From 858e6debaf2d09fdeb6f238ff6f09404beb96c5d Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 29 Sep 2013 14:06:22 +0200 Subject: [PATCH 1/3] Better voltage scaling for Iris --- ROMFS/px4fmu_common/init.d/16_3dr_iris | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ROMFS/px4fmu_common/init.d/16_3dr_iris b/ROMFS/px4fmu_common/init.d/16_3dr_iris index b6c5fbdea4..d47ecb3932 100644 --- a/ROMFS/px4fmu_common/init.d/16_3dr_iris +++ b/ROMFS/px4fmu_common/init.d/16_3dr_iris @@ -53,7 +53,7 @@ else mavlink start -d /dev/ttyS0 usleep 5000 fmu mode_pwm - param set BAT_V_SCALING 0.004593 + param set BAT_V_SCALING 0.0098 set EXIT_ON_END yes fi From 252fc30ca7330dac224e087c2f91531c1d19842e Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 29 Sep 2013 14:07:01 +0200 Subject: [PATCH 2/3] Start digital airspeed sensors as default --- ROMFS/px4fmu_common/init.d/rc.sensors | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors index 2828a108bf..f17b650bc2 100644 --- a/ROMFS/px4fmu_common/init.d/rc.sensors +++ b/ROMFS/px4fmu_common/init.d/rc.sensors @@ -27,6 +27,22 @@ else set BOARD fmuv2 fi +# Start airspeed sensors +if meas_airspeed start +then + echo "using MEAS airspeed sensor" +else + if ets_airspeed start + then + echo "using ETS airspeed sensor (bus 3)" + else + if ets_airspeed start -b 1 + then + echo "Using ETS airspeed sensor (bus 1)" + fi + fi +fi + # # Start the sensor collection task. # IMPORTANT: this also loads param offsets From 1b32ba2436848745e0a78c59fffa0a767cab9d3c Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 29 Sep 2013 14:12:50 +0200 Subject: [PATCH 3/3] Hotfix: Ensure that a minimum of 10 degrees pitch is set on takeoff --- src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index d6d135f9f8..3d5bce134c 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -734,9 +734,10 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio /* apply minimum pitch and limit roll if target altitude is not within 10 meters */ if (altitude_error > 10.0f) { + /* enforce a minimum of 10 degrees pitch up on takeoff, or take parameter */ _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_triplet.current.altitude, calculate_target_airspeed(_parameters.airspeed_min), _airspeed.indicated_airspeed_m_s, eas2tas, - true, math::radians(global_triplet.current.param1), + true, math::max(math::radians(global_triplet.current.param1), math::radians(10.0f)), _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max));