diff --git a/ROMFS/px4fmu_common/init.d/rc.balloon_defaults b/ROMFS/px4fmu_common/init.d/rc.balloon_defaults index 83d4d3851c..302d81ae90 100644 --- a/ROMFS/px4fmu_common/init.d/rc.balloon_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.balloon_defaults @@ -7,14 +7,7 @@ set VEHICLE_TYPE fw -if [ $AUTOCNF = yes ] -then - # - # Default parameters for balloon UAVs. - # - # - # FW takeoff acceleration can easily exceed ublox GPS 2G default. - # - param set GPS_UBX_DYNMODEL 8 - param set SYS_MC_EST_GROUP 1 -fi +# +# Default parameters for balloon UAVs. +# +param set-default SYS_MC_EST_GROUP 1 diff --git a/ROMFS/px4fmu_common/init.d/rc.boat_defaults b/ROMFS/px4fmu_common/init.d/rc.boat_defaults index 237aac9546..54bb4d0ccd 100644 --- a/ROMFS/px4fmu_common/init.d/rc.boat_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.boat_defaults @@ -7,20 +7,17 @@ set VEHICLE_TYPE rover -if [ $AUTOCNF = yes ] -then # # Default parameters for UGVs. # - param set MIS_LTRMIN_ALT 0.01 - param set MIS_TAKEOFF_ALT 0.01 +param set-default MIS_LTRMIN_ALT 0.01 +param set-default MIS_TAKEOFF_ALT 0.01 - param set NAV_DLL_ACT 0 - param set NAV_ACC_RAD 2 +param set-default NAV_DLL_ACT 0 +param set-default NAV_ACC_RAD 2 - # Temporary. - param set NAV_FW_ALT_RAD 1000 -fi +# Temporary. +param set-default NAV_FW_ALT_RAD 1000 # # Enable servo output on pins 3 and 4 (steering and thrust) diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_defaults b/ROMFS/px4fmu_common/init.d/rc.fw_defaults index 8e12dbb61d..ca4f0f7905 100644 --- a/ROMFS/px4fmu_common/init.d/rc.fw_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults @@ -7,51 +7,48 @@ set VEHICLE_TYPE fw -if [ $AUTOCNF = yes ] -then - # - # Default parameters for fixed wing UAVs. - # - param set COM_POS_FS_DELAY 5 - param set COM_POS_FS_EPH 15 - param set COM_POS_FS_EPV 30 - param set COM_POS_FS_GAIN 0 - param set COM_POS_FS_PROB 1 - param set COM_VEL_FS_EVH 5 +# +# Default parameters for fixed wing UAVs. +# +param set-default COM_POS_FS_DELAY 5 +param set-default COM_POS_FS_EPH 15 +param set-default COM_POS_FS_EPV 30 +param set-default COM_POS_FS_GAIN 0 +param set-default COM_POS_FS_PROB 1 +param set-default COM_VEL_FS_EVH 5 - param set EKF2_ARSP_THR 8 - param set EKF2_FUSE_BETA 1 - param set EKF2_GPS_CHECK 21 - param set EKF2_MAG_ACCLIM 0 - param set EKF2_MAG_YAWLIM 0 - param set EKF2_REQ_EPH 10 - param set EKF2_REQ_EPV 10 - param set EKF2_REQ_HDRIFT 0.5 - param set EKF2_REQ_SACC 1 - param set EKF2_REQ_VDRIFT 1.0 +param set-default EKF2_ARSP_THR 8 +param set-default EKF2_FUSE_BETA 1 +param set-default EKF2_GPS_CHECK 21 +param set-default EKF2_MAG_ACCLIM 0 +param set-default EKF2_MAG_YAWLIM 0 +param set-default EKF2_REQ_EPH 10 +param set-default EKF2_REQ_EPV 10 +param set-default EKF2_REQ_HDRIFT 0.5 +param set-default EKF2_REQ_SACC 1 +param set-default EKF2_REQ_VDRIFT 1.0 - param set RTL_TYPE 1 - param set RTL_RETURN_ALT 100 - param set RTL_DESCEND_ALT 100 - param set RTL_LAND_DELAY -1 +param set-default RTL_TYPE 1 +param set-default RTL_RETURN_ALT 100 +param set-default RTL_DESCEND_ALT 100 +param set-default RTL_LAND_DELAY -1 - # - # FW uses L1 distance for acceptance radius. - # Set a smaller NAV_ACC_RAD for vertical acceptance distance. - # - param set NAV_ACC_RAD 10 +# +# FW uses L1 distance for acceptance radius. +# Set a smaller NAV_ACC_RAD for vertical acceptance distance. +# +param set-default NAV_ACC_RAD 10 - param set MIS_DIST_WPS 5000 - param set MIS_LTRMIN_ALT 25 - param set MIS_TAKEOFF_ALT 25 +param set-default MIS_DIST_WPS 5000 +param set-default MIS_LTRMIN_ALT 25 +param set-default MIS_TAKEOFF_ALT 25 - param set PWM_MAIN_RATE 50 +param set-default PWM_MAIN_RATE 50 - # - # FW takeoff acceleration can easily exceed ublox GPS 2G default. - # - param set GPS_UBX_DYNMODEL 8 -fi +# +# FW takeoff acceleration can easily exceed ublox GPS 2G default. +# +param set-default GPS_UBX_DYNMODEL 8 # # This is the gimbal pass mixer. diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults index 7baf262862..06ba384f6d 100644 --- a/ROMFS/px4fmu_common/init.d/rc.mc_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults @@ -7,19 +7,16 @@ set VEHICLE_TYPE mc -if [ $AUTOCNF = yes ] -then - param set NAV_ACC_RAD 2 +param set-default NAV_ACC_RAD 2 - param set RTL_RETURN_ALT 30 - param set RTL_DESCEND_ALT 10 +param set-default RTL_RETURN_ALT 30 +param set-default RTL_DESCEND_ALT 10 - param set PWM_MAIN_MAX 1950 - param set PWM_MAIN_MIN 1075 - param set PWM_MAIN_RATE 400 +param set-default PWM_MAIN_MAX 1950 +param set-default PWM_MAIN_MIN 1075 +param set-default PWM_MAIN_RATE 400 - param set GPS_UBX_DYNMODEL 6 -fi +param set-default GPS_UBX_DYNMODEL 6 # # This is the gimbal pass mixer. diff --git a/ROMFS/px4fmu_common/init.d/rc.rover_defaults b/ROMFS/px4fmu_common/init.d/rc.rover_defaults index b56559c29c..26db6d098c 100644 --- a/ROMFS/px4fmu_common/init.d/rc.rover_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.rover_defaults @@ -7,26 +7,18 @@ set VEHICLE_TYPE rover -if [ $AUTOCNF = yes ] -then # # Default parameters for UGVs. # - param set MIS_LTRMIN_ALT 0.01 - param set MIS_TAKEOFF_ALT 0.01 +param set-default MIS_LTRMIN_ALT 0.01 +param set-default MIS_TAKEOFF_ALT 0.01 - param set NAV_DLL_ACT 0 - param set NAV_ACC_RAD 2 - param set NAV_LOITER_RAD 2 +param set-default NAV_DLL_ACT 0 +param set-default NAV_ACC_RAD 2 +param set-default NAV_LOITER_RAD 2 - # Temporary. - param set NAV_FW_ALT_RAD 1000 -fi - -if param greater -s NAV_LOITER_RAD 2.5 -then - param set NAV_LOITER_RAD 2 -fi +# Temporary. +param set-default NAV_FW_ALT_RAD 1000 # # Enable servo output on pins 3 and 4 (steering and thrust) diff --git a/ROMFS/px4fmu_common/init.d/rc.uuv_defaults b/ROMFS/px4fmu_common/init.d/rc.uuv_defaults index 600eabef49..6d525fd0e1 100644 --- a/ROMFS/px4fmu_common/init.d/rc.uuv_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.uuv_defaults @@ -7,13 +7,9 @@ set VEHICLE_TYPE uuv -if [ $AUTOCNF = yes ] -then - param set PWM_MAIN_MAX 1950 - param set PWM_MAIN_MIN 1050 - param set PWM_MAIN_DISARM 1500 - -fi +param set-default PWM_MAIN_MAX 1950 +param set-default PWM_MAIN_MIN 1050 +param set-default PWM_MAIN_DISARM 1500 # # PWM Hz - 50 Hz is the normal rate in RC cars, boats etc, diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults index 01a2210775..2830440e79 100644 --- a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults @@ -7,34 +7,31 @@ set VEHICLE_TYPE vtol -if [ $AUTOCNF = yes ] -then - # to minimize cpu usage on older boards limit inner loop to 400 Hz - param set IMU_GYRO_RATEMAX 400 +# to minimize cpu usage on older boards limit inner loop to 400 Hz +param set-default IMU_GYRO_RATEMAX 400 - param set MIS_TAKEOFF_ALT 20 - param set MIS_YAW_TMT 10 +param set-default MIS_TAKEOFF_ALT 20 +param set-default MIS_YAW_TMT 10 - param set EKF2_ARSP_THR 10 - param set EKF2_FUSE_BETA 1 +param set-default EKF2_ARSP_THR 10 +param set-default EKF2_FUSE_BETA 1 - param set MIS_DIST_WPS 5000 +param set-default MIS_DIST_WPS 5000 - param set MPC_ACC_HOR_MAX 2 - param set MPC_TKO_SPEED 1 - param set MPC_VEL_MANUAL 3 - param set MPC_XY_CRUISE 3 - param set MPC_XY_ERR_MAX 5 - param set MPC_XY_VEL_MAX 4 - param set MPC_Z_VEL_MAX_DN 1.5 - param set MPC_JERK_MAX 4.5 +param set-default MPC_ACC_HOR_MAX 2 +param set-default MPC_TKO_SPEED 1 +param set-default MPC_VEL_MANUAL 3 +param set-default MPC_XY_CRUISE 3 +param set-default MPC_XY_ERR_MAX 5 +param set-default MPC_XY_VEL_MAX 4 +param set-default MPC_Z_VEL_MAX_DN 1.5 +param set-default MPC_JERK_MAX 4.5 - param set NAV_ACC_RAD 3 +param set-default NAV_ACC_RAD 3 - param set PWM_AUX_RATE 50 - param set PWM_MAIN_RATE 400 +param set-default PWM_AUX_RATE 50 +param set-default PWM_MAIN_RATE 400 - param set RTL_TYPE 1 +param set-default RTL_TYPE 1 - param set WV_EN 1 -fi +param set-default WV_EN 1