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Breakout rc.thermal_cal from rcS and group set/unset parameters at th…
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…e beginning and end of the rcS script. Revert commit 2a3d66c to reduce px4fmu-v2_default flash size. Standardize tabs/whitespaces across all files in the init.d directory.
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@mhkabir
mcsauder authored and mhkabir committed Jul 10, 2018
1 parent 33f7318 commit 9386ab6
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Showing 18 changed files with 426 additions and 385 deletions.
8 changes: 4 additions & 4 deletions ROMFS/px4fmu_common/init.d/13003_quad_tailsitter
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Expand Up @@ -12,10 +12,10 @@ sh /etc/init.d/rc.vtol_defaults

if [ $AUTOCNF == yes ]
then
param set VT_MOT_COUNT 4
param set VT_IDLE_PWM_MC 1080
param set VT_TYPE 0
param set VT_ELEV_MC_LOCK 1
param set VT_MOT_COUNT 4
param set VT_IDLE_PWM_MC 1080
param set VT_TYPE 0
param set VT_ELEV_MC_LOCK 1
fi

set MIXER quad_x_vtol
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8 changes: 4 additions & 4 deletions ROMFS/px4fmu_common/init.d/13004_quad+_tailsitter
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Expand Up @@ -23,10 +23,10 @@ sh /etc/init.d/rc.vtol_defaults

if [ $AUTOCNF == yes ]
then
param set VT_MOT_COUNT 4
param set VT_IDLE_PWM_MC 1080
param set VT_TYPE 0
param set VT_ELEV_MC_LOCK 1
param set VT_MOT_COUNT 4
param set VT_IDLE_PWM_MC 1080
param set VT_TYPE 0
param set VT_ELEV_MC_LOCK 1
fi

set MIXER quad_+_vtol
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112 changes: 56 additions & 56 deletions ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger
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Expand Up @@ -12,68 +12,68 @@ sh /etc/init.d/rc.vtol_defaults

if [ $AUTOCNF == yes ]
then
param set VT_TYPE 2
param set VT_MOT_COUNT 4
param set VT_IDLE_PWM_MC 1180
param set MAV_TYPE 22
param set VT_ARSP_TRANS 15.0
param set VT_B_TRANS_DUR 4.0
param set VT_TRANS_MIN_TM 5.0
param set VT_F_TRANS_THR 0.6
param set VT_TRANS_TIMEOUT 30.0
param set VT_TYPE 2
param set VT_MOT_COUNT 4
param set VT_IDLE_PWM_MC 1180
param set MAV_TYPE 22
param set VT_ARSP_TRANS 15.0
param set VT_B_TRANS_DUR 4.0
param set VT_TRANS_MIN_TM 5.0
param set VT_F_TRANS_THR 0.6
param set VT_TRANS_TIMEOUT 30.0

param set FW_AIRSPD_MAX 22.0
param set FW_AIRSPD_MIN 14.0
param set FW_AIRSPD_TRIM 16.0
param set FW_L1_PERIOD 25.0
param set FW_PR_P 0.060
param set FW_P_RMAX_NEG 40.0
param set FW_P_RMAX_POS 40.0
param set FW_RR_FF 0.4
param set FW_RR_P 0.04
param set FW_R_RMAX 40.0
param set FW_AIRSPD_MAX 22.0
param set FW_AIRSPD_MIN 14.0
param set FW_AIRSPD_TRIM 16.0
param set FW_L1_PERIOD 25.0
param set FW_PR_P 0.060
param set FW_P_RMAX_NEG 40.0
param set FW_P_RMAX_POS 40.0
param set FW_RR_FF 0.4
param set FW_RR_P 0.04
param set FW_R_RMAX 40.0

