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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-30 09:13:34 +08:00
60 lines
1.2 KiB
Plaintext
60 lines
1.2 KiB
Plaintext
#!nsh
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#
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# Omnibus F4SD specific board init
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#
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#------------------------------------------------------------------------------
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#
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# UART mapping on OMNIBUSF4SD:
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#
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# USART1 /dev/ttyS0 SerialRX
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# (USART3 configured as I2C)
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# USART4 /dev/ttyS1 TELEM2 (TX=RSSI, RX=PWM out 5)
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# USART6 /dev/ttyS2 URT6
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#
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#------------------------------------------------------------------------------
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#
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# transision from params file to flash-based params (2018-12-20)
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if [ -f $PARAM_FILE ]
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then
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param load $PARAM_FILE
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param save
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# create a backup
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mv $PARAM_FILE ${PARAM_FILE}.bak
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reboot
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fi
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if [ $AUTOCNF = yes ]
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then
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# Disable safety switch by default
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param set CBRK_IO_SAFETY 22027
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# use the Q attitude estimator, it works w/o mag or GPS.
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param set SYS_MC_EST_GROUP 1
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param set ATT_ACC_COMP 0
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param set ATT_W_ACC 0.4000
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param set ATT_W_GYRO_BIAS 0.0000
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param set SYS_HAS_MAG 0
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param set SYS_FMU_TASK 1
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fi
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set MIXER_AUX none
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if ! mpu6000 -R 12 -s start
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then
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# some boards such as the Hobbywing XRotor F4 G2 use the ICM-20602
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mpu6000 -R 12 -T 20602 -s start
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fi
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# Possible external compasses
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hmc5883 -X start
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bmp280 start
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adc start
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px4flow start &
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