ROMFS/px4fmu_common/init.d/airframes/4070_aerofc

#!/bin/sh
#
# @name Intel Aero Ready to Fly Drone
#
# @board px4_fmu-v2 exclude
# @board px4_fmu-v3 exclude
# @board px4_fmu-v4 exclude
# @board px4_fmu-v4pro exclude
# @board px4_fmu-v5 exclude
# @board px4_fmu-v5x exclude
#
# @type Quadrotor x
# @class Copter
#
# @maintainer Beat Kueng <beat@px4.io>
#

sh /etc/init.d/rc.mc_defaults

#
# Load default params for this platform
#
if [ $AUTOCNF = yes ]
then
	# Set all params here, then disable autoconfig
	param set EKF2_GPS_POS_X -0.0600
	param set EKF2_GPS_POS_Z -0.1000
	param set EKF2_MIN_OBS_DT 50

	param set EKF2_BARO_GATE 10
	param set EKF2_BARO_NOISE 5
	param set EKF2_ACC_NOISE 0.7

	param set LNDMC_Z_VEL_MAX 2.0000

	param set MC_ROLL_P 8.0000
	param set MC_ROLLRATE_P 0.1300
	param set MC_ROLLRATE_I 0.07
	param set MC_ROLLRATE_D 0.0012
	param set MC_ROLLRATE_MAX 360
	param set MC_PITCH_P 8.0000
	param set MC_PITCHRATE_P 0.1300
	param set MC_PITCHRATE_I 0.07
	param set MC_PITCHRATE_D 0.0012
	param set MC_PITCHRATE_MAX 360
	param set MC_YAW_P 4
	param set MC_YAWRATE_P 0.119999997317790985
	param set MC_YAWRATE_I 0.050000000745058060
	param set MC_YAWRATE_D 0

	param set MPC_LAND_SPEED 0.7000
	param set MPC_MANTHR_MIN 0.0400
	param set MPC_THR_HOVER 0.5000
	param set MPC_THR_MAX 0.9400
	param set MPC_THR_MIN 0.1000
	param set MPC_XY_CRUISE 8.0000
	param set MPC_XY_P 1.5000
	param set MPC_XY_VEL_P 0.1500
	param set MPC_Z_P 1.5000
	param set MPC_Z_VEL_I 0.1500
	param set MPC_Z_VEL_MAX_DN 4.0000
	param set MPC_Z_VEL_MAX_UP 5.0000
	param set MPC_Z_VEL_P 0.8000

	# TELEM2 config
	param set MAV_1_CONFIG 102
	param set MAV_1_RATE 80000
	param set MAV_1_FORWARD 1
	param set SER_TEL2_BAUD 921600
fi

if param compare SYS_HITL 0
then
  tap_esc start -d /dev/ttyS0 -n 4
  usleep 300000

