mirror of
https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
synced 2026-05-22 01:12:31 +00:00
Rebase changes on upstream master
This brings in many of the changes from the PX4 fork on ATLFLight. Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
committed by
Julian Oes
Julian Oes
parent
efe9344fc2
commit
9f3bf8e9f4
8
posix-configs/eagle/200qx/mainapp-calib.config
Normal file
8
posix-configs/eagle/200qx/mainapp-calib.config
Normal file
@@ -0,0 +1,8 @@
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uorb start
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muorb start
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mavlink start -u 14556
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sleep 1
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mavlink stream -u 14556 -s HIGHRES_IMU -r 50
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mavlink stream -u 14556 -s ATTITUDE -r 50
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mavlink boot_complete
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commander start
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7
posix-configs/eagle/200qx/mainapp-flight.config
Normal file
7
posix-configs/eagle/200qx/mainapp-flight.config
Normal file
@@ -0,0 +1,7 @@
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uorb start
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muorb start
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mavlink start -u 14556
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sleep 1
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mavlink stream -u 14556 -s HIGHRES_IMU -r 50
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mavlink stream -u 14556 -s ATTITUDE -r 50
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mavlink boot_complete
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72
posix-configs/eagle/200qx/px4-calib.config
Normal file
72
posix-configs/eagle/200qx/px4-calib.config
Normal file
@@ -0,0 +1,72 @@
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uorb start
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param set CAL_GYRO0_ID 2293760
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param set CAL_ACC0_ID 1310720
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param set CAL_ACC1_ID 1376256
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param set CAL_MAG0_ID 196608
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param set RC_RECEIVER_TYPE 1
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rc_receiver start -D /dev/tty-1
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attitude_estimator_q start
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position_estimator_inav start
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mc_pos_control start
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mc_att_control start
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sleep 1
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param set SYS_AUTOSTART 4001
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param set SYS_AUTOCONFIG 1
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param set MAV_TYPE 2
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param set RC_MAP_THROTTLE 1
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param set RC_MAP_ROLL 2
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param set RC_MAP_PITCH 3
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param set RC_MAP_YAW 4
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param set RC_MAP_MODE_SW 5
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param set RC_MAP_POSCTL_SW 6
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param set RC1_MAX 1900
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param set RC1_MIN 1099
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param set RC1_TRIM 1099
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param set RC1_REV 1
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param set RC2_MAX 1900
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param set RC2_MIN 1099
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param set RC2_TRIM 1500
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param set RC2_REV -1
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param set RC3_MAX 1900
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param set RC3_MIN 1099
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param set RC3_TRIM 1500
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param set RC3_REV 1
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param set RC4_MAX 1900
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param set RC4_MIN 1099
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param set RC4_TRIM 1500
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param set RC4_REV -1
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param set RC5_MAX 1900
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param set RC5_MIN 1099
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param set RC5_TRIM 1500
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param set RC5_REV 1
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param set RC6_MAX 1900
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param set RC6_MIN 1099
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param set RC6_TRIM 1099
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param set RC6_REV 1
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sensors start
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param set MC_YAW_P 7.0
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param set MC_YAWRATE_P 0.08
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param set MC_YAWRATE_I 0.0
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param set MC_YAWRATE_D 0
