|
||||
if [ $MIXER == FMU_hexa_cox ]
|
||||
then
|
||||
set MAV_TYPE 13
|
||||
fi
|
||||
@@ -529,7 +524,7 @@ then
|
||||
set MAV_TYPE 14
|
||||
fi
|
||||
fi
|
||||
|
||||
|
||||
# Still no MAV_TYPE found
|
||||
if [ $MAV_TYPE == none ]
|
||||
then
|
||||
@@ -537,10 +532,10 @@ then
|
||||
else
|
||||
param set MAV_TYPE $MAV_TYPE
|
||||
fi
|
||||
|
||||
|
||||
# Load mixer and configure outputs
|
||||
sh /etc/init.d/rc.interface
|
||||
|
||||
|
||||
# Start standard multicopter apps
|
||||
if [ $LOAD_DEFAULT_APPS == yes ]
|
||||
then
|
||||
@@ -548,6 +543,16 @@ then
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Start the datamanager
|
||||
#
|
||||
dataman start
|
||||
|
||||
#
|
||||
# Start the navigator
|
||||
#
|
||||
navigator start
|
||||
|
||||
#
|
||||
# Generic setup (autostart ID not found)
|
||||
#
|
||||
@@ -563,7 +568,7 @@ then
|
||||
echo "[init] Starting addons script: $EXTRAS_FILE"
|
||||
sh $EXTRAS_FILE
|
||||
else
|
||||
echo "[init] Addons script not found: $EXTRAS_FILE"
|
||||
echo "[init] No addons script: $EXTRAS_FILE"
|
||||
fi
|
||||
|
||||
if [ $EXIT_ON_END == yes ]
|
||||
|
||||
@@ -0,0 +1,154 @@
|
||||
PX4 mixer definitions
|
||||
=====================
|
||||
|
||||
Files in this directory implement example mixers that can be used as a basis
|
||||
for customisation, or for general testing purposes.
|
||||
|
||||
Mixer basics
|
||||
------------
|
||||
|
||||
Mixers combine control values from various sources (control tasks, user inputs,
|
||||
etc.) and produce output values suitable for controlling actuators; servos,
|
||||
motors, switches and so on.
|
||||
|
||||
An actuator derives its value from the combination of one or more control
|
||||
values. Each of the control values is scaled according to the actuator's
|
||||
configuration and then combined to produce the actuator value, which may then be
|
||||
further scaled to suit the specific output type.
|
||||
|
||||
Internally, all scaling is performed using floating point values. Inputs and
|
||||
outputs are clamped to the range -1.0 to 1.0.
|
||||
|
||||
control control control
|
||||
| | |
|
||||
v v v
|
||||
scale scale scale
|
||||
| | |
|
||||
| v |
|
||||
+-------> mix <------+
|
||||
|
|
||||
scale
|
||||
|
|
||||
v
|
||||
out
|
||||
|
||||
Scaling
|
||||
-------
|
||||
|
||||
Basic scalers provide linear scaling of the input to the output.
|
||||
|
||||
Each scaler allows the input value to be scaled independently for inputs
|
||||
greater/less than zero. An offset can be applied to the output, and lower and
|
||||
upper boundary constraints can be applied. Negative scaling factors cause the
|
||||
output to be inverted (negative input produces positive output).
|
||||
|
||||
Scaler pseudocode:
|
||||
|
||||
if (input < 0)
|
||||
output = (input * NEGATIVE_SCALE) + OFFSET
|
||||
else
|
||||
output = (input * POSITIVE_SCALE) + OFFSET
|
||||
|
||||
if (output < LOWER_LIMIT)
|
||||
output = LOWER_LIMIT
|
||||
if (output > UPPER_LIMIT)
|
||||
output = UPPER_LIMIT
|
||||
|
||||
Syntax
|
||||
------
|
||||
|
||||
Mixer definitions are text files; lines beginning with a single capital letter
|
||||
followed by a colon are significant. All other lines are ignored, meaning that
|
||||
explanatory text can be freely mixed with the definitions.
|
||||
|
||||
Each file may define more than one mixer; the allocation of mixers to actuators
|
||||
is specific to the device reading the mixer definition, and the number of
|
||||
actuator outputs generated by a mixer is specific to the mixer.
