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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Merge remote-tracking branch 'px4/master' into navigator_new
This commit is contained in:
Julian Oes
@@ -8,30 +8,35 @@ echo "[init] PX4FMU v1, v2 with or without IO on Phantom FPV"
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if param compare SYS_AUTOCONFIG 1
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then
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# Set all params here, then disable autoconfig
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param set FW_AIRSPD_MIN 11.4
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param set FW_AIRSPD_TRIM 14
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param set FW_AIRSPD_MAX 22
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param set FW_L1_PERIOD 15
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param set FW_P_D 0
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param set FW_P_I 0
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param set FW_P_IMAX 15
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param set FW_P_LIM_MAX 50
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param set FW_P_LIM_MIN -50
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param set FW_P_LIM_MAX 45
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param set FW_P_LIM_MIN -45
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param set FW_P_P 60
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param set FW_P_RMAX_NEG 0
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param set FW_P_RMAX_POS 0
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param set FW_P_ROLLFF 1.1
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param set FW_P_ROLLFF 2
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param set FW_R_D 0
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param set FW_R_I 5
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param set FW_R_IMAX 20
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param set FW_R_P 100
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param set FW_R_RMAX 100
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param set FW_THR_CRUISE 0.65
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param set FW_R_IMAX 15
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param set FW_R_P 80
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param set FW_R_RMAX 60
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param set FW_THR_CRUISE 0.8
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param set FW_THR_LND_MAX 0
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param set FW_THR_MAX 1
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param set FW_THR_MIN 0
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param set FW_THR_MIN 0.5
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param set FW_T_SINK_MAX 5.0
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param set FW_T_SINK_MIN 4.0
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param set FW_Y_ROLLFF 1.1
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param set FW_L1_PERIOD 17
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param set RC_SCALE_ROLL 1.0
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param set RC_SCALE_PITCH 1.0
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param set FW_T_SINK_MIN 2.0
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param set FW_Y_ROLLFF 1.0
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param set RC_SCALE_ROLL 0.6
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param set RC_SCALE_PITCH 0.6
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param set TRIM_PITCH 0.1
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param set SYS_AUTOCONFIG 0
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param save
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fi
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@@ -0,0 +1,91 @@
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#!nsh
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echo "[init] PX4FMU v1, v2 with or without IO on the Wing Wing (aka Z-84)"
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#
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# Load default params for this platform
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#
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if param compare SYS_AUTOCONFIG 1
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then
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# Set all params here, then disable autoconfig
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param set FW_AIRSPD_MIN 7
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param set FW_AIRSPD_TRIM 9
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param set FW_AIRSPD_MAX 14
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param set FW_L1_PERIOD 10
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param set FW_P_D 0
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param set FW_P_I 0
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param set FW_P_IMAX 20
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param set FW_P_LIM_MAX 30
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param set FW_P_LIM_MIN -20
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param set FW_P_P 30
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param set FW_P_RMAX_NEG 0
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param set FW_P_RMAX_POS 0
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param set FW_P_ROLLFF 2
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param set FW_R_D 0
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param set FW_R_I 5
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param set FW_R_IMAX 20
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param set FW_R_P 60
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param set FW_R_RMAX 60
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param set FW_THR_CRUISE 0.65
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param set FW_THR_MAX 0.7
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param set FW_THR_MIN 0
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param set FW_T_SINK_MAX 5
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param set FW_T_SINK_MIN 2
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param set FW_T_TIME_CONST 9
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param set FW_Y_ROLLFF 2.0
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param set RC_SCALE_ROLL 1.0
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param set RC_SCALE_PITCH 1.0
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param set SYS_AUTOCONFIG 0
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param save
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fi
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#
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# Force some key parameters to sane values
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# MAV_TYPE 1 = fixed wing
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#
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param set MAV_TYPE 1
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set EXIT_ON_END no
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#
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# Start and configure PX4IO or FMU interface
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#
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if px4io detect
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then
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# Start MAVLink (depends on orb)
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mavlink start
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sh /etc/init.d/rc.io
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# Limit to 100 Hz updates and (implicit) 50 Hz PWM
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px4io limit 100
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else
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# Start MAVLink (on UART1 / ttyS0)
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mavlink start -d /dev/ttyS0
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fmu mode_pwm
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param set BAT_V_SCALING 0.004593
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set EXIT_ON_END yes
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fi
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#
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# Load mixer and start controllers (depends on px4io)
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#
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if [ -f /fs/microsd/etc/mixers/FMU_Q.mix ]
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then
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echo "Using /fs/microsd/etc/mixers/FMU_Q.mix"
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mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_Q.mix
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else
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echo "Using /etc/mixers/FMU_Q.mix"
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mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
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fi
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#
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# Start common fixedwing apps
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#
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sh /etc/init.d/rc.fixedwing
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if [ $EXIT_ON_END == yes ]
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then
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exit
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fi
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@@ -0,0 +1,91 @@
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#!nsh
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echo "[init] PX4FMU v1, v2 with or without IO on FX-79 Buffalo"
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#
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# Load default params for this platform
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#
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if param compare SYS_AUTOCONFIG 1
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then
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# Set all params here, then disable autoconfig
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param set FW_AIRSPD_MAX 20
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param set FW_AIRSPD_TRIM 12
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param set FW_AIRSPD_MIN 15
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param set FW_L1_PERIOD 12
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param set FW_P_D 0
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param set FW_P_I 0
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param set FW_P_IMAX 15
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param set FW_P_LIM_MAX 50
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param set FW_P_LIM_MIN -50
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param set FW_P_P 60
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param set FW_P_RMAX_NEG 0
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param set FW_P_RMAX_POS 0
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param set FW_P_ROLLFF 1.1
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param set FW_R_D 0
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param set FW_R_I 5
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param set FW_R_IMAX 20
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param set FW_R_P 80
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param set FW_R_RMAX 100
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param set FW_THR_CRUISE 0.75
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param set FW_THR_MAX 1
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param set FW_THR_MIN 0
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param set FW_T_SINK_MAX 5.0
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param set FW_T_SINK_MIN 4.0
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param set FW_T_TIME_CONST 9
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param set FW_Y_ROLLFF 1.1
