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Edit the init.d-posix files to set MAV_TYPE script variables, and alphabetize lists in a few places.

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This commit is contained in:
mcsauder
2018-09-03 10:19:32 -06:00
committed by Beat Küng
parent 4ea3306ec2
commit 0c08b7035b
15 changed files with 30 additions and 38 deletions
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ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow
-2
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@@ -9,7 +9,6 @@ sh /etc/init.d-posix/10016_iris
if [ $AUTOCNF = yes ]
then
param set EKF2_AID_MASK 2
param set EKF2_EV_DELAY 5
param set EKF2_EVP_NOISE 0.05
@@ -27,4 +26,3 @@ then
param set MPC_ALT_MODE 2
fi
ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow.post
-1
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@@ -2,4 +2,3 @@
# shellcheck disable=SC2154
mavlink stream -r 10 -s DISTANCE_SENSOR -u $udp_gcs_port_local
mavlink stream -r 10 -s VISION_POSITION_ESTIMATE -u $udp_gcs_port_local
ROMFS/px4fmu_common/init.d-posix/1011_iris_irlock
-2
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@@ -7,11 +7,9 @@
sh /etc/init.d-posix/10016_iris
if [ $AUTOCNF = yes ]
then
# enable fusion of landing target velocity
param set LTEST_MODE 1
param set PLD_HACC_RAD 0.1
fi
ROMFS/px4fmu_common/init.d-posix/1012_iris_rplidar
-1
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@@ -11,4 +11,3 @@ if [ $AUTOCNF = yes ]
then
param set LPE_FUSION 242
fi
ROMFS/px4fmu_common/init.d-posix/1013_iris_vision
-2
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@@ -12,5 +12,3 @@ then
param set EKF2_AID_MASK 8
param set EKF2_EV_DELAY 5
fi
ROMFS/px4fmu_common/init.d-posix/1014_solo
-1
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@@ -14,4 +14,3 @@ then
fi
set MIXER quad_x
ROMFS/px4fmu_common/init.d-posix/1020_hippocampus
-2
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@@ -6,5 +6,3 @@
sh /etc/init.d/rc.mc_defaults
set MIXER uuv_quad_x
ROMFS/px4fmu_common/init.d-posix/1030_plane
+1 -1
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@@ -29,6 +29,7 @@ then
param set MIS_LTRMIN_ALT 30
param set MIS_TAKEOFF_ALT 30
param set NAV_ACC_RAD 15.0
param set NAV_DLL_ACT 2
param set NAV_LOITER_RAD 50
@@ -40,4 +41,3 @@ fi
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
set MIXER custom
ROMFS/px4fmu_common/init.d-posix/1040_standard_vtol
+4 -3
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@@ -9,16 +9,16 @@ sh /etc/init.d/rc.vtol_defaults
if [ $AUTOCNF = yes ]
then
param set MAV_TYPE 22
param set FW_AIRSPD_MAX 25
param set FW_AIRSPD_MIN 14
param set FW_AIRSPD_TRIM 16
param set MC_ROLLRATE_P 0.3
param set MIS_LTRMIN_ALT 10
param set MIS_TAKEOFF_ALT 10
param set MIS_YAW_TMT 10
param set MPC_ACC_HOR_MAX 2
param set MPC_ACC_HOR_MAX 2.0
param set MPC_THR_MIN 0.1
@@ -40,6 +40,7 @@ then
param set WEST_EN 1
fi
set MAV_TYPE 22
set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
set MIXER custom
ROMFS/px4fmu_common/init.d-posix/1041_tailsitter
+4 -4
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@@ -9,16 +9,16 @@ sh /etc/init.d/rc.vtol_defaults
if [ $AUTOCNF = yes ]
then
param set MAV_TYPE 20
param set FW_AIRSPD_MAX 25
param set FW_AIRSPD_MIN 14
param set FW_AIRSPD_TRIM 16
param set MC_ROLLRATE_P 0.3
param set MIS_LTRMIN_ALT 10
param set MIS_TAKEOFF_ALT 10
param set MIS_YAW_TMT 10
param set MPC_ACC_HOR_MAX 2
param set MPC_ACC_HOR_MAX 2.0
param set MPC_THR_MIN 0.1
@@ -41,7 +41,7 @@ then
param set WEST_EN 1
fi