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param set MC_PITCH_P 7.0
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param set MC_PITCHRATE_P 0.08
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param set MC_PITCHRATE_I 0.0
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param set MC_PITCHRATE_D 0.0001
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param set MC_ROLL_P 7.0
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param set MC_ROLLRATE_P 0.08
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param set MC_ROLLRATE_I 0.0
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param set MC_ROLLRATE_D 0.0001
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param set ATT_W_MAG 0.00
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param set PE_MAG_NOISE 1.0f
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param set SENS_BOARD_ROT 0
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param set MPU_GYRO_LPF_ENUM 4
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param set MPU_ACC_LPF_ENUM 4
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param set MPU_SAMPLE_RATE_ENUM 2
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sleep 1
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mpu9x50 start -D /dev/spi-1
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uart_esc start -D /dev/tty-2
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csr_gps start -D /dev/tty-3
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list_devices
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list_files
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list_tasks
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list_topics
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80
posix-configs/eagle/200qx/px4-flight.config
Normal file
80
posix-configs/eagle/200qx/px4-flight.config
Normal file
@@ -0,0 +1,80 @@
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uorb start
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param set CAL_GYRO0_ID 2293760
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param set CAL_ACC0_ID 1310720
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param set CAL_ACC1_ID 1376256
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param set CAL_MAG0_ID 196608
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commander start
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param set RC_RECEIVER_TYPE 1
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rc_receiver start -D /dev/tty-1
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attitude_estimator_q start
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position_estimator_inav start
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mc_pos_control start
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mc_att_control start
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sleep 1
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param set SYS_AUTOSTART 4001
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param set SYS_AUTOCONFIG 1
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param set MAV_TYPE 2
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param set RC_MAP_THROTTLE 1
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param set RC_MAP_ROLL 2
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param set RC_MAP_PITCH 3
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param set RC_MAP_YAW 4
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param set RC_MAP_MODE_SW 5
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param set RC_MAP_POSCTL_SW 6
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param set RC1_MAX 1900
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param set RC1_MIN 1099
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param set RC1_TRIM 1099
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param set RC1_REV 1
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param set RC2_MAX 1900
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param set RC2_MIN 1099
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param set RC2_TRIM 1500
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param set RC2_REV -1
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param set RC3_MAX 1900
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param set RC3_MIN 1099
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param set RC3_TRIM 1500
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param set RC3_REV 1
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param set RC4_MAX 1900
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param set RC4_MIN 1099
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param set RC4_TRIM 1500
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param set RC4_REV -1
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param set RC5_MAX 1900
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param set RC5_MIN 1099
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param set RC5_TRIM 1500
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param set RC5_REV 1
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param set RC6_MAX 1900
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param set RC6_MIN 1099
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param set RC6_TRIM 1099
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param set RC6_REV 1
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sensors start
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param set MC_YAW_P 7.0
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param set MC_YAWRATE_P 0.08
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param set MC_YAWRATE_I 0.0
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param set MC_YAWRATE_D 0
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param set MC_PITCH_P 7.0
