From 524a502a56e7a5db5d05502ba26e9e7d18872e53 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Sat, 18 Jan 2014 16:42:49 +0100 Subject: [PATCH] autostart fixes --- .../px4fmu_common/init.d/10015_tbs_discovery | 2 - ROMFS/px4fmu_common/init.d/10016_3dr_iris | 30 +++++++-------- ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil | 30 +++++++-------- ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil | 38 +------------------ ROMFS/px4fmu_common/init.d/4010_dji_f330 | 30 +++++++-------- ROMFS/px4fmu_common/init.d/4011_dji_f450 | 2 - ROMFS/px4fmu_common/init.d/4012_hk_x550 | 2 - 7 files changed, 40 insertions(+), 94 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery index 63798bb3c0..5740e863ca 100644 --- a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery +++ b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery @@ -12,13 +12,11 @@ then # param set MC_ATT_P 5.0 param set MC_ATT_I 0.0 - param set MC_ATT_D 0.0 param set MC_ATTRATE_P 0.17 param set MC_ATTRATE_I 0.0 param set MC_ATTRATE_D 0.006 param set MC_YAWPOS_P 0.5 param set MC_YAWPOS_I 0.15 - param set MC_YAWPOS_D 0.0 param set MC_YAWRATE_P 0.2 param set MC_YAWRATE_I 0.0 param set MC_YAWRATE_D 0.0 diff --git a/ROMFS/px4fmu_common/init.d/10016_3dr_iris b/ROMFS/px4fmu_common/init.d/10016_3dr_iris index 67c24fab37..62a7942999 100644 --- a/ROMFS/px4fmu_common/init.d/10016_3dr_iris +++ b/ROMFS/px4fmu_common/init.d/10016_3dr_iris @@ -12,32 +12,28 @@ then # param set MC_ATT_P 9.0 param set MC_ATT_I 0.0 - param set MC_ATT_D 0.0 param set MC_ATTRATE_P 0.13 param set MC_ATTRATE_I 0.0 param set MC_ATTRATE_D 0.004 param set MC_YAWPOS_P 0.5 param set MC_YAWPOS_I 0.15 - param set MC_YAWPOS_D 0.0 param set MC_YAWRATE_P 0.2 param set MC_YAWRATE_I 0.0 param set MC_YAWRATE_D 0.0 - param set MPC_TILT_MAX 0.5 - param set MPC_THR_MAX 0.8 - param set MPC_THR_MIN 0.2 - 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 set MPC_TILT_MAX 1.0 + param set MPC_THR_MAX 1.0 + param set MPC_THR_MIN 0.1 + param set MPC_XY_P 1.0 + param set MPC_XY_VEL_D 0.01 + param set MPC_XY_VEL_I 0.02 + param set MPC_XY_VEL_MAX 5 + param set MPC_XY_VEL_P 0.1 + param set MPC_Z_P 1.0 + param set MPC_Z_VEL_D 0.0 + param set MPC_Z_VEL_I 0.02 + param set MPC_Z_VEL_MAX 3 + param set MPC_Z_VEL_P 0.1 param set BAT_V_SCALING 0.00989 param set BAT_C_SCALING 0.0124 diff --git a/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil b/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil index 8c0797d7cb..9e098093e6 100644 --- a/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil +++ b/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil @@ -15,29 +15,25 @@ then param set MC_ATTRATE_D 0.004 param set MC_ATT_P 7.0 param set MC_ATT_I 0.0 - param set MC_ATT_D 0.0 param set MC_YAWPOS_P 2.0 param set MC_YAWPOS_I 0.0 - param set MC_YAWPOS_D 0.0 param set MC_YAWRATE_P 0.3 param set MC_YAWRATE_I 0.2 param set MC_YAWRATE_D 0.005 - param set MPC_TILT_MAX 0.5 - param set MPC_THR_MAX 0.8 - param set MPC_THR_MIN 0.2 - 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 set MPC_TILT_MAX 1.0 + param set MPC_THR_MAX 1.0 + param set MPC_THR_MIN 0.1 + param set MPC_XY_P 1.0 + param set MPC_XY_VEL_D 0.01 + param set MPC_XY_VEL_I 0.02 + param set MPC_XY_VEL_MAX 5 + param set MPC_XY_VEL_P 0.1 + param set MPC_Z_P 1.0 + param set MPC_Z_VEL_D 