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Autostart: generic quad, hexa and octo added, WIP

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This commit is contained in:
Anton Babushkin
2014-01-09 10:05:24 +01:00
parent 9a5ef70070
commit 532c4c771e
13 changed files with 201 additions and 239 deletions
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ROMFS/px4fmu_common/init.d/4001_quad_x_pwm
+17
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@@ -0,0 +1,17 @@
#!nsh
# Maintainers: Anton Babushkin <anton.babushkin@me.com>, Lorenz Meier <lm@inf.ethz.ch>
echo "[init] PX4FMU v1, v2 with or without IO on generic quadcopter X with PWM ESCs"
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
fi
set FRAME_TYPE mc
set FRAME_GEOMETRY x
set FRAME_COUNT 4
set PWM_RATE 400
ROMFS/px4fmu_common/init.d/4010_dji_f330
+14 -12
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@@ -1,24 +1,29 @@
#!nsh
# Maintainers: Anton Babushkin <anton.babushkin@me.com>
echo "[init] PX4FMU v1, v2 with or without IO on DJI F330"
# Use generic quad X PWM as base
sh /etc/init.d/4001_quad_x_pwm
if [ $DO_AUTOCONFIG == yes ]
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_ATTRATE_P 0.12
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_D 0.004
param set MC_YAWPOS_P 2.8
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 MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.05
param set MC_YAWRATE_D 0.0
param set MPC_TILT_MAX 0.5
param set MPC_THR_MAX 0.8
@@ -37,10 +42,7 @@ then
param set MPC_Z_VEL_P 0.20
fi
set FRAME_TYPE mc
set FRAME_GEOMETRY x
set FRAME_COUNT 4
set PWM_RATE 400
# DJI ESC range
set PWM_DISARMED 900
set PWM_MIN 1200
set PWM_MAX 1900
set PWM_DISARMED 900
ROMFS/px4fmu_common/init.d/4011_dji_f450
+18 -14
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@@ -1,30 +1,34 @@
#!nsh
# Maintainers: Lorenz Meier <lm@inf.ethz.ch>
echo "[init] PX4FMU v1, v2 with or without IO on DJI F450"
# Use generic quad X PWM as base
sh /etc/init.d/4001_quad_x_pwm
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
param set MC_ATTRATE_D 0.004
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_P 0.12
param set MC_ATT_D 0.0
param set MC_ATT_I 0.0
param set MC_ATT_P 7.0
param set MC_YAWPOS_D 0.0
param set MC_YAWPOS_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_I 0.0
param set MC_ATTRATE_D 0.004
param set MC_YAWPOS_P 2.0
param set MC_YAWRATE_D 0.005
param set MC_YAWRATE_I 0.2
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 FRAME_TYPE mc
set FRAME_GEOMETRY x
set FRAME_COUNT 4
set PWM_RATE 400
# DJI ESC range
set PWM_DISARMED 900
set PWM_MIN 1200
set PWM_MAX 1900
set PWM_DISARMED 900
ROMFS/px4fmu_common/init.d/4012_hk_x550
+27
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@@ -0,0 +1,27 @@
#!nsh
# Maintainers: Todd Stellanova <tstellanova@gmail.com>
echo "[init] PX4FMU v1, v2 with or without IO on HobbyKing X550"
# Use generic quad X PWM as base
sh /etc/init.d/4001_quad_x_pwm
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
param set MC_ATT_P 5.5
param set MC_ATT_I 0
param set MC_ATT_D 0
param set MC_ATTRATE_P 0.14
param set MC_ATTRATE_I 0
param set MC_ATTRATE_D 0.006
param set MC_YAWPOS_P 0.6
param set MC_YAWPOS_I 0
param set MC_YAWPOS_D 0
param set MC_YAWRATE_P 0.08
param set MC_YAWRATE_I 0
param set MC_YAWRATE_D 0
fi
ROMFS/px4fmu_common/init.d/5001_quad_+_pwm
+17
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@@ -0,0 +1,17 @@
#!nsh
# Maintainers: Anton Babushkin <anton.babushkin@me.com>, Lorenz Meier <lm@inf.ethz.ch>
echo "[init] PX4FMU v1, v2 with or without IO on generic quadcopter + with PWM ESCs"
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