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param set MC_PITCHRATE_P 0.08
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param set MC_PITCHRATE_I 0.0
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param set MC_PITCHRATE_D 0.0001
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param set MC_ROLL_P 7.0
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param set MC_ROLLRATE_P 0.08
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param set MC_ROLLRATE_I 0.0
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param set MC_ROLLRATE_D 0.0001
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param set ATT_W_MAG 0.00
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param set PE_MAG_NOISE 1.0f
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param set SENS_BOARD_ROT 0
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param set MPU_GYRO_LPF_ENUM 4
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param set MPU_ACC_LPF_ENUM 4
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param set MPU_SAMPLE_RATE_ENUM 2
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sleep 1
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mpu9x50 start -D /dev/spi-1
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param set UART_ESC_MODEL 0
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param set UART_ESC_BAUDRATE 250000
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param set UART_ESC_PX4MOTOR1 2
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param set UART_ESC_PX4MOTOR2 4
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param set UART_ESC_PX4MOTOR3 1
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param set UART_ESC_PX4MOTOR4 3
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sleep 1
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uart_esc start -D /dev/tty-2
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csr_gps start -D /dev/tty-3
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list_devices
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list_files
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list_tasks
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list_topics
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8
posix-configs/eagle/210qc/mainapp-calib.config
Normal file
8
posix-configs/eagle/210qc/mainapp-calib.config
Normal file
@@ -0,0 +1,8 @@
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uorb start
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muorb start
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mavlink start -u 14556
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sleep 1
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mavlink stream -u 14556 -s HIGHRES_IMU -r 50
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mavlink stream -u 14556 -s ATTITUDE -r 50
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mavlink boot_complete
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commander start
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7
posix-configs/eagle/210qc/mainapp-flight.config
Normal file
7
posix-configs/eagle/210qc/mainapp-flight.config
Normal file
@@ -0,0 +1,7 @@
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uorb start
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muorb start
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mavlink start -u 14556
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sleep 1
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mavlink stream -u 14556 -s HIGHRES_IMU -r 50
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mavlink stream -u 14556 -s ATTITUDE -r 50
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mavlink boot_complete
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72
posix-configs/eagle/210qc/px4-calib.config
Normal file
72
posix-configs/eagle/210qc/px4-calib.config
Normal file
@@ -0,0 +1,72 @@
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uorb start
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param set CAL_GYRO0_ID 2293760
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param set CAL_ACC0_ID 1310720
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param set CAL_ACC1_ID 1376256
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param set CAL_MAG0_ID 196608
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param set RC_RECEIVER_TYPE 1
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rc_receiver start -D /dev/tty-1
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attitude_estimator_q start
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position_estimator_inav start
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mc_pos_control start
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mc_att_control start
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sleep 1
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param set SYS_AUTOSTART 4001
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param set SYS_AUTOCONFIG 1
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param set MAV_TYPE 2
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param set RC_MAP_THROTTLE 1
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param set RC_MAP_ROLL 2
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param set RC_MAP_PITCH 3
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param set RC_MAP_YAW 4
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param set RC_MAP_MODE_SW 5
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param set RC_MAP_POSCTL_SW 6
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param set RC1_MAX 1900
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param set RC1_MIN 1099
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param set RC1_TRIM 1099
