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update the skywalker x5 script

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This commit is contained in:
Thomas Gubler 2014-01-12 18:49:43 +01:00
parent 3339edeae6
commit d079074e80
1 changed files with 7 additions and 51 deletions
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58
ROMFS/px4fmu_common/init.d/3032_skywalker_x5
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@ -1,58 +1,14 @@
#!nsh
echo "[init] PX4FMU v1, v2 with or without IO on Skywalker X5"
#
# Load default params for this platform
# Skywalker X5 Flying Wing
#
if param compare SYS_AUTOCONFIG 1
# Maintainers: Thomas Gubler <thomasgubler@gmail.com>, Julian Oes <joes@student.ethz.ch>
#
if [ $DO_AUTOCONFIG == yes ]
then
# Set all params here, then disable autoconfig
# TODO
param set SYS_AUTOCONFIG 0
param save
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing
#
param set MAV_TYPE 1
#
# Start and configure PX4IO or FMU interface
#
if px4io detect
then
# Start MAVLink (depends on orb)
mavlink start
sh /etc/init.d/rc.io
# Limit to 100 Hz updates and (implicit) 50 Hz PWM
px4io limit 100
else
# Start MAVLink (on UART1 / ttyS0)
mavlink start -d /dev/ttyS0
fmu mode_pwm
param set BAT_V_SCALING 0.004593
set EXIT_ON_END yes
fi
#
# Load mixer and start controllers (depends on px4io)
#
if [ -f /fs/microsd/etc/mixers/FMU_Q.mix ]
then
echo "Using /fs/microsd/etc/mixers/FMU_Q.mix"
mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_Q.mix
else
echo "Using /etc/mixers/FMU_Q.mix"
mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
fi
#
# Start common fixedwing apps
#
sh /etc/init.d/rc.fixedwing
set VEHICLE_TYPE fw
set FRAME_GEOMETRY Q