mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-03 15:38:52 +08:00
83 lines
1.7 KiB
Plaintext
83 lines
1.7 KiB
Plaintext
#!nsh
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#
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# Flight startup script for PX4FMU with PWM outputs.
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#
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# disable USB and autostart
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set USB no
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set MODE custom
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echo "[init] doing PX4FMU Quad startup..."
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#
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# Start the ORB
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#
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uorb start
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#
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# Load microSD params
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#
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echo "[init] loading microSD params"
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param select /fs/microsd/params
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if [ -f /fs/microsd/params ]
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then
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param load /fs/microsd/params
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fi
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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 MC_ATTRATE_P 0.14
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param set MC_ATTRATE_I 0
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param set MC_ATTRATE_D 0.006
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param set MC_ATT_P 5.5
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param set MC_ATT_I 0
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param set MC_ATT_D 0
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param set MC_YAWPOS_D 0
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param set MC_YAWPOS_I 0
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param set MC_YAWPOS_P 0.6
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param set MC_YAWRATE_D 0
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param set MC_YAWRATE_I 0
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param set MC_YAWRATE_P 0.08
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param set RC_SCALE_PITCH 1
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param set RC_SCALE_ROLL 1
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param set RC_SCALE_YAW 3
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param set SYS_AUTOCONFIG 0
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param save /fs/microsd/params
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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, 2 = quadrotor, 13 = hexarotor
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# see https://pixhawk.ethz.ch/mavlink/
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#
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param set MAV_TYPE 2
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#
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# Start MAVLink
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#
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mavlink start -d /dev/ttyS0 -b 57600
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usleep 5000
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#
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# Start common for all multirotors apps
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#
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sh /etc/init.d/rc.multirotor
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#
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# Start PWM output
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#
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fmu mode_pwm
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mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
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pwm -u 400 -m 0xff
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# Try to get an USB console
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nshterm /dev/ttyACM0 &
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# Exit, because /dev/ttyS0 is needed for MAVLink
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#exit
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