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Merge remote-tracking branch 'px4/master' into bottle_drop

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This commit is contained in:
Julian Oes
2014-03-29 11:16:15 +01:00
parent 873fa4cb40 9b1de5004c
commit 33d65eae97
135 changed files with 9310 additions and 5858 deletions
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ROMFS/px4fmu_common/init.d/10016_3dr_iris
+2 -2
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@@ -10,11 +10,11 @@ sh /etc/init.d/rc.mc_defaults
if [ $DO_AUTOCONFIG == yes ]
then
# TODO tune roll/pitch separately
param set MC_ROLL_P 9.0
param set MC_ROLL_P 7.0
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_PITCH_P 7.0
param set MC_PITCHRATE_P 0.13
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.004
ROMFS/px4fmu_common/init.d/11001_hexa_cox
+1 -1
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@@ -2,7 +2,7 @@
#
# UNTESTED UNTESTED!
#
# Generic 10” Hexa coaxial geometry
# Generic 10" Hexa coaxial geometry
#
# Lorenz Meier <lm@inf.ethz.ch>
#
ROMFS/px4fmu_common/init.d/12001_octo_cox
+1 -1
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@@ -1,6 +1,6 @@
#!nsh
#
# Generic 10” Octo coaxial geometry
# Generic 10" Octo coaxial geometry
#
# Lorenz Meier <lm@inf.ethz.ch>
#
ROMFS/px4fmu_common/init.d/2103_skyhunter_1800
+5
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@@ -0,0 +1,5 @@
#!nsh
sh /etc/init.d/rc.fw_defaults
set MIXER FMU_AET
ROMFS/px4fmu_common/init.d/3031_phantom
+30 -1
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@@ -2,9 +2,38 @@
#
# Phantom FPV Flying Wing
#
# Simon Wilks <sjwilks@gmail.com>
# Simon Wilks <sjwilks@gmail.com>, Thomas Gubler <thomasgubler@gmail.com>
#
sh /etc/init.d/rc.fw_defaults
if [ $DO_AUTOCONFIG == yes ]
then
param set FW_AIRSPD_MIN 13
param set FW_AIRSPD_TRIM 18
param set FW_AIRSPD_MAX 40
param set FW_ATT_TC 0.3
param set FW_L1_DAMPING 0.75
param set FW_L1_PERIOD 15
param set FW_PR_FF 0.2
param set FW_PR_I 0.005
param set FW_PR_IMAX 0.2
param set FW_PR_P 0.03
param set FW_P_LIM_MAX 50
param set FW_P_LIM_MIN -50
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 0
param set FW_RR_FF 0.5
param set FW_RR_I 0.02
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.08
param set FW_R_LIM 70
param set FW_R_RMAX 0
param set FW_T_HRATE_P 0.01
param set FW_T_RLL2THR 15
param set FW_T_SRATE_P 0.01
param set FW_T_TIME_CONST 5
fi
set MIXER FMU_Q
ROMFS/px4fmu_common/init.d/3033_wingwing
+25
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@@ -7,4 +7,29 @@
sh /etc/init.d/rc.fw_defaults
if [ $DO_AUTOCONFIG == yes ]
then
param set BAT_N_CELLS 2
param set FW_AIRSPD_MAX 15
param set FW_AIRSPD_MIN 7
param set FW_AIRSPD_TRIM 11
param set FW_ATT_TC 0.3
param set FW_L1_DAMPING 0.74
param set FW_L1_PERIOD 12
param set FW_LND_ANG 15
param set FW_LND_FLALT 5
param set FW_LND_HHDIST 15
param set FW_LND_HVIRT 13
param set FW_LND_TLALT 5
param set FW_THR_LND_MAX 0
param set FW_P_ROLLFF 2
param set FW_PR_FF 0.6
param set FW_PR_IMAX 0.2
param set FW_PR_P 0.06
param set FW_RR_FF 0.6
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.09
param set FW_THR_CRUISE 0.65
fi
set MIXER FMU_Q
ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
+42
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@@ -0,0 +1,42 @@
#!nsh
#
# TBS Caipirinha Flying Wing
#
# Thomas Gubler <thomasgubler@gmail.com>
#
sh /etc/init.d/rc.fw_defaults
if [ $DO_AUTOCONFIG == yes ]
then
# TODO: these are the X5 default parameters, update them to the caipi
param set FW_AIRSPD_MIN 15
