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autostart fixes

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This commit is contained in:
Anton Babushkin
2014-01-18 16:42:49 +01:00
parent 5b2f3b0b58
commit 524a502a56
7 changed files with 40 additions and 94 deletions
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ROMFS/px4fmu_common/init.d/10015_tbs_discovery
-2
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@@ -12,13 +12,11 @@ then
# #
param set MC_ATT_P 5.0 param set MC_ATT_P 5.0
param set MC_ATT_I 0.0 param set MC_ATT_I 0.0
param set MC_ATT_D 0.0
param set MC_ATTRATE_P 0.17 param set MC_ATTRATE_P 0.17
param set MC_ATTRATE_I 0.0 param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_D 0.006 param set MC_ATTRATE_D 0.006
param set MC_YAWPOS_P 0.5 param set MC_YAWPOS_P 0.5
param set MC_YAWPOS_I 0.15 param set MC_YAWPOS_I 0.15
param set MC_YAWPOS_D 0.0
param set MC_YAWRATE_P 0.2 param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.0 param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0.0 param set MC_YAWRATE_D 0.0
ROMFS/px4fmu_common/init.d/10016_3dr_iris
+13 -17
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@@ -12,32 +12,28 @@ then
# #
param set MC_ATT_P 9.0 param set MC_ATT_P 9.0
param set MC_ATT_I 0.0 param set MC_ATT_I 0.0
param set MC_ATT_D 0.0
param set MC_ATTRATE_P 0.13 param set MC_ATTRATE_P 0.13
param set MC_ATTRATE_I 0.0 param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_D 0.004 param set MC_ATTRATE_D 0.004
param set MC_YAWPOS_P 0.5 param set MC_YAWPOS_P 0.5
param set MC_YAWPOS_I 0.15 param set MC_YAWPOS_I 0.15
param set MC_YAWPOS_D 0.0
param set MC_YAWRATE_P 0.2 param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.0 param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0.0 param set MC_YAWRATE_D 0.0
param set MPC_TILT_MAX 0.5 param set MPC_TILT_MAX 1.0
param set MPC_THR_MAX 0.8 param set MPC_THR_MAX 1.0
param set MPC_THR_MIN 0.2 param set MPC_THR_MIN 0.1
param set MPC_XY_D 0 param set MPC_XY_P 1.0
param set MPC_XY_P 0.5 param set MPC_XY_VEL_D 0.01
param set MPC_XY_VEL_D 0 param set MPC_XY_VEL_I 0.02
param set MPC_XY_VEL_I 0 param set MPC_XY_VEL_MAX 5
param set MPC_XY_VEL_MAX 3 param set MPC_XY_VEL_P 0.1
param set MPC_XY_VEL_P 0.2 param set MPC_Z_P 1.0
param set MPC_Z_D 0 param set MPC_Z_VEL_D 0.0
param set MPC_Z_P 1 param set MPC_Z_VEL_I 0.02
param set MPC_Z_VEL_D 0 param set MPC_Z_VEL_MAX 3
param set MPC_Z_VEL_I 0.1 param set MPC_Z_VEL_P 0.1
param set MPC_Z_VEL_MAX 2
param set MPC_Z_VEL_P 0.20
param set BAT_V_SCALING 0.00989 param set BAT_V_SCALING 0.00989
param set BAT_C_SCALING 0.0124 param set BAT_C_SCALING 0.0124
ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil
+13 -17
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@@ -15,29 +15,25 @@ then
param set MC_ATTRATE_D 0.004 param set MC_ATTRATE_D 0.004
param set MC_ATT_P 7.0 param set MC_ATT_P 7.0
param set MC_ATT_I 0.0 param set MC_ATT_I 0.0
param set MC_ATT_D 0.0
param set MC_YAWPOS_P 2.0 param set MC_YAWPOS_P 2.0
param set MC_YAWPOS_I 0.0 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_P 0.3
param set MC_YAWRATE_I 0.2 param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0.005 param set MC_YAWRATE_D 0.005
param set MPC_TILT_MAX 0.5 param set MPC_TILT_MAX 1.0
param set MPC_THR_MAX 0.8 param set MPC_THR_MAX 1.0
param set MPC_THR_MIN 0.2 param set MPC_THR_MIN 0.1
param set MPC_XY_D 0 param set MPC_XY_P 1.0
param set MPC_XY_P 0.5 param set MPC_XY_VEL_D 0.01
param set MPC_XY_VEL_D 0 param set MPC_XY_VEL_I 0.02
param set MPC_XY_VEL_I 0 param set MPC_XY_VEL_MAX 5
param set MPC_XY_VEL_MAX 3 param set MPC_XY_VEL_P 0.1
param set MPC_XY_VEL_P 0.2 param set MPC_Z_P 1.0
param set MPC_Z_D 0 param set MPC_Z_VEL_D 0.0
param set MPC_Z_P 1 param set MPC_Z_VEL_I 0.02
param set MPC_Z_VEL_D 0 param set MPC_Z_VEL_MAX 3
param set MPC_Z_VEL_I 0.1 param set MPC_Z_VEL_P 0.1