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param set RC1_REV 1
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param set RC2_MAX 1900
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param set RC2_MIN 1099
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param set RC2_TRIM 1500
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param set RC2_REV -1
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param set RC3_MAX 1900
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param set RC3_MIN 1099
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param set RC3_TRIM 1500
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param set RC3_REV 1
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param set RC4_MAX 1900
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param set RC4_MIN 1099
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param set RC4_TRIM 1500
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param set RC4_REV -1
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param set RC5_MAX 1900
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param set RC5_MIN 1099
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param set RC5_TRIM 1500
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param set RC5_REV 1
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param set RC6_MAX 1900
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param set RC6_MIN 1099
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param set RC6_TRIM 1099
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param set RC6_REV 1
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sensors start
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param set MC_YAW_P 7.0
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param set MC_YAWRATE_P 0.08
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param set MC_YAWRATE_I 0.0
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param set MC_YAWRATE_D 0
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param set MC_PITCH_P 7.0
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param set MC_PITCHRATE_P 0.08
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param set MC_PITCHRATE_I 0.0
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param set MC_PITCHRATE_D 0.0001
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param set MC_ROLL_P 7.0
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param set MC_ROLLRATE_P 0.08
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param set MC_ROLLRATE_I 0.0
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param set MC_ROLLRATE_D 0.0001
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param set ATT_W_MAG 0.00
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param set PE_MAG_NOISE 1.0f
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param set SENS_BOARD_ROT 0
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param set MPU_GYRO_LPF_ENUM 4
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param set MPU_ACC_LPF_ENUM 4
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param set MPU_SAMPLE_RATE_ENUM 2
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sleep 1
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mpu9x50 start -D /dev/spi-1
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uart_esc start -D /dev/tty-2
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csr_gps start -D /dev/tty-3
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list_devices
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list_files
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list_tasks
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list_topics
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95
posix-configs/eagle/210qc/px4-flight.config
Normal file
95
posix-configs/eagle/210qc/px4-flight.config
Normal file
@@ -0,0 +1,95 @@
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uorb start
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param set CAL_GYRO0_ID 2293760
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param set CAL_ACC0_ID 1310720
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param set CAL_ACC1_ID 1376256
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param set CAL_MAG0_ID 196608
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commander start
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param set RC_RECEIVER_TYPE 1
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rc_receiver start -D /dev/tty-1
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attitude_estimator_q start
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position_estimator_inav start
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mc_pos_control start
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mc_att_control start
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param set MC_YAW_P 12
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param set MC_YAWRATE_P 0.08
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param set MC_YAWRATE_I 0.0
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param set MC_YAWRATE_D 0
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param set MC_PITCH_P 7.0
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param set MC_PITCHRATE_P 0.08
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param set MC_PITCHRATE_I 0.0
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param set MC_PITCHRATE_D 0.001
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param set MC_ROLL_P 7.0
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param set MC_ROLLRATE_P 0.08
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param set MC_ROLLRATE_I 0.0
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param set MC_ROLLRATE_D 0.001
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sleep 1