param set FW_AIRSPD_TRIM 20
param set FW_AIRSPD_MAX 40
param set FW_ATT_TC 0.3
param set FW_L1_DAMPING 0.74
param set FW_L1_PERIOD 15
param set FW_PR_FF 0.3
param set FW_PR_I 0
param set FW_PR_IMAX 0.2
param set FW_PR_P 0.03
param set FW_P_LIM_MAX 45
param set FW_P_LIM_MIN -45
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 0
param set FW_RR_FF 0.3
param set FW_RR_I 0
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.03
param set FW_R_LIM 60
param set FW_R_RMAX 0
param set FW_T_HRATE_P 0.01
param set FW_T_RLL2THR 15
param set FW_T_SRATE_P 0.01
param set FW_T_TIME_CONST 5
fi
set MIXER FMU_Q
ROMFS/px4fmu_common/init.d/4001_quad_x
+1 -1
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@@ -1,6 +1,6 @@
#!nsh
#
# Generic 10” Quad X geometry
# Generic 10" Quad X geometry
#
# Lorenz Meier <lm@inf.ethz.ch>
#
ROMFS/px4fmu_common/init.d/4008_ardrone
+3 -1
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@@ -23,13 +23,15 @@ then
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.0
param set MC_YAW_P 1.0
param set MC_YAW_D 0.1
param set MC_YAWRATE_P 0.15
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0.0
param set MC_YAW_FF 0.15
param set BAT_V_SCALING 0.00838095238
fi
set OUTPUT_MODE ardrone
set USE_IO no
set MIXER skip
# set MAV_TYPE because no specific mixer is set
set MAV_TYPE 2
ROMFS/px4fmu_common/init.d/5001_quad_+
+1 -1
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@@ -1,6 +1,6 @@
#!nsh
#
# Generic 10” Quad + geometry
# Generic 10" Quad + geometry
#
# Anton Babushkin <anton.babushkin@me.com>
#
ROMFS/px4fmu_common/init.d/6001_hexa_x
+1 -1
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@@ -1,6 +1,6 @@
#!nsh
#
# Generic 10” Hexa X geometry
# Generic 10" Hexa X geometry
#
# Anton Babushkin <anton.babushkin@me.com>
#
ROMFS/px4fmu_common/init.d/7001_hexa_+
+1 -1
View File
@@ -1,6 +1,6 @@
#!nsh
#
# Generic 10” Hexa + geometry
# Generic 10" Hexa + geometry
#
# Anton Babushkin <anton.babushkin@me.com>
#
ROMFS/px4fmu_common/init.d/8001_octo_x
+1 -1
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@@ -1,6 +1,6 @@
#!nsh
#
# Generic 10” Octo X geometry
# Generic 10" Octo X geometry
#
# Anton Babushkin <anton.babushkin@me.com>
#
ROMFS/px4fmu_common/init.d/9001_octo_+
+1 -1
View File
@@ -1,6 +1,6 @@
#!nsh
#
# Generic 10” Octo + geometry
# Generic 10" Octo + geometry
#
# Anton Babushkin <anton.babushkin@me.com>
#
ROMFS/px4fmu_common/init.d/rc.autostart
+11
View File
@@ -68,6 +68,12 @@ then
set MODE custom
fi
if param compare SYS_AUTOSTART 2103 103
then
sh /etc/init.d/2103_skyhunter_1800
set MODE custom
fi
#
# Flying wing
#
@@ -97,6 +103,11 @@ then
sh /etc/init.d/3034_fx79
fi
if param compare SYS_AUTOSTART 3100
then
sh /etc/init.d/3100_tbs_caipirinha
fi
#
# Quad X
#
ROMFS/px4fmu_common/init.d/rc.fw_defaults
+2
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@@ -11,4 +11,6 @@ then
param set NAV_RTL_ALT 100
param set NAV_RTL_LAND_T -1
param set NAV_ACCEPT_RAD 50
param set RC_SCALE_ROLL 1
param set RC_SCALE_PITCH 1
fi
ROMFS/px4fmu_common/init.d/rc.usb
+7 -33
View File
@@ -5,38 +5,12 @@
echo "Starting MAVLink on this USB console"
# Stop tone alarm
tone_alarm stop
#
# Check for UORB
#
if uorb start
then
echo "uORB started"
fi
# Tell MAVLink that this link is "fast"
if mavlink stop
then
echo "stopped other MAVLink instance"
fi
mavlink start -b 230400 -d /dev/ttyACM0
# Stop commander
if commander stop
then
echo "Commander stopped"
fi
sleep 1
# Start the commander
if commander start
then
echo "Commander started"
fi
echo "MAVLink started, exiting shell.."