|
||||
|
||||
A mixer begins with a line of the form
|
||||
|
||||
<tag>: <mixer arguments>
|
||||
|
||||
The tag selects the mixer type; 'M' for a simple summing mixer, 'R' for a
|
||||
multirotor mixer, etc.
|
||||
|
||||
Null Mixer
|
||||
..........
|
||||
|
||||
A null mixer consumes no controls and generates a single actuator output whose
|
||||
value is always zero. Typically a null mixer is used as a placeholder in a
|
||||
collection of mixers in order to achieve a specific pattern of actuator outputs.
|
||||
|
||||
The null mixer definition has the form:
|
||||
|
||||
Z:
|
||||
|
||||
Simple Mixer
|
||||
............
|
||||
|
||||
A simple mixer combines zero or more control inputs into a single actuator
|
||||
output. Inputs are scaled, and the mixing function sums the result before
|
||||
applying an output scaler.
|
||||
|
||||
A simple mixer definition begins with:
|
||||
|
||||
M: <control count>
|
||||
O: <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
|
||||
|
||||
If <control count> is zero, the sum is effectively zero and the mixer will
|
||||
output a fixed value that is <offset> constrained by <lower limit> and <upper
|
||||
limit>.
|
||||
|
||||
The second line defines the output scaler with scaler parameters as discussed
|
||||
above. Whilst the calculations are performed as floating-point operations, the
|
||||
values stored in the definition file are scaled by a factor of 10000; i.e. an
|
||||
offset of -0.5 is encoded as -5000.
|
||||
|
||||
The definition continues with <control count> entries describing the control
|
||||
inputs and their scaling, in the form:
|
||||
|
||||
S: <group> <index> <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
|
||||
|
||||
The <group> value identifies the control group from which the scaler will read,
|
||||
and the <index> value an offset within that group. These values are specific to
|
||||
the device reading the mixer definition.
|
||||
|
||||
When used to mix vehicle controls, mixer group zero is the vehicle attitude
|
||||
control group, and index values zero through three are normally roll, pitch,
|
||||
yaw and thrust respectively.
|
||||
|
||||
The remaining fields on the line configure the control scaler with parameters as
|
||||
discussed above. Whilst the calculations are performed as floating-point
|
||||
operations, the values stored in the definition file are scaled by a factor of
|
||||
10000; i.e. an offset of -0.5 is encoded as -5000.
|
||||
|
||||
Multirotor Mixer
|
||||
................
|
||||
|
||||
The multirotor mixer combines four control inputs (roll, pitch, yaw, thrust)
|
||||
into a set of actuator outputs intended to drive motor speed controllers.
|
||||
|
||||
The mixer definition is a single line of the form:
|
||||
|
||||
R: <geometry> <roll scale> <pitch scale> <yaw scale> <deadband>
|
||||
|
||||
The supported geometries include:
|
||||
|
||||
4x - quadrotor in X configuration
|
||||
4+ - quadrotor in + configuration
|
||||
6x - hexcopter in X configuration
|
||||
6+ - hexcopter in + configuration
|
||||
8x - octocopter in X configuration
|
||||
8+ - octocopter in + configuration
|
||||
|
||||
Each of the roll, pitch and yaw scale values determine scaling of the roll,
|
||||
pitch and yaw controls relative to the thrust control. Whilst the calculations
|
||||
are performed as floating-point operations, the values stored in the definition
|
||||
file are scaled by a factor of 10000; i.e. an factor of 0.5 is encoded as 5000.
|
||||
|
||||
Roll, pitch and yaw inputs are expected to range from -1.0 to 1.0, whilst the
|
||||
thrust input ranges from 0.0 to 1.0. Output for each actuator is in the
|
||||
range -1.0 to 1.0.
|
||||
|
||||
In the case where an actuator saturates, all actuator values are rescaled so that
|
||||
the saturating actuator is limited to 1.0.
|
||||
@@ -0,0 +1,31 @@
|
||||
EASYSTAR / EASYSTAR II MIXER
|
||||
============================
|
||||
|
||||
Aileron mixer
|
||||
-------------
|
||||
One output - would be easy to add support for 2 servos
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
|
||||
Elevator mixer
|
||||
------------
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 1 -10000 -10000 0 -10000 10000
|
||||
|
||||
Rudder mixer
|
||||
------------
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 2 -10000 -10000 0 -10000 10000
|
||||
|
||||
Motor speed mixer
|
||||
-----------------
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
Reference in New Issue
Block a user