param set MC_PITCHRATE_D 0.004
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_MAX 60.0
param set MC_PITCHRATE_P 0.21
param set MC_PITCH_P 4.0
param set MC_ROLLRATE_D 0.004
param set MC_ROLLRATE_I 0.002
param set MC_ROLLRATE_MAX 60.0
param set MC_ROLLRATE_P 0.24
param set MC_ROLL_P 4.0
param set MC_YAWRATE_I 0.02
param set MC_YAWRATE_MAX 40.0
param set MC_YAWRATE_P 0.18
param set MC_YAWRATE_MAX 40.0
param set MC_YAWRAUTO_MAX 40.0
param set MC_PITCHRATE_D 0.004
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_MAX 60.0
param set MC_PITCHRATE_P 0.21
param set MC_PITCH_P 4.0
param set MC_ROLLRATE_D 0.004
param set MC_ROLLRATE_I 0.002
param set MC_ROLLRATE_MAX 60.0
param set MC_ROLLRATE_P 0.24
param set MC_ROLL_P 4.0
param set MC_YAWRATE_I 0.02
param set MC_YAWRATE_MAX 40.0
param set MC_YAWRATE_P 0.18
param set MC_YAWRATE_MAX 40.0
param set MC_YAWRAUTO_MAX 40.0

param set MIS_TAKEOFF_ALT 2.5
param set MIS_YAW_TMT 20.0
param set MIS_TAKEOFF_ALT 2.5
param set MIS_YAW_TMT 20.0

param set MPC_ACC_HOR_MAX 1.0
param set MPC_HOLD_MAX_XY 0.5
param set MPC_HOLD_MAX_Z 0.5
param set MPC_LAND_SPEED 1.0
param set MPC_MANTHR_MIN 0.05
param set MPC_MAN_Y_MAX 120.0
param set MPC_THR_MIN 0.07
param set MPC_TILTMAX_AIR 35.0
param set MPC_TILTMAX_LND 20.0
param set MPC_TKO_SPEED 1.0
param set MPC_XY_P 0.3
param set MPC_XY_VEL_MAX 3.0
param set MPC_XY_VEL_P 0.05
param set MPC_Z_P 0.5
param set MPC_Z_VEL_P 0.1
param set MPC_ACC_HOR_MAX 1.0
param set MPC_HOLD_MAX_XY 0.5
param set MPC_HOLD_MAX_Z 0.5
param set MPC_LAND_SPEED 1.0
param set MPC_MANTHR_MIN 0.05
param set MPC_MAN_Y_MAX 120.0
param set MPC_THR_MIN 0.07
param set MPC_TILTMAX_AIR 35.0
param set MPC_TILTMAX_LND 20.0
param set MPC_TKO_SPEED 1.0
param set MPC_XY_P 0.3
param set MPC_XY_VEL_MAX 3.0
param set MPC_XY_VEL_P 0.05
param set MPC_Z_P 0.5
param set MPC_Z_VEL_P 0.1

param set NAV_ACC_RAD 3.0
param set NAV_ACC_RAD 3.0

param set PWM_AUX_REV1 1
param set PWM_AUX_REV2 1
param set PWM_AUX_REV3 1
param set PWM_AUX_REV4 1
param set PWM_AUX_REV1 1
param set PWM_AUX_REV2 1
param set PWM_AUX_REV3 1
param set PWM_AUX_REV4 1
fi

set MIXER quad_x
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96 changes: 48 additions & 48 deletions ROMFS/px4fmu_common/init.d/13012_convergence
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Expand Up @@ -21,59 +21,59 @@ sh /etc/init.d/rc.vtol_defaults

if [ $AUTOCNF == yes ]
then
param set VT_MOT_COUNT 3
param set VT_FW_MOT_OFFID 3
param set VT_IDLE_PWM_MC 1200
param set VT_TYPE 1
param set VT_MOT_COUNT 3
param set VT_FW_MOT_OFFID 3
param set VT_IDLE_PWM_MC 1200
param set VT_TYPE 1