set MAV_TYPE 20
set MIXER_FILE etc/mixers-sitl/quad_x_vtol.main.mix
set MIXER custom
ROMFS/px4fmu_common/init.d-posix/1042_tiltrotor
+4 -5
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@@ -9,16 +9,16 @@ sh /etc/init.d/rc.vtol_defaults
if [ $AUTOCNF = yes ]
then
param set MAV_TYPE 21
param set FW_AIRSPD_MAX 25
param set FW_AIRSPD_MIN 14
param set FW_AIRSPD_TRIM 16
param set MC_ROLLRATE_P 0.3
param set MIS_LTRMIN_ALT 10
param set MIS_TAKEOFF_ALT 10
param set MIS_YAW_TMT 10
param set MPC_ACC_HOR_MAX 2
param set MPC_ACC_HOR_MAX 2.0
param set MPC_THR_MIN 0.1
@@ -43,8 +43,7 @@ then
param set WEST_EN 1
fi
set MAV_TYPE 21
set MIXER_FILE etc/mixers-sitl/tiltrotor_sitl.main.mix
set MIXER custom
ROMFS/px4fmu_common/init.d-posix/1060_rover
+3 -4
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@@ -7,8 +7,6 @@ sh /etc/init.d/rc.ugv_defaults
if [ $AUTOCNF = yes ]
then
param set MAV_TYPE 10
param set GND_L1_DIST 5
param set GND_SP_CTRL_MODE 1
param set GND_SPEED_D 3
@@ -16,11 +14,11 @@ then
param set GND_SPEED_IMAX 0.125
param set GND_SPEED_P 0.25
param set GND_SPEED_THR_SC 1
param set GND_SPEED_TRIM 4
param set GND_THR_CRUISE 0.3
param set GND_THR_IDLE 0
param set GND_THR_MAX 0.5
param set GND_THR_MIN 0
param set GND_SPEED_TRIM 4
param set GND_WR_D 1.2
param set GND_WR_I 0.9674
param set GND_WR_IMAX 0.1
@@ -34,5 +32,6 @@ then
param set CBRK_AIRSPD_CHK 162128
fi
set MIXER_FILE etc/mixers-sitl/rover_sitl.main.mix
set MAV_TYPE 10
set MIXER_FILE etc/mixers-sitl/rover_sitl.main.mix
ROMFS/px4fmu_common/init.d-posix/6011_typhoon_h480
+2 -3
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@@ -9,8 +9,6 @@ sh /etc/init.d/rc.mc_defaults
if [ $AUTOCNF = yes ]
then
param set MAV_TYPE 13
param set MC_PITCHRATE_P 0.1
param set MC_ROLLRATE_P 0.05
param set MPC_XY_VEL_I 0.2
@@ -25,5 +23,6 @@ then
param set MAV_PROTO_VER 2
fi
set MIXER hexa_x
set MAV_TYPE 13
set MIXER hexa_x
ROMFS/px4fmu_common/init.d-posix/rcS
+12 -6
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@@ -92,6 +92,7 @@ then
param set SYS_AUTOSTART $REQUESTED_AUTOSTART
param set BAT_N_CELLS 3
param set CAL_ACC0_ID 1376264
param set CAL_ACC0_XOFF 0.01
param set CAL_ACC0_XSCALE 1.01
@@ -105,7 +106,7 @@ then
param set CAL_GYRO0_XOFF 0.01
param set CAL_MAG0_ID 196616
param set CAL_MAG0_XOFF 0.01
param set SENS_DPRES_OFF 0.001
param set CBRK_AIRSPD_CHK 0
param set COM_DISARM_LAND 0.1
@@ -116,21 +117,28 @@ then
param set EKF2_AID_MASK 1
param set EKF2_ANGERR_INIT 0.01
param set EKF2_GBIAS_INIT 0.01
param set EKF2_HGT_MODE 0
param set EKF2_GBIAS_INIT 0.01
param set EKF2_MAG_TYPE 1
# LPE: GPS only mode
param set LPE_FUSION 145
param set MIS_TAKEOFF_ALT 2.5
param set MC_PITCH_P 6
param set MC_PITCHRATE_P 0.2
param set MC_ROLL_P 6
param set MC_ROLLRATE_P 0.2
param set MIS_TAKEOFF_ALT 2.5
param set MPC_ALT_MODE 0
param set MPC_HOLD_MAX_Z 2.0
param set MPC_Z_VEL_I 0.15
param set MPC_Z_VEL_P 0.6
param set NAV_ACC_RAD 2.0
param set NAV_DLL_ACT 2
param set RTL_DESCEND_ALT 5.0
param set RTL_LAND_DELAY 5
param set RTL_RETURN_ALT 30.0
@@ -138,11 +146,9 @@ then
param set SDLOG_DIRS_MAX 7
param set SENS_BOARD_ROT 0
param set SENS_BOARD_X_OFF 0.000001
param set SENS_DPRES_OFF 0.001
param set SYS_RESTART_TYPE 2
# LPE: GPS only mode
param set LPE_FUSION 145
param set WEST_EN 0
fi
ROMFS/px4fmu_common/init.d/4900_crazyflie
-1
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@@ -71,7 +71,6 @@ then
fi
# TODO - These values overwrite param sets above. Can they be removed?
set PWM_DISARMED none
set PWM_MAX none
set PWM_MIN none