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Fixed startup parameters.

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This commit is contained in:
Helen Oleynikova
2014-03-05 15:07:05 +01:00
parent 9ffa5a665a
commit 5976815f2b
2 changed files with 15 additions and 16 deletions
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ROMFS/px4fmu_common/init.d/4008_ardrone
+14 -15
View File
@@ -11,24 +11,23 @@ sh /etc/init.d/rc.mc_defaults
#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
if [ $DO_AUTOCONFIG == yes ]
then
# Set all params here, then disable autoconfig
param set MC_ATTRATE_D 0
param set MC_ATTRATE_I 0
param set MC_ATTRATE_P 0.13
param set MC_ATT_D 0
param set MC_ATT_I 0.3
param set MC_ATT_P 5
param set MC_YAWPOS_D 0.1
param set MC_YAWPOS_I 0.15
param set MC_YAWPOS_P 1
param set MC_YAWRATE_D 0
param set MC_YAWRATE_I 0
param set MC_ROLL_P 5.0
param set MC_ROLLRATE_P 0.13
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.0
param set MC_PITCH_P 5.0
param set MC_PITCHRATE_P 0.13
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.0
param set MC_YAW_P 1.0
param set MC_YAW_D 0.1
param set MC_YAWRATE_P 0.15
param set SYS_AUTOCONFIG 0
param save
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0.0
param set MC_YAW_FF 0.15
fi
set FMU_MODE gpio_serial
ROMFS/px4fmu_common/init.d/rcS
+1 -1
View File
@@ -387,7 +387,7 @@ then
mavlink start -b 230400 -d /dev/ttyACM0
usleep 5000
else
if [ $TTYS1_BUSY == yes -o $ARDRONE == yes]
if [ $TTYS1_BUSY == yes -o $ARDRONE == yes ]
then
# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else
mavlink start -d /dev/ttyS0