mavlink start -r 10000 -d /dev/ttyACM0
# Enable a number of interesting streams we want via USB
mavlink stream -d /dev/ttyACM0 -s NAMED_VALUE_FLOAT -r 10
mavlink stream -d /dev/ttyACM0 -s OPTICAL_FLOW -r 10
mavlink stream -d /dev/ttyACM0 -s ATTITUDE_CONTROLS -r 30
mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 10
# Exit shell to make it available to MAVLink
exit
exit
ROMFS/px4fmu_common/init.d/rcS
+43 -18
View File
@@ -108,7 +108,6 @@ then
set HIL no
set VEHICLE_TYPE none
set MIXER none
set USE_IO yes
set OUTPUT_MODE none
set PWM_OUTPUTS none
set PWM_RATE none
@@ -117,7 +116,10 @@ then
set PWM_MAX none
set MKBLCTRL_MODE none
set FMU_MODE pwm
set MAVLINK_FLAGS default
set EXIT_ON_END no
set MAV_TYPE none
set LOAD_DEFAULT_APPS yes
#
# Set DO_AUTOCONFIG flag to use it in AUTOSTART scripts
@@ -128,6 +130,16 @@ then
else
set DO_AUTOCONFIG no
fi
#
# Set USE_IO flag
#
if param compare SYS_USE_IO 1
then
set USE_IO yes
else
set USE_IO no
fi
#
# Set parameters and env variables for selected AUTOSTART
@@ -390,28 +402,34 @@ then
#
# MAVLink
#
set EXIT_ON_END no
if [ $HIL == yes ]
if [ $MAVLINK_FLAGS == default ]
then
sleep 1
mavlink start -b 230400 -d /dev/ttyACM0
usleep 5000
else
if [ $TTYS1_BUSY == yes ]
if [ $HIL == yes ]
then
# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else
mavlink start -d /dev/ttyS0
sleep 1
set MAVLINK_FLAGS "-r 10000 -d /dev/ttyACM0"
usleep 5000
# Exit from nsh to free port for mavlink
set EXIT_ON_END yes
else
# Start MAVLink on default port: ttyS1
mavlink start
usleep 5000
# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s
if [ $TTYS1_BUSY == yes ]
then
# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else
set MAVLINK_FLAGS "-r 1000 -d /dev/ttyS0"
usleep 5000
# Exit from nsh to free port for mavlink
set EXIT_ON_END yes
else
# Start MAVLink on default port: ttyS1
set MAVLINK_FLAGS "-r 1000"
usleep 5000
fi
fi
fi
mavlink start $MAVLINK_FLAGS
usleep 5000
#
# Start the datamanager
@@ -471,7 +489,10 @@ then
sh /etc/init.d/rc.interface
# Start standard fixedwing apps
sh /etc/init.d/rc.fw_apps
if [ $LOAD_DEFAULT_APPS == yes ]
then
sh /etc/init.d/rc.fw_apps
fi
fi
#
@@ -527,7 +548,10 @@ then
sh /etc/init.d/rc.interface
# Start standard multicopter apps
sh /etc/init.d/rc.mc_apps
if [ $LOAD_DEFAULT_APPS == yes ]
then
sh /etc/init.d/rc.mc_apps
fi
fi
#
@@ -550,6 +574,7 @@ then
if [ $EXIT_ON_END == yes ]
then
echo "[init] Exit from nsh"
exit
fi