fi
set FRAME_TYPE mc
set FRAME_GEOMETRY +
set FRAME_COUNT 4
set PWM_RATE 400
ROMFS/px4fmu_common/init.d/6001_hexa_x_pwm
+17
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@@ -0,0 +1,17 @@
#!nsh
# Maintainers: Anton Babushkin <anton.babushkin@me.com>, Lorenz Meier <lm@inf.ethz.ch>
echo "[init] PX4FMU v1, v2 with or without IO on generic hexacopter X with PWM ESCs"
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
fi
set FRAME_TYPE mc
set FRAME_GEOMETRY x
set FRAME_COUNT 6
set PWM_RATE 400
ROMFS/px4fmu_common/init.d/666_fmu_q_x550
-76
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@@ -1,76 +0,0 @@
#!nsh
echo "[init] 666_fmu_q_x550: PX4FMU Quad X550 with or without IO"
#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
param set MC_ATTRATE_P 0.14
param set MC_ATTRATE_I 0
param set MC_ATTRATE_D 0.006
param set MC_ATT_P 5.5
param set MC_ATT_I 0
param set MC_ATT_D 0
param set MC_YAWPOS_D 0
param set MC_YAWPOS_I 0
param set MC_YAWPOS_P 0.6
param set MC_YAWRATE_D 0
param set MC_YAWRATE_I 0
param set MC_YAWRATE_P 0.08
param set RC_SCALE_PITCH 1
param set RC_SCALE_ROLL 1
param set RC_SCALE_YAW 3
param set SYS_AUTOCONFIG 0
param save
fi
#
# Force some key parameters to sane values
# MAV_TYPE 2 = quadrotor
#
param set MAV_TYPE 2
#
# Start and configure PX4IO or FMU interface
#
if px4io detect
then
# Start MAVLink (depends on orb)
mavlink start
usleep 5000
sh /etc/init.d/rc.io
else
# Start MAVLink (on UART1 / ttyS0)
mavlink start -d /dev/ttyS0
usleep 5000
fmu mode_pwm
param set BAT_V_SCALING 0.004593
set EXIT_ON_END yes
fi
#
# Load mixer
#
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
#
# Set PWM output frequency
#
pwm rate -c 1234 -r 400
#
# Set disarmed, min and max PWM signals
#
pwm disarmed -c 1234 -p 900
pwm min -c 1234 -p 1100
pwm max -c 1234 -p 1900
#
# Start common for all multirotors apps
#
sh /etc/init.d/rc.multirotor
ROMFS/px4fmu_common/init.d/7001_hexa_+_pwm
+17
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@@ -0,0 +1,17 @@
#!nsh
# Maintainers: Anton Babushkin <anton.babushkin@me.com>, Lorenz Meier <lm@inf.ethz.ch>
echo "[init] PX4FMU v1, v2 with or without IO on generic hexacopter + with PWM ESCs"
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
fi
set FRAME_TYPE mc
set FRAME_GEOMETRY +
set FRAME_COUNT 4
set PWM_RATE 400
ROMFS/px4fmu_common/init.d/8001_octo_x_pwm
+17
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@@ -0,0 +1,17 @@
#!nsh
# Maintainers: Anton Babushkin <anton.babushkin@me.com>, Lorenz Meier <lm@inf.ethz.ch>
echo "[init] PX4FMU v1, v2 with or without IO on generic octocopter X with PWM ESCs"
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
fi
set FRAME_TYPE mc
set FRAME_GEOMETRY x
set FRAME_COUNT 8
set PWM_RATE 400
ROMFS/px4fmu_common/init.d/9001_octo_+_pwm
+17
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@@ -0,0 +1,17 @@
#!nsh
# Maintainers: Anton Babushkin <anton.babushkin@me.com>, Lorenz Meier <lm@inf.ethz.ch>
echo "[init] PX4FMU v1, v2 with or without IO on generic octocopter + with PWM ESCs"
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
fi
set FRAME_TYPE mc
set FRAME_GEOMETRY +
set FRAME_COUNT 8
set PWM_RATE 400
ROMFS/px4fmu_common/init.d/rc.autostart
+16 -15
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@@ -17,53 +17,54 @@
# 11000 .. 11999 Hexa Cox
# 12000 .. 12999 Octo Cox
if param compare SYS_AUTOSTART 4008 8
if param compare SYS_AUTOSTART 4001
then
sh /etc/init.d/4001_quad_x_pwm
fi
if param compare SYS_AUTOSTART 4008
then
#sh /etc/init.d/4008_ardrone
fi
if param compare SYS_AUTOSTART 4009 9
if param compare SYS_AUTOSTART 4009
then
#sh /etc/init.d/4009_ardrone_flow
fi
