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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-03 14:58:53 +08:00
68 lines
1.3 KiB
Plaintext
68 lines
1.3 KiB
Plaintext
#!nsh
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echo "[init] 15_io_tbs: PX4FMU+PX4IO on a Team Blacksheep Discovery quad"
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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 set MC_ATTRATE_D 0.006
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param set MC_ATTRATE_I 0.0
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param set MC_ATTRATE_P 0.17
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param set MC_ATT_D 0.0
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param set MC_ATT_I 0.0
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param set MC_ATT_P 5.0
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param set MC_RCLOSS_THR 0.0
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param set MC_YAWPOS_D 0.0
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param set MC_YAWPOS_I 0.15
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param set MC_YAWPOS_P 0.5
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param set MC_YAWRATE_D 0.0
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param set MC_YAWRATE_I 0.0
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param set MC_YAWRATE_P 0.2
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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 2 = quadrotor
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#
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param set MAV_TYPE 2
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#
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# Start MAVLink (depends on orb)
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#
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mavlink start
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usleep 5000
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#
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# Start and configure PX4IO interface
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#
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sh /etc/init.d/rc.io
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#
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# Set PWM values for DJI ESCs
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#
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px4io idle 900 900 900 900
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px4io min 1180 1180 1180 1180
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px4io max 1800 1800 1800 1800
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#
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# Load the mixer for a quad with wide arms
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#
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mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix
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#
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# Set PWM output frequency
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#
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pwm -u 400 -m 0xff
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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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