param set VT_B_TRANS_DUR 1.0
param set VT_FW_DIFTHR_EN 1
param set VT_FW_DIFTHR_SC 0.17
param set VT_FW_PERM_STAB 0
param set VT_F_TRANS_DUR 1.2
param set VT_F_TR_OL_TM 4.0
param set VT_TILT_FW 1.0
param set VT_TILT_MC 0.0
param set VT_TILT_TRANS 0.45
param set VT_TRANS_MIN_TM 1.2
param set VT_TRANS_P2_DUR 1.3
param set VT_B_TRANS_DUR 1.0
param set VT_FW_DIFTHR_EN 1
param set VT_FW_DIFTHR_SC 0.17
param set VT_FW_PERM_STAB 0
param set VT_F_TRANS_DUR 1.2
param set VT_F_TR_OL_TM 4.0
param set VT_TILT_FW 1.0
param set VT_TILT_MC 0.0
param set VT_TILT_TRANS 0.45
param set VT_TRANS_MIN_TM 1.2
param set VT_TRANS_P2_DUR 1.3

param set FW_L1_PERIOD 17
param set FW_MAN_R_MAX 50.0
param set FW_ACRO_X_MAX 270
param set FW_ACRO_Y_MAX 270
param set FW_ACRO_Z_MAX 180
param set FW_PR_FF 0.5
param set FW_PR_P 0.08
param set FW_PSP_OFF 5.0
param set FW_P_LIM_MAX 30
param set FW_P_LIM_MIN -30
param set FW_P_RMAX_NEG 60
param set FW_P_RMAX_POS 60
param set FW_RR_FF 0.33
param set FW_RR_P 0.11
param set FW_YR_FF 0.3
param set FW_YR_P 0.05
param set MC_PITCHRATE_D 0.003
param set MC_PITCHRATE_P 0.15
param set MC_PITCH_P 6.0
param set MC_ROLLRATE_D 0.003
param set MC_ROLLRATE_P 0.15
param set MC_ROLL_P 6.0
param set MC_YAWRATE_MAX 120
param set MC_YAWRATE_P 0.27
param set MC_YAW_FF 0.35
param set MC_YAW_P 2.5
param set FW_L1_PERIOD 17
param set FW_MAN_R_MAX 50.0
param set FW_ACRO_X_MAX 270
param set FW_ACRO_Y_MAX 270
param set FW_ACRO_Z_MAX 180
param set FW_PR_FF 0.5
param set FW_PR_P 0.08
param set FW_PSP_OFF 5.0
param set FW_P_LIM_MAX 30
param set FW_P_LIM_MIN -30
param set FW_P_RMAX_NEG 60
param set FW_P_RMAX_POS 60
param set FW_RR_FF 0.33
param set FW_RR_P 0.11
param set FW_YR_FF 0.3
param set FW_YR_P 0.05
param set MC_PITCHRATE_D 0.003
param set MC_PITCHRATE_P 0.15
param set MC_PITCH_P 6.0
param set MC_ROLLRATE_D 0.003
param set MC_ROLLRATE_P 0.15
param set MC_ROLL_P 6.0
param set MC_YAWRATE_MAX 120
param set MC_YAWRATE_P 0.27
param set MC_YAW_FF 0.35
param set MC_YAW_P 2.5

param set MC_YAWRATE_P 0.3
param set MPC_LAND_SPEED 1.2
param set MPC_TKO_SPEED 2.5
param set MPC_Z_VEL_MAX_UP 3.0
param set MC_YAWRATE_P 0.3
param set MPC_LAND_SPEED 1.2
param set MPC_TKO_SPEED 2.5
param set MPC_Z_VEL_MAX_UP 3.0

param set CBRK_AIRSPD_CHK 162128
param set FW_ARSP_MODE 2
param set CBRK_AIRSPD_CHK 162128
param set FW_ARSP_MODE 2

param set SENS_BOARD_ROT 8
param set SENS_BOARD_ROT 8
fi

set MIXER vtol_convergence
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1 change: 0 additions & 1 deletion ROMFS/px4fmu_common/init.d/14001_tri_y_yaw+
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Expand Up @@ -18,4 +18,3 @@ sh /etc/init.d/rc.mc_defaults
set MIXER tri_y_yaw+

set PWM_OUT 1234

26 changes: 13 additions & 13 deletions ROMFS/px4fmu_common/init.d/2105_maja
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Expand Up @@ -24,22 +24,22 @@ sh /etc/init.d/rc.fw_defaults