  set OUTPUT_MODE tap_esc
fi

set MIXER quad_x
set USE_IO no
ROMFS: change shebang from #!zsh to #!/bin/sh This was required for shellsheck. 2018-12-18 09:26:22 +01:00			`#!/bin/sh`
aerofc: Add autostart script As ASC use a non-standard UART for mavlink it is necessary check for the board name and set SYS_AUTOSTART to initialize mavlink on the right interface otherwise there is no way to change the SYS_AUTOSTART. 2016-09-09 14:42:26 -03:00			`#`
aerofc airframe: RTF -> Ready to Fly Drone & add maintainer 2017-05-11 10:27:28 +02:00			`# @name Intel Aero Ready to Fly Drone`
aerofc: Add autostart script As ASC use a non-standard UART for mavlink it is necessary check for the board name and set SYS_AUTOSTART to initialize mavlink on the right interface otherwise there is no way to change the SYS_AUTOSTART. 2016-09-09 14:42:26 -03:00			`#`
boards new split VENDOR_MODEL naming convention 2018-11-21 23:27:21 -05:00			`# @board px4_fmu-v2 exclude`
			`# @board px4_fmu-v3 exclude`
			`# @board px4_fmu-v4 exclude`
			`# @board px4_fmu-v4pro exclude`
			`# @board px4_fmu-v5 exclude`
UVify Core board support and airframes (Draco, Draco-R, IFO) (#12337) * also includes minor changes to make it easy to keep in sync with px4_fmu-v4 2019-08-24 06:02:25 +09:00			`# @board px4_fmu-v5x exclude`
Disable Aero on non-Aero boards 2016-12-20 18:17:54 +01:00			`#`
aerofc: Add autostart script As ASC use a non-standard UART for mavlink it is necessary check for the board name and set SYS_AUTOSTART to initialize mavlink on the right interface otherwise there is no way to change the SYS_AUTOSTART. 2016-09-09 14:42:26 -03:00			`# @type Quadrotor x`
Quad configs: add class field 2017-06-27 08:48:29 +02:00			`# @class Copter`
			`#`
Aero: Update maintainer 2018-01-06 12:19:31 +01:00			`# @maintainer Beat Kueng <beat@px4.io>`
aerofc airframe: RTF -> Ready to Fly Drone & add maintainer 2017-05-11 10:27:28 +02:00			`#`
aerofc: Add autostart script As ASC use a non-standard UART for mavlink it is necessary check for the board name and set SYS_AUTOSTART to initialize mavlink on the right interface otherwise there is no way to change the SYS_AUTOSTART. 2016-09-09 14:42:26 -03:00
			`sh /etc/init.d/rc.mc_defaults`

Add AUTOCNF to Intel Aero RTF Thanks to Beat Küng for improved tuning. 2016-11-16 16:30:27 -02:00			`#`
			`# Load default params for this platform`
			`#`
NuttX shell scripts: replace operator == with = - NuttX supports both versions - POSIX shell only supports '=' 2018-09-27 11:11:12 +02:00			`if [ $AUTOCNF = yes ]`
Add AUTOCNF to Intel Aero RTF Thanks to Beat Küng for improved tuning. 2016-11-16 16:30:27 -02:00			`then`
			`# Set all params here, then disable autoconfig`
Set parameters directly rather than script variables in VTOL airframe config files and alphabetize lists. 2018-08-22 19:17:26 -06:00			`param set EKF2_GPS_POS_X -0.0600`
			`param set EKF2_GPS_POS_Z -0.1000`
			`param set EKF2_MIN_OBS_DT 50`

ROMFS defaults drop floating point decimal 2018-12-04 17:28:42 -05:00			`param set EKF2_BARO_GATE 10`
			`param set EKF2_BARO_NOISE 5`
Set parameters directly rather than script variables in VTOL airframe config files and alphabetize lists. 2018-08-22 19:17:26 -06:00			`param set EKF2_ACC_NOISE 0.7`

4070_aerofc: update MPC and LND parameters 2017-04-04 18:46:48 +02:00			`param set LNDMC_Z_VEL_MAX 2.0000`