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param set RC_MAP_THROTTLE 1
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param set RC_MAP_ROLL 2
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param set RC_MAP_PITCH 3
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param set RC_MAP_YAW 4
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param set RC_MAP_MODE_SW 5
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param set RC_MAP_POSCTL_SW 6
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param set RC1_MAX 1900
|
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param set RC1_MIN 1099
|
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param set RC1_TRIM 1099
|
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param set RC1_REV 1
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param set RC2_MAX 1900
|
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param set RC2_MIN 1099
|
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param set RC2_TRIM 1500
|
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param set RC2_REV -1
|
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param set RC3_MAX 1900
|
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param set RC3_MIN 1099
|
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param set RC3_TRIM 1500
|
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param set RC3_REV 1
|
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param set RC4_MAX 1900
|
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param set RC4_MIN 1099
|
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param set RC4_TRIM 1500
|
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param set RC4_REV -1
|
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param set RC5_MAX 1900
|
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param set RC5_MIN 1099
|
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param set RC5_TRIM 1500
|
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param set RC5_REV 1
|
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param set RC6_MAX 1900
|
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param set RC6_MIN 1099
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param set RC6_TRIM 1099
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param set RC6_REV 1
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sensors start
|
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param set ATT_W_MAG 0.00
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param set PE_MAG_NOISE 1.0f
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param set SENS_BOARD_ROT 0
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param set MPU_GYRO_LPF_ENUM 4
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param set MPU_ACC_LPF_ENUM 4
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param set MPU_SAMPLE_RATE_ENUM 2
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param set GYRO0_XOFF -0.0028
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param set GYRO0_YOFF -0.0047
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param set GYRO0_ZOFF -0.0034
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param set GYRO0_XSCALE 1.0000
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param set GYRO0_YSCALE 1.0000
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param set GYRO0_ZSCALE 1.0000
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param set MAG0_XOFF 0.0000
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param set MAG0_YOFF 0.0000
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param set MAG0_ZOFF 0.0000
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param set MAG0_XSCALE 1.0000
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param set MAG0_YSCALE 1.0000
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param set MAG0_ZSCALE 1.0000
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param set ACC0_XOFF -0.0941
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param set ACC0_YOFF 0.1168
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param set ACC0_ZOFF -0.0398
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param set ACC0_XSCALE 1.0004
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param set ACC0_YSCALE 0.9974
|
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param set ACC0_ZSCALE 0.9951
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sleep 1
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mpu9x50 start -D /dev/spi-1
|
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param set UART_ESC_MODEL 2
|
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param set UART_ESC_BAUDRATE 250000
|
||||
param set UART_ESC_PX4MOTOR1 4
|
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param set UART_ESC_PX4MOTOR2 2
|
||||
param set UART_ESC_PX4MOTOR3 1
|
||||
param set UART_ESC_PX4MOTOR4 3
|
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sleep 1
|
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uart_esc start -D /dev/tty-2
|
||||
csr_gps start -D /dev/tty-3
|
||||
list_devices
|
||||
list_files
|
||||
list_tasks
|
||||
list_topics
|
||||
8
posix-configs/eagle/flight/mainapp-calib.config
Normal file
8
posix-configs/eagle/flight/mainapp-calib.config
Normal file
@@ -0,0 +1,8 @@
|
||||
uorb start
|
||||
muorb start
|
||||
mavlink start -u 14556
|
||||
sleep 1
|
||||
mavlink stream -u 14556 -s HIGHRES_IMU -r 50
|
||||
mavlink stream -u 14556 -s ATTITUDE -r 50
|
||||
mavlink boot_complete
|
||||
commander start
|
||||
7
posix-configs/eagle/flight/mainapp-flight.config
Normal file
7
posix-configs/eagle/flight/mainapp-flight.config
Normal file
@@ -0,0 +1,7 @@
|
||||
uorb start
|
||||
muorb start
|
||||
mavlink start -u 14556
|
||||
sleep 1
|
||||
mavlink stream -u 14556 -s HIGHRES_IMU -r 50
|
||||
mavlink stream -u 14556 -s ATTITUDE -r 50
|
||||
