From c0177e97951a4b2bb27baeef0f8d9afad5b9e203 Mon Sep 17 00:00:00 2001 From: Andreas Antener Date: Sat, 23 Apr 2016 07:56:57 +0200 Subject: [PATCH] do not reset VT parameters on every boot --- ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol | 8 ++++---- ROMFS/px4fmu_common/init.d/13002_firefly6 | 10 +++++----- ROMFS/px4fmu_common/init.d/13003_quad_tailsitter | 12 ++++++++---- ROMFS/px4fmu_common/init.d/13004_quad+_tailsitter | 12 ++++++++---- ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad | 8 ++++---- ROMFS/px4fmu_common/init.d/13006_vtol_standard_delta | 8 ++++---- ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad | 8 ++++---- ROMFS/px4fmu_common/init.d/13008_QuadRanger | 8 ++++---- 8 files changed, 41 insertions(+), 33 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol b/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol index b7f3f312b9..4595b0deb3 100644 --- a/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol +++ b/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol @@ -33,12 +33,12 @@ then param set MC_YAWRATE_D 0.0 param set MC_YAWRATE_FF 0.0 + param set VT_MOT_COUNT 2 + param set VT_IDLE_PWM_MC 1080 + param set VT_TYPE 0 + param set MAV_TYPE 19 fi set MIXER caipirinha_vtol set PWM_OUT 1234 -param set VT_MOT_COUNT 2 -param set VT_IDLE_PWM_MC 1080 -param set VT_TYPE 0 -param set MAV_TYPE 19 diff --git a/ROMFS/px4fmu_common/init.d/13002_firefly6 b/ROMFS/px4fmu_common/init.d/13002_firefly6 index 35f5f33b30..4ef9cadcf5 100644 --- a/ROMFS/px4fmu_common/init.d/13002_firefly6 +++ b/ROMFS/px4fmu_common/init.d/13002_firefly6 @@ -31,6 +31,11 @@ then param set VT_TILT_MC 0.08 param set VT_TILT_TRANS 0.5 param set VT_TILT_FW 0.9 + + param set VT_MOT_COUNT 6 + param set VT_FW_MOT_OFFID 34 + param set VT_IDLE_PWM_MC 1080 + param set VT_TYPE 1 fi set MIXER firefly6 @@ -40,8 +45,3 @@ set PWM_RATE 400 set MIXER_AUX firefly6 set MAV_TYPE 21 - -param set VT_MOT_COUNT 6 -param set VT_FW_MOT_OFFID 34 -param set VT_IDLE_PWM_MC 1080 -param set VT_TYPE 1 diff --git a/ROMFS/px4fmu_common/init.d/13003_quad_tailsitter b/ROMFS/px4fmu_common/init.d/13003_quad_tailsitter index c2ac1e4e35..35c8214345 100644 --- a/ROMFS/px4fmu_common/init.d/13003_quad_tailsitter +++ b/ROMFS/px4fmu_common/init.d/13003_quad_tailsitter @@ -9,13 +9,17 @@ sh /etc/init.d/rc.vtol_defaults +if [ $AUTOCNF == yes ] +then + param set VT_MOT_COUNT 4 + param set VT_IDLE_PWM_MC 1080 + param set VT_TYPE 0 + param set VT_ELEV_MC_LOCK 1 +fi + set MIXER quad_x_vtol set PWM_OUT 1234 set PWM_MAX 2000 set PWM_RATE 400 set MAV_TYPE 20 -param set VT_MOT_COUNT 4 -param set VT_IDLE_PWM_MC 1080 -param set VT_TYPE 0 -param set VT_ELEV_MC_LOCK 1 diff --git a/ROMFS/px4fmu_common/init.d/13004_quad+_tailsitter b/ROMFS/px4fmu_common/init.d/13004_quad+_tailsitter index 3ba4e27ea5..21423d180d 100644 --- a/ROMFS/px4fmu_common/init.d/13004_quad+_tailsitter +++ b/ROMFS/px4fmu_common/init.d/13004_quad+_tailsitter @@ -9,13 +9,17 @@ sh /etc/init.d/rc.vtol_defaults +if [ $AUTOCNF == yes ] +then + param set VT_MOT_COUNT 4 + param set VT_IDLE_PWM_MC 1080 + param set VT_TYPE 0 + param set VT_ELEV_MC_LOCK 1 +fi + set MIXER quad_+_vtol set PWM_OUT 1234 set PWM_MAX 2000 set PWM_RATE 400 set MAV_TYPE 20 -param set VT_MOT_COUNT 4 -param set VT_IDLE_PWM_MC 1080 -param set VT_TYPE 0 -param set VT_ELEV_MC_LOCK 1 diff --git a/ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad b/ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad index d017fd9eb2..84219f22c8 100644 --- a/ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad +++ b/ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad @@ -43,6 +43,10 @@ then param set FW_RR_IMAX 0.2 param set FW_RR_P 0.05 param set FW_THR_CRUISE 0.75 + + param set VT_MOT_COUNT 4 + param set VT_IDLE_PWM_MC 1080 + param set VT_TYPE 2 fi set MIXER vtol_quad_x @@ -54,7 +58,3 @@ set PWM_ACHDIS 5 set PWM_AUX_DISARMED 950 set MAV_TYPE 22 - -param set VT_MOT_COUNT 4 -param set VT_IDLE_PWM_MC 1080 -param set VT_TYPE 2 diff --git a/ROMFS/px4fmu_common/init.d/13006_vtol_standard_delta b/ROMFS/px4fmu_common/init.d/13006_vtol_standard_delta index 9079d8709c..deb9aa3049 100644 --- a/ROMFS/px4fmu_common/init.d/13006_vtol_standard_delta +++ b/ROMFS/px4fmu_common/init.d/13006_vtol_standard_delta @@ -31,6 +31,10 @@ then param set MC_YAWRATE_I 0.02 param set MC_YAWRATE_D 0.0 param set MC_YAWRATE_FF 0.0 + + param set VT_MOT_COUNT 4 + param set VT_IDLE_PWM_MC 1080 + param set VT_TYPE 2 fi set MIXER vtol_quad_x @@ -42,7 +46,3 @@ set PWM_ACHDIS 3 set PWM_AUX_DISARMED 950 set MAV_TYPE 22 - -param set VT_MOT_COUNT 4 -param set VT_IDLE_PWM_MC 1080 -param set VT_TYPE 2 diff --git a/ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad b/ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad index ec2b156bc5..0b25133e99 100644 --- a/ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad +++ b/ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad @@ -31,6 +31,10 @@ then param set MC_YAWRATE_I 0.02 param set MC_YAWRATE_D 0.0 param set MC_YAWRATE_FF 0.0 + + param set VT_MOT_COUNT 4 + param set VT_IDLE_PWM_MC 1080 + param set VT_TYPE 2 fi set MIXER vtol_quad_x @@ -42,7 +46,3 @@ set PWM_ACHDIS 5 set PWM_AUX_DISARMED 950 set MAV_TYPE 22 - -param set VT_MOT_COUNT 4 -param set VT_IDLE_PWM_MC 1080 -param set VT_TYPE 2 diff --git a/ROMFS/px4fmu_common/init.d/13008_QuadRanger b/ROMFS/px4fmu_common/init.d/13008_QuadRanger index f627fe4d2d..f47c06f0c7 100644 --- a/ROMFS/px4fmu_common/init.d/13008_QuadRanger +++ b/ROMFS/px4fmu_common/init.d/13008_QuadRanger @@ -51,6 +51,10 @@ then param set VT_ARSP_TRANS 15.0 param set VT_ARSP_BLEND 8.0 param set VT_B_TRANS_DUR 4.0 + + param set VT_MOT_COUNT 4 + param set VT_IDLE_PWM_MC 1080 + param set VT_TYPE 2 fi set MIXER vtol_quad_x @@ -62,7 +66,3 @@ set PWM_ACHDIS 5 set PWM_AUX_DISARMED 950 set MAV_TYPE 22 - -param set VT_MOT_COUNT 4 -param set VT_IDLE_PWM_MC 1080 -param set VT_TYPE 2