param set MPC_Z_VEL_MAX 2
param set MPC_Z_VEL_P 0.20
fi fi
set HIL yes set HIL yes
ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil
+1 -37
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@@ -5,42 +5,6 @@
# Maintainers: Anton Babushkin <anton.babushkin@me.com> # Maintainers: Anton Babushkin <anton.babushkin@me.com>
# #
if [ $DO_AUTOCONFIG == yes ] sh /etc/ini.d/1001_rc_quad_x.hil
then
#
# Default parameters for this platform
#
param set MC_ATTRATE_P 0.12
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_D 0.004
param set MC_ATT_P 7.0
param set MC_ATT_I 0.0
param set MC_ATT_D 0.0
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
param set MPC_TILT_MAX 0.5
param set MPC_THR_MAX 0.8
param set MPC_THR_MIN 0.2
param set MPC_XY_D 0
param set MPC_XY_P 0.5
param set MPC_XY_VEL_D 0
param set MPC_XY_VEL_I 0
param set MPC_XY_VEL_MAX 3
param set MPC_XY_VEL_P 0.2
param set MPC_Z_D 0
param set MPC_Z_P 1
param set MPC_Z_VEL_D 0
param set MPC_Z_VEL_I 0.1
param set MPC_Z_VEL_MAX 2
param set MPC_Z_VEL_P 0.20
fi
set HIL yes
set VEHICLE_TYPE mc
set MIXER FMU_quad_+ set MIXER FMU_quad_+
ROMFS/px4fmu_common/init.d/4010_dji_f330
+13 -17
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@@ -12,32 +12,28 @@ then
# #
param set MC_ATT_P 7.0 param set MC_ATT_P 7.0
param set MC_ATT_I 0.0 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_P 0.12
param set MC_ATTRATE_I 0.0 param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_D 0.004 param set MC_ATTRATE_D 0.004
param set MC_YAWPOS_P 2.8 param set MC_YAWPOS_P 2.8
param set MC_YAWPOS_I 0.0 param set MC_YAWPOS_I 0.0
param set MC_YAWPOS_D 0.0
param set MC_YAWRATE_P 0.2 param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.05 param set MC_YAWRATE_I 0.05
param set MC_YAWRATE_D 0.0 param set MC_YAWRATE_D 0.0
param set MPC_TILT_MAX 0.5 param set MPC_TILT_MAX 1.0
param set MPC_THR_MAX 0.8 param set MPC_THR_MAX 1.0
param set MPC_THR_MIN 0.2 param set MPC_THR_MIN 0.1
param set MPC_XY_D 0 param set MPC_XY_P 1.0
param set MPC_XY_P 0.5 param set MPC_XY_VEL_D 0.01
param set MPC_XY_VEL_D 0 param set MPC_XY_VEL_I 0.02
param set MPC_XY_VEL_I 0 param set MPC_XY_VEL_MAX 5
param set MPC_XY_VEL_MAX 3 param set MPC_XY_VEL_P 0.1
param set MPC_XY_VEL_P 0.2 param set MPC_Z_P 1.0
param set MPC_Z_D 0 param set MPC_Z_VEL_D 0.0
param set MPC_Z_P 1 param set MPC_Z_VEL_I 0.02
param set MPC_Z_VEL_D 0 param set MPC_Z_VEL_MAX 3
param set MPC_Z_VEL_I 0.1 param set MPC_Z_VEL_P 0.1
param set MPC_Z_VEL_MAX 2
param set MPC_Z_VEL_P 0.20
fi fi
set VEHICLE_TYPE mc set VEHICLE_TYPE mc
ROMFS/px4fmu_common/init.d/4011_dji_f450
-2
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@@ -12,13 +12,11 @@ then
# #
param set MC_ATT_P 7.0 param set MC_ATT_P 7.0
param set MC_ATT_I 0.0 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_P 0.12
param set MC_ATTRATE_I 0.0 param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_D 0.004 param set MC_ATTRATE_D 0.004
param set MC_YAWPOS_P 2.0 param set MC_YAWPOS_P 2.0
param set MC_YAWPOS_I 0.0 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_P 0.3
param set MC_YAWRATE_I 0.2 param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0.005 param set MC_YAWRATE_D 0.005
ROMFS/px4fmu_common/init.d/4012_hk_x550
-2
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@@ -12,13 +12,11 @@ then
# #
param set MC_ATT_P 5.5 param set MC_ATT_P 5.5
param set MC_ATT_I 0 param set MC_ATT_I 0
param set MC_ATT_D 0
param set MC_ATTRATE_P 0.14 param set MC_ATTRATE_P 0.14
param set MC_ATTRATE_I 0 param set MC_ATTRATE_I 0
param set MC_ATTRATE_D 0.006 param set MC_ATTRATE_D 0.006
param set MC_YAWPOS_P 0.6 param set MC_YAWPOS_P 0.6
param set MC_YAWPOS_I 0 param set MC_YAWPOS_I 0
param set MC_YAWPOS_D 0
param set MC_YAWRATE_P 0.08 param set MC_YAWRATE_P 0.08
param set MC_YAWRATE_I 0 param set MC_YAWRATE_I 0
param set MC_YAWRATE_D 0 param set MC_YAWRATE_D 0