diff --git a/ROMFS/px4fmu_common/init.d/1002_standard_vtol.hil b/ROMFS/px4fmu_common/init.d/1002_standard_vtol.hil index f93517ec23..a21949afcc 100644 --- a/ROMFS/px4fmu_common/init.d/1002_standard_vtol.hil +++ b/ROMFS/px4fmu_common/init.d/1002_standard_vtol.hil @@ -13,17 +13,22 @@ sh /etc/init.d/rc.vtol_defaults if [ $AUTOCNF == yes ] then param set BAT_N_CELLS 3 + param set COM_DISARM_LAND 5 param set COM_RC_IN_MODE 1 + 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_MAG_TYPE 1 + param set FW_AIRSPD_MAX 25 param set FW_AIRSPD_MIN 14 param set FW_AIRSPD_TRIM 16 - param set MAV_TYPE 20 + + param set MAV_TYPE 22 + param set MC_PITCH_P 6 param set MC_PITCHRATE_P 0.2 param set MC_ROLL_P 6 @@ -31,6 +36,7 @@ then 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 @@ -42,22 +48,25 @@ then param set MPC_Z_VEL_I 0.15 param set MPC_Z_VEL_MAX_DN 1.5 param set MPC_Z_VEL_P 0.6 + param set NAV_ACC_RAD 5.0 param set NAV_DLL_ACT 2 param set NAV_LOITER_RAD 80 + param set RTL_DESCEND_ALT 10.0 param set RTL_LAND_DELAY 0 param set RTL_RETURN_ALT 30.0 + param set SDLOG_DIRS_MAX 7 param set SYS_MC_EST_GROUP 2 param set SYS_RESTART_TYPE 2 + param set VT_F_TRANS_THR 0.75 param set VT_MOT_COUNT 4 param set VT_TYPE 2 fi set MIXER standard_vtol_hitl -set MAV_TYPE 22 set PWM_OUT 1234 diff --git a/ROMFS/px4fmu_common/init.d/2100_standard_plane b/ROMFS/px4fmu_common/init.d/2100_standard_plane index eb5323d695..73e574edd0 100644 --- a/ROMFS/px4fmu_common/init.d/2100_standard_plane +++ b/ROMFS/px4fmu_common/init.d/2100_standard_plane @@ -21,10 +21,13 @@ sh /etc/init.d/rc.fw_defaults -set MIXER AETRFG +if [ $AUTOCNF == yes ] +then + param set PWM_AUX_RATE 50 + param set PWM_RATE 50 +fi -set PWM_RATE 50 -set PWM_AUX_RATE 50 +set MIXER AETRFG # rate must be set by group (see pwm info) # throttle is in the same group as servos diff --git a/ROMFS/px4fmu_common/init.d/24001_dodeca_cox b/ROMFS/px4fmu_common/init.d/24001_dodeca_cox index fb2ed1301b..c1e9c35ee0 100644 --- a/ROMFS/px4fmu_common/init.d/24001_dodeca_cox +++ b/ROMFS/px4fmu_common/init.d/24001_dodeca_cox @@ -28,21 +28,20 @@ set VEHICLE_TYPE mc if [ $AUTOCNF == yes ] then param set NAV_ACC_RAD 2.0 - param set RTL_RETURN_ALT 30.0 - param set RTL_DESCEND_ALT 10.0 + param set PWM_AUX_RATE 400 + param set PWM_AUX_DISARMED 900 + param set PWM_AUX_MIN 1075 + param set PWM_AUX_MAX 1950 + param set PWM_MIN 1075 param set PWM_MAX 1950 param set PWM_RATE 400 + param set RTL_DESCEND_ALT 10.0 param set RTL_LAND_DELAY 0 + param set RTL_RETURN_ALT 30.0 fi -set PWM_AUX_RATE 400 -# Note: May Have to set these parameters manually. They don't appear to save. -set PWM_AUX_DISARMED 900 -param set PWM_AUX_MIN 1075 -param set PWM_AUX_MAX 1950 - set MIXER dodeca_top_cox set MIXER_AUX dodeca_bottom_cox diff --git a/ROMFS/px4fmu_common/init.d/3030_io_camflyer b/ROMFS/px4fmu_common/init.d/3030_io_camflyer index ce5ee71313..7620fd6017 100644 --- a/ROMFS/px4fmu_common/init.d/3030_io_camflyer +++ b/ROMFS/px4fmu_common/init.d/3030_io_camflyer @@ -39,10 +39,11 @@ then param set FW_RR_FF 0.6 param set FW_RR_IMAX 0.2 param set FW_RR_P 0.04 + + param set PWM_DISARMED 1000 fi set MIXER fw_generic_wing # Provide ESC a constant 1000 us pulse while disarmed set PWM_OUT 4 -set PWM_DISARMED 1000 diff --git a/ROMFS/px4fmu_common/init.d/3031_phantom b/ROMFS/px4fmu_common/init.d/3031_phantom index 05a2c7a3b4..aa1761a091 100644 --- a/ROMFS/px4fmu_common/init.d/3031_phantom +++ b/ROMFS/px4fmu_common/init.d/3031_phantom @@ -40,6 +40,9 @@ then param set FW_RR_P 0.08 param set FW_R_LIM 50 param set FW_R_RMAX 50 + + param set PWM_DISARMED 1000 + # Bottom of bay and nominal zero-pitch attitude differ # the payload bay is pitched up about 7 degrees param set SENS_BOARD_Y_OFF 7.0 @@ -49,4 +52,3 @@ set MIXER phantom # Provide ESC a constant 1000 us pulse set PWM_OUT 4 -set PWM_DISARMED 1000 diff --git a/ROMFS/px4fmu_common/init.d/3033_wingwing b/ROMFS/px4fmu_common/init.d/3033_wingwing index c7ce143ac4..dbaa7fb253 100644 --- a/ROMFS/px4fmu_common/init.d/3033_wingwing +++ b/ROMFS/px4fmu_common/init.d/3033_wingwing @@ -39,12 +39,15 @@ then param set FW_PR_FF 0.35 param set FW_RR_FF 0.6 param set FW_RR_P 0.04 + + # Configure this as plane + param set MAV_TYPE 1 + + param set PWM_DISARMED 1000 fi -# Configure this as plane -set MAV_TYPE 1 # Set mixer set MIXER wingwing + # Provide ESC a constant 1000 us pulse set PWM_OUT 4 -set PWM_DISARMED 1000 diff --git a/ROMFS/px4fmu_common/init.d/3036_pigeon b/ROMFS/px4fmu_common/init.d/3036_pigeon index ed7e88cb6c..b4f33fd25d 100644 --- a/ROMFS/px4fmu_common/init.d/3036_pigeon +++ b/ROMFS/px4fmu_common/init.d/3036_pigeon @@ -27,7 +27,7 @@ then param set FW_AIRSPD_MAX 27 param set FW_ATT_TC 0.3 param set FW_L1_DAMPING 0.75 - param set FW_L1_PERIOD 15 + param set FW_L1_PERIOD 20.0 param set FW_PR_FF 0.35 param set FW_PR_IMAX 0.2 param set FW_PR_P 0.05 @@ -42,15 +42,14 @@ then param set FW_R_RMAX 50 param set FW_R_TC 0.3 + param set PWM_DISARMED 1000 + # Bottom of bay and nominal zero-pitch attitude differ # the payload bay is pitched up about 7 degrees param set SENS_BOARD_Y_OFF 11.9 - - param set FW_L1_PERIOD 20.0 fi set MIXER phantom # Provide ESC a constant 1000 us pulse set PWM_OUT 4 -set PWM_DISARMED 1000 diff --git a/ROMFS/px4fmu_common/init.d/3037_parrot_disco_mod b/ROMFS/px4fmu_common/init.d/3037_parrot_disco_mod index ba80e5b240..2e38e4b2b6 100644 --- a/ROMFS/px4fmu_common/init.d/3037_parrot_disco_mod +++ b/ROMFS/px4fmu_common/init.d/3037_parrot_disco_mod @@ -81,11 +81,11 @@ then # Roll Integrator Anti-Windup param set FW_RR_IMAX 0.2 - + + param set PWM_DISARMED 1000 fi set MIXER fw_generic_wing.main.mix # Provide ESC a constant 1000 us pulse set PWM_OUT 4 -set PWM_DISARMED 1000 diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 48a9dd2fe3..1a4367a6ed 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -58,42 +58,42 @@ set +e # # Set default paramter values. # -set AUX_MODE pwm -set DATAMAN_OPT "" -set FAILSAFE none -set FAILSAFE_AUX none -set FCONFIG /fs/microsd/etc/config.txt -set FEXTRAS /fs/microsd/etc/extras.txt -set FRC /fs/microsd/etc/rc.txt -set FMU_ARGS "" -set FMU_MODE pwm -set IO_FILE "" -set IO_PRESENT no -set LOG_FILE /fs/microsd/bootlog.txt -set MAVLINK_F default -set MAVLINK_COMPANION_DEVICE /dev/ttyS2 -set MAV_TYPE none -set MIXER none -set MIXER_AUX none -set MIXER_FILE none -set MK_MODE none -set MKBLCTRL_ARG "" -set OUTPUT_MODE none -set PARAM_FILE /fs/microsd/params -set PWM_AUX_DISARMED p:PWM_AUX_DISARMED -set PWM_AUX_MAX p:PWM_AUX_MAX -set PWM_AUX_MIN p:PWM_AUX_MIN -set PWM_AUX_OUT none -set PWM_AUX_RATE none -set PWM_DISARMED p:PWM_DISARMED -set PWM_MAX p:PWM_MAX -set PWM_MIN p:PWM_MIN -set PWM_OUT none -set PWM_RATE p:PWM_RATE -set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers -set USE_IO no -set VEHICLE_TYPE none -set TUNE_ERR "ML<