0.0 + param set MPC_Z_VEL_I 0.02 + param set MPC_Z_VEL_MAX 3 + param set MPC_Z_VEL_P 0.1 fi set HIL yes diff --git a/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil b/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil index bce3015fc7..297082b798 100644 --- a/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil +++ b/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil @@ -5,42 +5,6 @@ # Maintainers: Anton Babushkin # -if [ $DO_AUTOCONFIG == yes ] -then - # - # Default parameters for this platform - # - param set MC_ATTRATE_P 0.12 - param set MC_ATTRATE_I 0.0 - param set MC_ATTRATE_D 0.004 - param set MC_ATT_P 7.0 - param set MC_ATT_I 0.0 - param set MC_ATT_D 0.0 - param set MC_YAWPOS_P 2.0 - param set MC_YAWPOS_I 0.0 - param set MC_YAWPOS_D 0.0 - param set MC_YAWRATE_P 0.3 - param set MC_YAWRATE_I 0.2 - param set MC_YAWRATE_D 0.005 - - param set MPC_TILT_MAX 0.5 - param set MPC_THR_MAX 0.8 - param set MPC_THR_MIN 0.2 - 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 -fi +sh /etc/ini.d/1001_rc_quad_x.hil -set HIL yes - -set VEHICLE_TYPE mc set MIXER FMU_quad_+ diff --git a/ROMFS/px4fmu_common/init.d/4010_dji_f330 b/ROMFS/px4fmu_common/init.d/4010_dji_f330 index ab1db94d0a..5ce86f593f 100644 --- a/ROMFS/px4fmu_common/init.d/4010_dji_f330 +++ b/ROMFS/px4fmu_common/init.d/4010_dji_f330 @@ -12,32 +12,28 @@ then # param set MC_ATT_P 7.0 param set MC_ATT_I 0.0 - param set MC_ATT_D 0.0 param set MC_ATTRATE_P 0.12 param set MC_ATTRATE_I 0.0 param set MC_ATTRATE_D 0.004 param set MC_YAWPOS_P 2.8 param set MC_YAWPOS_I 0.0 - param set MC_YAWPOS_D 0.0 param set MC_YAWRATE_P 0.2 param set MC_YAWRATE_I 0.05 param set MC_YAWRATE_D 0.0 - param set MPC_TILT_MAX 0.5 - param set MPC_THR_MAX 0.8 - param set MPC_THR_MIN 0.2 - 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 set MPC_TILT_MAX 1.0 + param set MPC_THR_MAX 1.0 + param set MPC_THR_MIN 0.1 + param set MPC_XY_P 1.0 + param set MPC_XY_VEL_D 0.01 + param set MPC_XY_VEL_I 0.02 + param set MPC_XY_VEL_MAX 5 + param set MPC_XY_VEL_P 0.1 + param set MPC_Z_P 1.0 + param set MPC_Z_VEL_D 0.0 + param set MPC_Z_VEL_I 0.02 + param set MPC_Z_VEL_MAX 3 + param set MPC_Z_VEL_P 0.1 fi set VEHICLE_TYPE mc diff --git a/ROMFS/px4fmu_common/init.d/4011_dji_f450 b/ROMFS/px4fmu_common/init.d/4011_dji_f450 index 299771c1d9..1ff5c796a5 100644 --- a/ROMFS/px4fmu_common/init.d/4011_dji_f450 +++ b/ROMFS/px4fmu_common/init.d/4011_dji_f450 @@ -12,13 +12,11 @@ then # param set MC_ATT_P 7.0 param set MC_ATT_I 0.0 - param set MC_ATT_D 0.0 param set MC_ATTRATE_P 0.12 param set MC_ATTRATE_I 0.0 param set MC_ATTRATE_D 0.004 param set MC_YAWPOS_P 2.0 param set MC_YAWPOS_I 0.0 - param set MC_YAWPOS_D 0.0 param set MC_YAWRATE_P 0.3 param set MC_YAWRATE_I 0.2 param set MC_YAWRATE_D 0.005 diff --git a/ROMFS/px4fmu_common/init.d/4012_hk_x550 b/ROMFS/px4fmu_common/init.d/4012_hk_x550 index 7e020cf592..673043c149 100644 --- a/ROMFS/px4fmu_common/init.d/4012_hk_x550 +++ b/ROMFS/px4fmu_common/init.d/4012_hk_x550 @@ -12,13 +12,11 @@ then # param set MC_ATT_P 5.5 param set MC_ATT_I 0 - param set MC_ATT_D 0 param set MC_ATTRATE_P 0.14 param set MC_ATTRATE_I 0 param set MC_ATTRATE_D 0.006 param set MC_YAWPOS_P 0.6 param set MC_YAWPOS_I 0 - param set MC_YAWPOS_D 0 param set MC_YAWRATE_P 0.08 param set MC_YAWRATE_I 0 param set MC_YAWRATE_D 0