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create new multicopter rate controller module (mc_rate_control) split out of mc_att_control

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This commit is contained in:
Daniel Agar
2019-11-19 17:03:11 -05:00
committed by GitHub
parent b64abf48b2
commit 84fe64b1c2
80 changed files with 1231 additions and 775 deletions
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posix-configs/bbblue/px4.config
+4 -3
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@@ -22,10 +22,10 @@ param set SYS_AUTOSTART 4011
# Note that the setting here applies to all PWM channels.
# param set PWM_MIN 1120
# param set PWM_MAX 1920
# Not using DJI 430 LITE ESC anymore due to its hiccups:
# Not using DJI 430 LITE ESC anymore due to its hiccups:
# each random motor stop would cause a scary flip in the fly
# Replacing with 4 BLHeli32 (Wraith32 V2) ESCs solved the main problem in BBBlue porting
# Broadcast heartbeats on local network. This allows a ground control station
# to automatically find the drone on the local network.
param set MAV_BROADCAST 1
@@ -70,10 +70,11 @@ land_detector start multicopter
mc_pos_control start
mc_att_control start
mc_rate_control start
#fw_att_control start
#fw_pos_control_l1 start
mavlink start -n SoftAp -x -u 14556 -r 1000000
mavlink start -n SoftAp -x -u 14556 -r 1000000
# -n name of wifi interface: SoftAp, wlan or your custom interface,
# e.g., -n SoftAp . The default is wlan
posix-configs/bbblue/px4_fw.config
+5 -4
View File
@@ -25,7 +25,7 @@ param set SYS_AUTOSTART 4011
# Not using DJI 430 LITE ESC anymore due to its hiccups:
# each random motor stop would cause a scary flip in the fly
# Replacing with 4 BLHeli32 (Wraith32 V2) ESCs solved the main problem in BBBlue porting
# Broadcast heartbeats on local network. This allows a ground control station
# to automatically find the drone on the local network.
param set MAV_BROADCAST 1
@@ -36,7 +36,7 @@ param set MAV_TYPE 2
# Three possible main power battery sources for BBBlue:
# 1. onboard 2S LiPo battery connector, which is connect to ADC channel 6
# 2. onboard 9-18V DC Jack, which is connect to ADC channel 5. This is the board default.
# 3. other power source (e.g., LiPo battery more than 4S/18V).
# 3. other power source (e.g., LiPo battery more than 4S/18V).
# Scale the voltage to below 1.8V and connect it to ADC channel # 0, 1, 2 or 3.
param set BAT_ADC_CHANNEL 5
@@ -70,11 +70,12 @@ ekf2 start
#mc_pos_control start
#mc_att_control start
#mc_rate_control start
fw_att_control start
fw_pos_control_l1 start
mavlink start -n SoftAp -x -u 14556 -r 1000000
# -n name of wifi interface: SoftAp, wlan or your custom interface,
mavlink start -n SoftAp -x -u 14556 -r 1000000
# -n name of wifi interface: SoftAp, wlan or your custom interface,
# e.g., -n wlan . The default on BBBlue is SoftAp
sleep 1