Mirrors_Framework/PX4-Autopilot
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Hotfix and cleanup for system mixers

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This commit is contained in:
Lorenz Meier
2014-02-11 08:09:51 +01:00
parent 80100dcf19
commit 0388d9adef
14 changed files with 70 additions and 207 deletions
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ROMFS/px4fmu_common/init.d/11001_hexa_cox
+39
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@@ -0,0 +1,39 @@
#!nsh
#
# UNTESTED UNTESTED!
#
# Generic 10” Hexa coaxial geometry
#
# Lorenz Meier <lm@inf.ethz.ch>
#
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
param set MC_ATT_P 7.0
param set MC_ATT_I 0.0
param set MC_ATT_D 0.0
param set MC_ATTRATE_P 0.12
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_D 0.004
param set MC_YAWPOS_P 2.0
param set MC_YAWPOS_I 0.0
param set MC_YAWPOS_D 0.0
param set MC_YAWRATE_P 0.3
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0.005
# TODO add default MPC parameters
fi
set VEHICLE_TYPE mc
set MIXER hexa_cox
set PWM_OUTPUTS 12345678
set PWM_RATE 400
# DJI ESC range
set PWM_DISARMED 900
set PWM_MIN 1200
set PWM_MAX 1900
ROMFS/px4fmu_common/init.d/12001_octo_cox_pwm → ROMFS/px4fmu_common/init.d/12001_octo_cox
+2 -2
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@@ -2,7 +2,7 @@
#
# Generic 10” Octo coaxial geometry
#
# Maintainers: Lorenz Meier <lm@inf.ethz.ch>
# Lorenz Meier <lm@inf.ethz.ch>
#
if [ $DO_AUTOCONFIG == yes ]
@@ -29,7 +29,7 @@ fi
set VEHICLE_TYPE mc
set MIXER FMU_octo_cox
set PWM_OUTPUTS 1234
set PWM_OUTPUTS 12345678
set PWM_RATE 400
# DJI ESC range
set PWM_DISARMED 900
ROMFS/px4fmu_common/init.d/6001_hexa_x_pwm
+1 -1
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@@ -29,7 +29,7 @@ fi
set VEHICLE_TYPE mc
set MIXER FMU_hexa_x
set PWM_OUTPUTS 1234
set PWM_OUTPUTS 12345678
set PWM_RATE 400
# DJI ESC range
set PWM_DISARMED 900
ROMFS/px4fmu_common/init.d/7001_hexa_+_pwm
+1 -1
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@@ -29,7 +29,7 @@ fi
set VEHICLE_TYPE mc
set MIXER FMU_hexa_+
set PWM_OUTPUTS 1234
set PWM_OUTPUTS 12345678
set PWM_RATE 400
# DJI ESC range
set PWM_DISARMED 900
ROMFS/px4fmu_common/init.d/8001_octo_x_pwm
+1 -1
View File
@@ -29,7 +29,7 @@ fi
set VEHICLE_TYPE mc
set MIXER FMU_octo_x
set PWM_OUTPUTS 1234
set PWM_OUTPUTS 12345678
set PWM_RATE 400
# DJI ESC range
set PWM_DISARMED 900
ROMFS/px4fmu_common/init.d/9001_octo_+_pwm
+1 -1
View File
@@ -29,7 +29,7 @@ fi
set VEHICLE_TYPE mc
set MIXER FMU_octo_+
set PWM_OUTPUTS 1234
set PWM_OUTPUTS 12345678
set PWM_RATE 400
# DJI ESC range
set PWM_DISARMED 900
ROMFS/px4fmu_common/init.d/rc.autostart
+10 -1
View File
@@ -185,11 +185,20 @@ then
sh /etc/init.d/10016_3dr_iris
fi
#
# Hexa Coaxial
#
if param compare SYS_AUTOSTART 11001
then
sh /etc/init.d/11001_hexa_cox
fi
#
# Octo Coaxial
#
if param compare SYS_AUTOSTART 12001
then
sh /etc/init.d/12001_octo_cox_pwm
sh /etc/init.d/12001_octo_cox
fi
ROMFS/px4fmu_common/init.d/rcS
+8 -4
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@@ -467,19 +467,23 @@ then
# Use mixer to detect vehicle type
if [ $MIXER == FMU_hex_x -o $MIXER == FMU_hex_+ ]
then
param set MAV_TYPE 13
set MAV_TYPE 13
fi
if [ $MIXER == hexa_cox ]
then
set MAV_TYPE 13
fi
if [ $MIXER == FMU_octo_x -o $MIXER == FMU_octo_+ ]
then
param set MAV_TYPE 14
set MAV_TYPE 14
fi
if [ $MIXER == FMU_octo_cox ]
then
param set MAV_TYPE 14
set MAV_TYPE 14
fi
fi
param set MAV_TYPE $MAV_TYPE
param set MAV_TYPE $MAV_TYPE
# Load mixer and configure outputs
sh /etc/init.d/rc.interface