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param set RC_SCALE_ROLL 1.0
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param set RC_SCALE_PITCH 1.0
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param set SYS_AUTOCONFIG 0
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param save
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fi
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#
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# Force some key parameters to sane values
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# MAV_TYPE 1 = fixed wing
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#
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param set MAV_TYPE 1
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set EXIT_ON_END no
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#
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# Start and configure PX4IO or FMU interface
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#
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if px4io detect
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then
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# Start MAVLink (depends on orb)
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mavlink start
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sh /etc/init.d/rc.io
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# Limit to 100 Hz updates and (implicit) 50 Hz PWM
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px4io limit 100
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else
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# Start MAVLink (on UART1 / ttyS0)
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mavlink start -d /dev/ttyS0
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fmu mode_pwm
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param set BAT_V_SCALING 0.004593
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set EXIT_ON_END yes
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fi
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#
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# Load mixer and start controllers (depends on px4io)
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#
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if [ -f /fs/microsd/etc/mixers/FMU_FX79.mix ]
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then
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echo "Using /fs/microsd/etc/mixers/FMU_FX79.mix"
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mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_FX79.mix
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else
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echo "Using /etc/mixers/FMU_FX79.mix"
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mixer load /dev/pwm_output /etc/mixers/FMU_FX79.mix
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fi
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#
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# Start common fixedwing apps
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#
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sh /etc/init.d/rc.fixedwing
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if [ $EXIT_ON_END == yes ]
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then
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exit
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fi
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@@ -0,0 +1,60 @@
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#!nsh
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echo "[init] PX4FMU v1, v2 init to log only
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#
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# Load default params for this platform
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#
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if param compare SYS_AUTOCONFIG 1
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then
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# Set all params here, then disable autoconfig
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param set SYS_AUTOCONFIG 0
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param save
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fi
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set EXIT_ON_END no
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#
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# Start and configure PX4IO or FMU interface
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#
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if px4io detect
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then
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# Start MAVLink (depends on orb)
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mavlink start
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usleep 5000
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commander start
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sh /etc/init.d/rc.io
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# Set PWM values for DJI ESCs
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else
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# Start MAVLink (on UART1 / ttyS0)
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mavlink start -d /dev/ttyS0
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usleep 5000
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param set BAT_V_SCALING 0.004593
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set EXIT_ON_END yes
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fi
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sh /etc/init.d/rc.sensors
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gps start
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attitude_estimator_ekf start
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position_estimator_inav start
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if [ -d /fs/microsd ]
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then
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if [ $BOARD == fmuv1 ]
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then
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sdlog2 start -r 50 -e -b 16
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else
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sdlog2 start -r 200 -e -b 16
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fi
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fi
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if [ $EXIT_ON_END == yes ]
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then
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exit
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fi
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@@ -331,6 +331,18 @@ then
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set MODE custom
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fi
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if param compare SYS_AUTOSTART 33
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then
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sh /etc/init.d/33_io_wingwing
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set MODE custom
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fi
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if param compare SYS_AUTOSTART 34
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then
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sh /etc/init.d/34_io_fx79
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set MODE custom
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fi
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if param compare SYS_AUTOSTART 40
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then
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sh /etc/init.d/40_io_segway
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@@ -355,6 +367,12 @@ then
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set MODE custom
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fi
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if param compare SYS_AUTOSTART 800
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then
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sh /etc/init.d/800_sdlogger
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set MODE custom
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fi
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# Start any custom extensions that might be missing
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if [ -f /fs/microsd/etc/rc.local ]
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then
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Executable
+72
@@ -0,0 +1,72 @@
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FX-79 Delta-wing mixer for PX4FMU
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=================================
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Designed for FX-79.
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TODO (sjwilks): Add mixers for flaps.
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This file defines mixers suitable for controlling a delta wing aircraft using
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PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
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servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
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assumed to be unused.
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Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
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(roll), 1 (pitch) and 3 (thrust).
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See the README for more information on the scaler format.
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Elevon mixers
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-------------
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Three scalers total (output, roll, pitch).
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On the assumption that the two elevon servos are physically reversed, the pitch
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input is inverted between the two servos.
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The scaling factor for roll inputs is adjusted to implement differential travel
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for the elevons.
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M: 2
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O: 10000 10000 0 -10000 10000
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S: 0 0 5000 8000 0 -10000 10000
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S: 0 1 8000 8000 0 -10000 10000
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M: 2
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O: 10000 10000 0 -10000 10000
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S: 0 0 8000 5000 0 -10000 10000
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S: 0 1 -8000 -8000 0 -10000 10000
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Output 2
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--------
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This mixer is empty.
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Z:
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Motor speed mixer
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-----------------
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Two scalers total (output, thrust).
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This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
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range. Inputs below zero are treated as zero.
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 3 0 20000 -10000 -10000 10000
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Gimbal / flaps / payload mixer for last four channels
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-----------------------------------------------------
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 4 10000 10000 0 -10000 10000
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 5 10000 10000 0 -10000 10000
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 6 10000 10000 0 -10000 10000
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 7 10000 10000 0 -10000 10000
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