From 33122c3dd2d91b376da1d03e0ad10aace63897a7 Mon Sep 17 00:00:00 2001 From: DanielePettenuzzo Date: Wed, 23 May 2018 16:17:09 +0200 Subject: [PATCH 1/2] crazyflie: pmw3901 driver publish gyro equal to NAN for optflow estimator interface --- src/drivers/pmw3901/pmw3901.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/src/drivers/pmw3901/pmw3901.cpp b/src/drivers/pmw3901/pmw3901.cpp index 2463833da561..9974a2c656a8 100644 --- a/src/drivers/pmw3901/pmw3901.cpp +++ b/src/drivers/pmw3901/pmw3901.cpp @@ -589,6 +589,11 @@ PMW3901::collect() report.sensor_id = 0; report.quality = 255; + /* No gyro on this board */ + report.gyro_x_rate_integral = NAN; + report.gyro_y_rate_integral = NAN; + report.gyro_z_rate_integral = NAN; + _flow_dt_sum_usec = 0; _flow_sum_x = 0; _flow_sum_y = 0; From fae15a5486c0d1935e8cc3c37a1d1bc3610b397a Mon Sep 17 00:00:00 2001 From: DanielePettenuzzo Date: Wed, 23 May 2018 16:18:55 +0200 Subject: [PATCH 2/2] crazyflie: updated default params in config file --- ROMFS/px4fmu_common/init.d/4900_crazyflie | 69 ++++++++++++++--------- 1 file changed, 41 insertions(+), 28 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/4900_crazyflie b/ROMFS/px4fmu_common/init.d/4900_crazyflie index ef43b2282c10..08bccdf2f0c0 100644 --- a/ROMFS/px4fmu_common/init.d/4900_crazyflie +++ b/ROMFS/px4fmu_common/init.d/4900_crazyflie @@ -14,39 +14,52 @@ # # @maintainer Dennis Shtatov # - sh /etc/init.d/4001_quad_x - - if [ $AUTOCNF == yes ] then - param set COM_RC_IN_MODE 2 - param set BAT_N_CELLS 1 - param set BAT_CAPACITY 240 - param set BAT_SOURCE 1 - - param set PWM_DISARMED 0 - param set PWM_MIN 0 - param set PWM_MAX 255 - - param set SYS_COMPANION 20 - - param set MC_PITCHRATE_D 0.0015 - param set MC_PITCHRATE_I 0.05 - param set MC_PITCHRATE_P 0.045 - param set MC_PITCH_P 6.5 - param set MC_ROLLRATE_D 0.0015 - param set MC_ROLLRATE_I 0.05 - param set MC_ROLLRATE_P 0.045 - param set MC_ROLL_P 6.5 - param set MC_YAW_P 3.0 - - param set CBRK_SUPPLY_CHK 894281 - param set CBRK_USB_CHK 197848 + param set COM_RC_IN_MODE 1 + param set BAT_N_CELLS 1 + param set BAT_CAPACITY 240 + param set BAT_SOURCE 1 + param set PWM_DISARMED 0 + param set PWM_MIN 0 + param set PWM_MAX 255 + param set SYS_COMPANION 20 + param set MC_PITCHRATE_D 0.002 + param set MC_PITCHRATE_I 0.2 + param set MC_PITCHRATE_P 0.07 + param set MC_PITCH_P 6.5 + param set MC_ROLLRATE_D 0.002 + param set MC_ROLLRATE_I 0.2 + param set MC_ROLLRATE_P 0.07 + param set MC_ROLL_P 6.5 + param set MC_YAW_P 3.0 + param set EKF2_HGT_MODE 2 + param set EKF2_AID_MASK 3 + param set EKF2_OF_DELAY 10 + param set MPC_THR_HOVER 0.7 + param set MPC_MANTHR_MAX 1.0 + param set MPC_THR_MAX 1.0 + param set MPC_Z_P 1.5 + param set MPC_Z_VEL_I 0.3 + param set MPC_Z_VEL_P 0.4 + param set MPC_HOLD_MAX_XY 0.1 + param set MPC_MAX_FLOW_HGT 3 + param set IMU_GYRO_CUTOFF 100 + param set IMU_ACCEL_CUTOFF 30 + param set MC_DTERM_CUTOFF 70 + param set SYS_FMU_TASK 1 + param set CBRK_SUPPLY_CHK 894281 + param set CBRK_USB_CHK 197848 + param set SDLOG_PROFILE 1 + param set EKF2_MAG_TYPE 1 + param set EKF2_ABL_LIM 2.0 + param set MC_AIRMODE 1 + param set NAV_RCL_ACT 3 + param set SENS_FLOW_MINRNG 0.05 fi - set PWM_MIN none set PWM_MAX none set PWM_DISARMED none # Will run the motors at 328.125 kHz (recommended) -set PWM_RATE 3921 +set PWM_RATE 3921 \ No newline at end of file