if param compare SYS_AUTOSTART 4010 10
if param compare SYS_AUTOSTART 4010
then
sh /etc/init.d/4010_dji_f330
fi
if param compare SYS_AUTOSTART 4011 11
if param compare SYS_AUTOSTART 4011
then
sh /etc/init.d/4011_dji_f450
fi
if param compare SYS_AUTOSTART 4012
then
#sh /etc/init.d/666_fmu_q_x550
sh /etc/init.d/4012_hk_x550
fi
if param compare SYS_AUTOSTART 6012 12
if param compare SYS_AUTOSTART 6001
then
#set MIXER /etc/mixers/FMU_hex_x.mix
#sh /etc/init.d/rc.hexa
sh /etc/init.d/6001_hexa_x_pwm
fi
if param compare SYS_AUTOSTART 7013 13
if param compare SYS_AUTOSTART 7001
then
#set MIXER /etc/mixers/FMU_hex_+.mix
#sh /etc/init.d/rc.hexa
sh /etc/init.d/7001_hexa_+_pwm
fi
if param compare SYS_AUTOSTART 8001
then
#set MIXER /etc/mixers/FMU_octo_x.mix
#sh /etc/init.d/rc.octo
sh /etc/init.d/8001_octo_x_pwm
fi
if param compare SYS_AUTOSTART 9001
then
#set MIXER /etc/mixers/FMU_octo_+.mix
#sh /etc/init.d/rc.octo
sh /etc/init.d/9001_octo_+_pwm
fi
if param compare SYS_AUTOSTART 12001
ROMFS/px4fmu_common/init.d/rc.hexa
-94
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@@ -1,94 +0,0 @@
#!nsh
echo "[init] PX4FMU v1, v2 with or without IO on Hex"
#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
param set SYS_AUTOCONFIG 0
param set MC_ATTRATE_D 0.004
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_P 0.12
param set MC_ATT_D 0.0
param set MC_ATT_I 0.0
param set MC_ATT_P 7.0
param set MC_YAWPOS_D 0.0
param set MC_YAWPOS_I 0.0
param set MC_YAWPOS_P 2.0
param set MC_YAWRATE_D 0.005
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_P 0.3
param set NAV_TAKEOFF_ALT 3.0
param set MPC_TILT_MAX 0.5
param set MPC_THR_MAX 0.7
param set MPC_THR_MIN 0.3
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
param save
fi
#
# Force some key parameters to sane values
# MAV_TYPE list: https://pixhawk.ethz.ch/mavlink/
# 13 = hexarotor
#
param set MAV_TYPE 13
set EXIT_ON_END no
#
# Start and configure PX4IO interface
#
if px4io detect
then
# Start MAVLink (depends on orb)
mavlink start
usleep 5000
sh /etc/init.d/rc.io
else
# This is not possible on a hexa
tone_alarm error
fi
#
# Load mixer
#
mixer load /dev/pwm_output $MIXER
#
# Set PWM output frequency to 400 Hz
#
pwm rate -a -r 400
#
# Set disarmed, min and max PWM signals
#
pwm disarmed -c 123456 -p 900
pwm min -c 123456 -p 1100
pwm max -c 123456 -p 1900
#
# Start common for all multirotors apps
#
sh /etc/init.d/rc.multirotor
if [ $EXIT_ON_END == yes ]
then
exit
fi
ROMFS/px4fmu_common/init.d/rc.mc_interface
+24 -28
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@@ -3,37 +3,33 @@
# Script to set PWM min / max limits and mixer
#
echo "Rotors count: $FRAME_COUNT"
if [ $FRAME_COUNT == 4 ]
then
set FRAME_COUNT_STR quad
set OUTPUTS 1234
param set MAV_TYPE 2
fi
if [ $FRAME_COUNT == 6 ]
then
set FRAME_COUNT_STR hex
set OUTPUTS 123456
param set MAV_TYPE 13
fi
if [ $FRAME_COUNT == 8 ]
then
set FRAME_COUNT_STR octo
set OUTPUTS 12345678
param set MAV_TYPE 14
fi
#
# Load mixer
#
if [ $FRAME_GEOMETRY == x ]
then
echo "Frame geometry X"
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
else
if [ $FRAME_GEOMETRY == w ]
then
echo "Frame geometry W"
mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix
else
echo "Frame geometry +"
mixer load /dev/pwm_output /etc/mixers/FMU_quad_+.mix
fi
fi
if [ $FRAME_COUNT == 4 ]
then
set OUTPUTS 1234
param set MAV_TYPE 2
else
if [ $FRAME_COUNT == 6 ]
then
set OUTPUTS 123456
param set MAV_TYPE 13
else
set OUTPUTS 12345678
fi
fi
echo "Frame geometry: ${FRAME_GEOMETRY}"
set MIXER /etc/mixers/FMU_${FRAME_GEOMETRY_STR}_${FRAME_GEOMETRY}.mix
echo "Loading mixer: ${MIXER}"
mixer load /dev/pwm_output ${MIXER}
#
# Set PWM output frequency