autostart for multicopters: frame-specific default parameters reverted and cleaned up

ROMFS/px4fmu_common/init.d/10015_tbs_discovery

@@ -2,11 +2,28 @@
 #
 # Team Blacksheep Discovery Quadcopter
 #
-# Simon Wilks <sjwilks@gmail.com>
+# Anton Babushkin <anton.babushkin@me.com>, Simon Wilks <sjwilks@gmail.com>
 #
 
 sh /etc/init.d/rc.mc_defaults
 
+if [ $DO_AUTOCONFIG == yes ]
+then
+	# TODO review MC_YAWRATE_I
+	param set MC_ROLL_P 8.0
+	param set MC_ROLLRATE_P 0.07
+	param set MC_ROLLRATE_I 0.05
+	param set MC_ROLLRATE_D 0.0017
+	param set MC_PITCH_P 8.0
+	param set MC_PITCHRATE_P 0.14
+	param set MC_PITCHRATE_I 0.1
+	param set MC_PITCHRATE_D 0.0025
+	param set MC_YAW_P 2.8
+	param set MC_YAWRATE_P 0.28
+	param set MC_YAWRATE_I 0.0
+	param set MC_YAWRATE_D 0.0
+fi
+
 set MIXER FMU_quad_w
 
 set PWM_OUTPUTS 1234

ROMFS/px4fmu_common/init.d/10016_3dr_iris

@@ -9,9 +9,20 @@ sh /etc/init.d/rc.mc_defaults
 
 if [ $DO_AUTOCONFIG == yes ]
 then
-	#
+	# TODO tune roll/pitch separately
-	# Default parameters for this platform
+	param set MC_ROLL_P 9.0
-	#
+	param set MC_ROLLRATE_P 0.13
+	param set MC_ROLLRATE_I 0.0
+	param set MC_ROLLRATE_D 0.004
+	param set MC_PITCH_P 9.0
+	param set MC_PITCHRATE_P 0.13
+	param set MC_PITCHRATE_I 0.0
+	param set MC_PITCHRATE_D 0.004
+	param set MC_YAW_P 0.5
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.0
+	param set MC_YAWRATE_D 0.0
+
 	param set BAT_V_SCALING 0.00989
 	param set BAT_C_SCALING 0.0124
 fi

ROMFS/px4fmu_common/init.d/11001_hexa_cox

@@ -7,33 +7,9 @@
 # Lorenz Meier <lm@inf.ethz.ch>
 #
 
-if [ $DO_AUTOCONFIG == yes ]
+sh /etc/init.d/rc.mc_defaults
-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
 
+# We only can run one channel group with one rate, so set all 8 channels
 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

@@ -5,33 +5,8 @@
 # Lorenz Meier <lm@inf.ethz.ch>
 #
 
-if [ $DO_AUTOCONFIG == yes ]
+sh /etc/init.d/rc.mc_defaults
-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
+set MIXER octo_cox
-fi
-
-set VEHICLE_TYPE mc
-set MIXER FMU_octo_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/4010_dji_f330

@@ -7,4 +7,21 @@
 
 sh /etc/init.d/4001_quad_x
 
+if [ $DO_AUTOCONFIG == yes ]
+then
+	param set MC_ROLL_P 7.0
+	param set MC_ROLLRATE_P 0.1
+	param set MC_ROLLRATE_I 0.0
+	param set MC_ROLLRATE_D 0.003
+	param set MC_PITCH_P 7.0
+	param set MC_PITCHRATE_P 0.1
+	param set MC_PITCHRATE_I 0.0
+	param set MC_PITCHRATE_D 0.003
+	param set MC_YAW_P 2.8
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.0
+	param set MC_YAWRATE_D 0.0
+fi
+
 set PWM_MIN 1175
+set PWM_MAX 1900

ROMFS/px4fmu_common/init.d/4011_dji_f450

@@ -7,4 +7,22 @@
 
 sh /etc/init.d/4001_quad_x
 
+if [ $DO_AUTOCONFIG == yes ]
+then
+	# TODO REVIEW
+	param set MC_ROLL_P 7.0
+	param set MC_ROLLRATE_P 0.1
+	param set MC_ROLLRATE_I 0.0
+	param set MC_ROLLRATE_D 0.003
+	param set MC_PITCH_P 7.0
+	param set MC_PITCHRATE_P 0.1
+	param set MC_PITCHRATE_I 0.0
+	param set MC_PITCHRATE_D 0.003
+	param set MC_YAW_P 2.8
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.0
+	param set MC_YAWRATE_D 0.0
+fi
+
 set PWM_MIN 1175
+set PWM_MAX 1900

ROMFS/px4fmu_common/init.d/4012_hk_x550

@@ -1,8 +0,0 @@
-#!nsh
-#
-# HobbyKing X550 Quadcopter
-#
-# Todd Stellanova <tstellanova@gmail.com>
-#
-
-sh /etc/init.d/4001_quad_x

ROMFS/px4fmu_common/init.d/6001_hexa_x

@@ -9,6 +9,5 @@ sh /etc/init.d/rc.mc_defaults
 
 set MIXER FMU_hexa_x
 
-# We only can run one channel group with one rate,
+# We only can run one channel group with one rate, so set all 8 channels
-# so all 8 at 400 Hz
 set PWM_OUTPUTS 12345678

ROMFS/px4fmu_common/init.d/7001_hexa_+

@@ -9,6 +9,5 @@ sh /etc/init.d/rc.mc_defaults
 
 set MIXER FMU_hexa_+
 
-# We only can run one channel group with one rate,
+# We only can run one channel group with one rate, so set all 8 channels
-# so all 8 at 400 Hz
 set PWM_OUTPUTS 12345678

ROMFS/px4fmu_common/init.d/rc.autostart

@@ -116,11 +116,6 @@ then
 	sh /etc/init.d/4011_dji_f450
 fi
 
-if param compare SYS_AUTOSTART 4012 12
-then
-	sh /etc/init.d/4012_hk_x550
-fi
-
 #
 # Quad +
 #

ROMFS/px4fmu_common/init.d/rc.mc_defaults

@@ -4,21 +4,19 @@ set VEHICLE_TYPE mc
 
 if [ $DO_AUTOCONFIG == yes ]
 then
-	#
-	# Default parameters for MC
-	#
 	param set MC_ROLL_P 7.0
-	param set MC_ROLLRATE_P 0.12
+	param set MC_ROLLRATE_P 0.1
 	param set MC_ROLLRATE_I 0.0
-	param set MC_ROLLRATE_D 0.004
+	param set MC_ROLLRATE_D 0.003
 	param set MC_PITCH_P 7.0
-	param set MC_PITCHRATE_P 0.12
+	param set MC_PITCHRATE_P 0.1
 	param set MC_PITCHRATE_I 0.0
-	param set MC_PITCHRATE_D 0.004
+	param set MC_PITCHRATE_D 0.003
-	param set MC_YAW_P 2.0
+	param set MC_YAW_P 2.8
-	param set MC_YAWRATE_P 0.3
+	param set MC_YAWRATE_P 0.2
-	param set MC_YAWRATE_I 0.2
+	param set MC_YAWRATE_I 0.0
-	param set MC_YAWRATE_D 0.005
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAW_FF 0.5
 
 	param set MPC_THR_MAX 1.0
 	param set MPC_THR_MIN 0.1