mavlink boot_complete
|
||||
56
posix-configs/eagle/flight/px4-calib.config
Normal file
56
posix-configs/eagle/flight/px4-calib.config
Normal file
@@ -0,0 +1,56 @@
|
||||
uorb start
|
||||
param set CAL_GYRO0_ID 2293760
|
||||
param set CAL_ACC0_ID 1310720
|
||||
param set CAL_ACC1_ID 1376256
|
||||
param set CAL_MAG0_ID 196608
|
||||
param set RC_RECEIVER_TYPE 1
|
||||
rc_receiver start -D /dev/tty-1
|
||||
attitude_estimator_q start
|
||||
position_estimator_inav start
|
||||
mc_pos_control start
|
||||
mc_att_control start
|
||||
sleep 1
|
||||
param set RC_MAP_THROTTLE 1
|
||||
param set RC_MAP_ROLL 2
|
||||
param set RC_MAP_PITCH 3
|
||||
param set RC_MAP_YAW 4
|
||||
param set RC_MAP_MODE_SW 5
|
||||
param set RC_MAP_POSCTL_SW 6
|
||||
param set RC1_MAX 1900
|
||||
param set RC1_MIN 1099
|
||||
param set RC1_TRIM 1099
|
||||
param set RC1_REV 1
|
||||
param set RC2_MAX 1900
|
||||
param set RC2_MIN 1099
|
||||
param set RC2_TRIM 1500
|
||||
param set RC2_REV -1
|
||||
param set RC3_MAX 1900
|
||||
param set RC3_MIN 1099
|
||||
param set RC3_TRIM 1500
|
||||
param set RC3_REV 1
|
||||
param set RC4_MAX 1900
|
||||
param set RC4_MIN 1099
|
||||
param set RC4_TRIM 1500
|
||||
param set RC4_REV -1
|
||||
param set RC5_MAX 1900
|
||||
param set RC5_MIN 1099
|
||||
param set RC5_TRIM 1500
|
||||
param set RC5_REV 1
|
||||
param set RC6_MAX 1900
|
||||
param set RC6_MIN 1099
|
||||
param set RC6_TRIM 1099
|
||||
param set RC6_REV 1
|
||||
sensors start
|
||||
param set ATT_W_MAG 0.00
|
||||
param set PE_MAG_NOISE 1.0f
|
||||
param set MPU_GYRO_LPF_ENUM 4
|
||||
param set MPU_ACC_LPF_ENUM 4
|
||||
param set MPU_SAMPLE_RATE_ENUM 2
|
||||
sleep 1
|
||||
mpu9x50 start -D /dev/spi-1
|
||||
uart_esc start -D /dev/tty-2
|
||||
csr_gps start -D /dev/tty-3
|
||||
list_devices
|
||||
list_files
|
||||
list_tasks
|
||||
list_topics
|
||||
58
posix-configs/eagle/flight/px4-flight.config
Normal file
58
posix-configs/eagle/flight/px4-flight.config
Normal file
@@ -0,0 +1,58 @@
|
||||
uorb start
|
||||
param set CAL_GYRO0_ID 2293760
|
||||
param set CAL_ACC0_ID 1310720
|
||||
param set CAL_ACC1_ID 1376256
|
||||
param set CAL_MAG0_ID 196608
|
||||
commander start
|
||||
param set RC_RECEIVER_TYPE 1
|
||||
rc_receiver start -D /dev/tty-1
|
||||
attitude_estimator_q start
|
||||
position_estimator_inav start
|
||||
mc_pos_control start
|
||||
mc_att_control start
|
||||
sleep 1
|
||||
param set RC_MAP_THROTTLE 1
|
||||
param set RC_MAP_ROLL 2
|
||||
param set RC_MAP_PITCH 3
|
||||
param set RC_MAP_YAW 4
|
||||
param set RC_MAP_MODE_SW 5
|
||||
param set RC_MAP_POSCTL_SW 6
|
||||
param set RC1_MAX 1900
|
||||
param set RC1_MIN 1099
|
||||
param set RC1_TRIM 1099
|
||||
param set RC1_REV 1
|
||||
param set RC2_MAX 1900
|
||||
param set RC2_MIN 1099
|
||||
param set RC2_TRIM 1500
|
||||
param set RC2_REV -1
|
||||
param set RC3_MAX 1900
|
||||
param set RC3_MIN 1099
|
||||
param set RC3_TRIM 1500
|
||||
param set RC3_REV 1
|
||||
param set RC4_MAX 1900
|
||||
param set RC4_MIN 1099
|
||||
param set RC4_TRIM 1500
|
||||
param set RC4_REV -1
|
||||
param set RC5_MAX 1900
|
||||
param set RC5_MIN 1099
|
||||
param set RC5_TRIM 1500
|
||||
param set RC5_REV 1
|
||||
param set RC6_MAX 1900
|
||||
param set RC6_MIN 1099
|
||||
param set RC6_TRIM 1099
|
||||
param set RC6_REV 1
|
||||
sensors start
|
||||
param set ATT_W_MAG 0.00
|
||||
param set PE_MAG_NOISE 1.0f
|
||||
param set MPU_GYRO_LPF_ENUM 4
|
||||
param set MPU_ACC_LPF_ENUM 4
|
||||
param set MPU_SAMPLE_RATE_ENUM 2
|
||||
sleep 1
|
||||
mpu9x50 start -D /dev/spi-1
|
||||
uart_esc start -D /dev/tty-2
|
||||
csr_gps start -D /dev/tty-3
|
||||
pressure start -D /dev/i2c-2
|
||||
list_devices
|
||||
list_files
|
||||
list_tasks
|
||||
list_topics
|
||||
8
posix-configs/eagle/hil/mainapphil.config
Normal file
8
posix-configs/eagle/hil/mainapphil.config
Normal file
@@ -0,0 +1,8 @@
|
||||
uorb start
|
||||
muorb start
|
||||
mavlink start -u 14556
|
||||
sleep 1
|
||||
mavlink stream -u 14556 -s HIGHRES_IMU -r 50
|
||||
mavlink stream -u 14556 -s ATTITUDE -r 50
|
||||
mavlink boot_complete
|
||||
simulator start -p
|
||||
53
posix-configs/eagle/hil/px4.config
Normal file
53
posix-configs/eagle/hil/px4.config
Normal file
@@ -0,0 +1,53 @@
|
||||
uorb start
|
||||
param set CAL_GYRO0_ID 2293760
|
||||
param set CAL_ACC0_ID 1310720
|
||||
param set CAL_ACC1_ID 1376256
|
||||
param set CAL_MAG0_ID 196608
|
||||
commander start -hil
|
||||
sensors start
|
||||
attitude_estimator_q start
|
||||
position_estimator_inav start
|
||||
mc_pos_control start
|
||||
mc_att_control start
|
||||
sleep 1
|
||||
pwm_out_sim mode_pwm
|
||||
param set RC1_MAX 2015
|
||||
param set RC1_MIN 996
|
||||
param set RC1_TRIM 1502
|
||||
param set RC1_REV -1
|
||||
param set RC2_MAX 2016
|
||||
param set RC2_MIN 995
|
||||
param set RC2_TRIM 1500
|
||||
param set RC3_MAX 2003
|
||||
param set RC3_MIN 992
|
||||
param set RC3_TRIM 992
|
||||
param set RC4_MAX 2011
|
||||
param set RC4_MIN 997
|
||||
param set RC4_TRIM 1504
|
||||
param set RC4_REV -1
|
||||
param set RC6_MAX 2016
|
||||
param set RC6_MIN 992
|
||||
param set RC6_TRIM 1504
|
||||
param set RC_CHAN_CNT 8
|
||||
param set RC_MAP_MODE_SW 5
|
||||
param set RC_MAP_POSCTL_SW 7
|
||||
param set RC_MAP_RETURN_SW 8
|
||||
param set MC_YAW_P 1.5
|
||||
param set MC_PITCH_P 3.0
|
||||
param set MC_ROLL_P 3.0
|
||||
param set MC_YAWRATE_P 0.2
|
||||
param set MC_PITCHRATE_P 0.03
|
||||
param set MC_ROLLRATE_P 0.03
|
||||
param set ATT_W_ACC 0.0002
|
||||
param set ATT_W_MAG 0.002
|
||||
param set ATT_W_GYRO_BIAS 0.05
|
||||
sleep 1
|
||||
param set MAV_TYPE 2
|
||||
mixer load /dev/pwm_output0 /startup/quad_x.main.mix
|
||||
list_devices
|
||||
list_files
|
||||
list_tasks
|
||||
list_topics
|
||||
sleep 10
|
||||
list_tasks
|
||||
sleep 10
|
||||
Reference in New Issue
Block a user