Add AUTOCNF to Intel Aero RTF Thanks to Beat Küng for improved tuning. 2016-11-16 16:30:27 -02:00			`param set MC_ROLL_P 8.0000`
			`param set MC_ROLLRATE_P 0.1300`
4070_aerofc: update MPC and LND parameters 2017-04-04 18:46:48 +02:00			`param set MC_ROLLRATE_I 0.07`
Add AUTOCNF to Intel Aero RTF Thanks to Beat Küng for improved tuning. 2016-11-16 16:30:27 -02:00			`param set MC_ROLLRATE_D 0.0012`
aerofc config: update default parameters for attitude & position controllers 2016-12-05 16:37:03 +01:00			`param set MC_ROLLRATE_MAX 360`
Add AUTOCNF to Intel Aero RTF Thanks to Beat Küng for improved tuning. 2016-11-16 16:30:27 -02:00			`param set MC_PITCH_P 8.0000`
			`param set MC_PITCHRATE_P 0.1300`
4070_aerofc: update MPC and LND parameters 2017-04-04 18:46:48 +02:00			`param set MC_PITCHRATE_I 0.07`
Add AUTOCNF to Intel Aero RTF Thanks to Beat Küng for improved tuning. 2016-11-16 16:30:27 -02:00			`param set MC_PITCHRATE_D 0.0012`
aerofc config: update default parameters for attitude & position controllers 2016-12-05 16:37:03 +01:00			`param set MC_PITCHRATE_MAX 360`
ROMFS defaults drop floating point decimal 2018-12-04 17:28:42 -05:00			`param set MC_YAW_P 4`
Add AUTOCNF to Intel Aero RTF Thanks to Beat Küng for improved tuning. 2016-11-16 16:30:27 -02:00			`param set MC_YAWRATE_P 0.119999997317790985`
			`param set MC_YAWRATE_I 0.050000000745058060`
ROMFS defaults drop floating point decimal 2018-12-04 17:28:42 -05:00			`param set MC_YAWRATE_D 0`
4070_aerofc: update MPC and LND parameters 2017-04-04 18:46:48 +02:00
			`param set MPC_LAND_SPEED 0.7000`
			`param set MPC_MANTHR_MIN 0.0400`
			`param set MPC_THR_HOVER 0.5000`
			`param set MPC_THR_MAX 0.9400`
			`param set MPC_THR_MIN 0.1000`
			`param set MPC_XY_CRUISE 8.0000`
			`param set MPC_XY_P 1.5000`
			`param set MPC_XY_VEL_P 0.1500`
			`param set MPC_Z_P 1.5000`
			`param set MPC_Z_VEL_I 0.1500`
			`param set MPC_Z_VEL_MAX_DN 4.0000`
			`param set MPC_Z_VEL_MAX_UP 5.0000`
			`param set MPC_Z_VEL_P 0.8000`

SYS_COMPANION: deprecate this param Replaced with the more generic serial config params. rc.mavlink contains automatic transition support that can be removed after the next release. 2018-09-05 17:01:11 +02:00			`# TELEM2 config`
serial generate config add 10 generic serial ports 2018-09-16 17:46:41 -04:00			`param set MAV_1_CONFIG 102`
SYS_COMPANION: deprecate this param Replaced with the more generic serial config params. rc.mavlink contains automatic transition support that can be removed after the next release. 2018-09-05 17:01:11 +02:00			`param set MAV_1_RATE 80000`
			`param set MAV_1_FORWARD 1`
			`param set SER_TEL2_BAUD 921600`
Add AUTOCNF to Intel Aero RTF Thanks to Beat Küng for improved tuning. 2016-11-16 16:30:27 -02:00			`fi`

Support of HITL simulation for Intel Aero FC (#9132) * Adding pwm_out_sim * pwm_out_sim driver will be by default part of Aero FC PX4 Nuttx drivers * tap_esc is off when SYS_HITL 1 2018-03-22 21:47:58 +01:00			`if param compare SYS_HITL 0`
			`then`
			`tap_esc start -d /dev/ttyS0 -n 4`
			`usleep 300000`

			`set OUTPUT_MODE tap_esc`
			`fi`
aerofc: Sleep for some time to wait tap_esc startup Or mixer load will fail 2016-09-26 17:57:05 -03:00
aerofc: Add autostart script As ASC use a non-standard UART for mavlink it is necessary check for the board name and set SYS_AUTOSTART to initialize mavlink on the right interface otherwise there is no way to change the SYS_AUTOSTART. 2016-09-09 14:42:26 -03:00			`set MIXER quad_x`
aerofc: Fixes for init 2016-09-12 17:10:55 -07:00			`set USE_IO no`
aerofc: Add autostart script As ASC use a non-standard UART for mavlink it is necessary check for the board name and set SYS_AUTOSTART to initialize mavlink on the right interface otherwise there is no way to change the SYS_AUTOSTART. 2016-09-09 14:42:26 -03:00