if [ $AUTOCNF == yes ]
then
param set FW_AIRSPD_MIN 10
param set FW_AIRSPD_TRIM 15
param set FW_AIRSPD_MAX 20
param set FW_AIRSPD_MIN 10
param set FW_AIRSPD_TRIM 15
param set FW_AIRSPD_MAX 20

param set FW_MAN_P_MAX 55
param set FW_MAN_R_MAX 55
param set FW_R_LIM 55
param set FW_MAN_P_MAX 55
param set FW_MAN_R_MAX 55
param set FW_R_LIM 55

param set FW_WR_FF 0.2
param set FW_WR_I 0.2
param set FW_WR_IMAX 0.8
param set FW_WR_P 1
param set FW_W_RMAX 0
param set FW_WR_FF 0.2
param set FW_WR_I 0.2
param set FW_WR_IMAX 0.8
param set FW_WR_P 1
param set FW_W_RMAX 0

# set disarmed value for the ESC
param set PWM_DISARMED 1000
# set disarmed value for the ESC
param set PWM_DISARMED 1000
fi

set MIXER AAERTWF
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26 changes: 13 additions & 13 deletions ROMFS/px4fmu_common/init.d/2106_albatross
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Expand Up @@ -25,22 +25,22 @@ sh /etc/init.d/rc.fw_defaults

if [ $AUTOCNF == yes ]
then
param set FW_AIRSPD_MIN 10
param set FW_AIRSPD_TRIM 15
param set FW_AIRSPD_MAX 20
param set FW_AIRSPD_MIN 10
param set FW_AIRSPD_TRIM 15
param set FW_AIRSPD_MAX 20

param set FW_MAN_P_MAX 55
param set FW_MAN_R_MAX 55
param set FW_R_LIM 55
param set FW_MAN_P_MAX 55
param set FW_MAN_R_MAX 55
param set FW_R_LIM 55

param set FW_WR_FF 0.2
param set FW_WR_I 0.2
param set FW_WR_IMAX 0.8
param set FW_WR_P 1
param set FW_W_RMAX 0
param set FW_WR_FF 0.2
param set FW_WR_I 0.2
param set FW_WR_IMAX 0.8
param set FW_WR_P 1
param set FW_W_RMAX 0

# set disarmed value for the ESC
param set PWM_DISARMED 1000
# set disarmed value for the ESC
param set PWM_DISARMED 1000
fi

set MIXER AAVVTWFF
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1 change: 0 additions & 1 deletion ROMFS/px4fmu_common/init.d/3035_viper
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Expand Up @@ -12,4 +12,3 @@
sh /etc/init.d/rc.fw_defaults

set MIXER Viper

16 changes: 8 additions & 8 deletions ROMFS/px4fmu_common/init.d/3037_parrot_disco_mod
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Expand Up @@ -48,32 +48,32 @@ then
param set FW_P_LIM_MAX 45
param set FW_P_LIM_MIN -45

# Time Constant (def = 0.4s)
# Time Constant (def = 0.4s)
param set FW_P_TC 0.4

# Pitch rate feed forward (def = 0.5 %/rad/sec)
param set FW_PR_FF 0.35

# Pitch rate integrator limit (def = 0.4)
param set FW_PR_IMAX 0.4

# Pitch rate proportional gain (def = 0.08 %/rad/sec)
param set FW_PR_P 0.08

####################################
# Roll
####################################

# Basic limits (def = 50 deg)
# Basic limits (def = 50 deg)
param set FW_R_LIM 40

# Roll rate upper limit (def = 70 deg/s)
param set FW_R_RMAX 50

# Roll Time Constant (def = 0.4 s)
param set FW_R_TC 0.4
param set FW_R_TC 0.4

# Roll rate feed forward (def = 0.5 %/rad/sec)
# Roll rate feed forward (def = 0.5 %/rad/sec)
param set FW_RR_FF 0.5

# Roll rate proportional Gain (def = 0.05 %/rad/sec)
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1 change: 0 additions & 1 deletion ROMFS/px4fmu_common/init.d/4002_quad_x_mount
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Expand Up @@ -28,4 +28,3 @@ set PWM_OUT 1234
set MIXER_AUX mount
set PWM_AUX_OUT 123456
set PWM_AUX_RATE 50

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