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PX4: changed startup to fail if no px4io on FMUv2

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This commit is contained in:
Andrew Tridgell 2013-10-30 15:33:42 +11:00
parent f6f6caafc8
commit 145bbd1656
1 changed files with 80 additions and 39 deletions
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119
mk/PX4/ROMFS/init.d/rc.APM
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@ -78,15 +78,13 @@ then
echo "Created APM directory" echo "Created APM directory"
fi fi
uorb start if [ -f /bin/lsm303d ]
if mpu6000 start
then then
echo "Detected FMUv1 board"
set BOARD FMUv1
else
l3gd20 start
echo "Detected FMUv2 board" echo "Detected FMUv2 board"
set BOARD FMUv2 set BOARD FMUv2
else
echo "Detected FMUv1 board"
set BOARD FMUv1
fi fi
if [ -f /fs/microsd/APM/mavlink-ttys0 ] if [ -f /fs/microsd/APM/mavlink-ttys0 ]
@ -101,6 +99,70 @@ else
fi fi
fi fi
if uorb start
then
echo "uorb started OK"
else
sh /etc/init.d/rc.error
fi
# try the px4io start twice. Some FMUv2 board don't
# come up the first time
set HAVE_PX4IO false
if px4io start
then
set HAVE_PX4IO true
else
tone_alarm MNGG
sleep 2
if px4io start
then
set HAVE_PX4IO true
# play happy tune again
tone_alarm start
fi
fi
if [ $HAVE_PX4IO == true ]
then
echo "PX4IO board OK"
echo "PX4IO board OK" >> $logfile
echo "Setting FMU mode_pwm"
fmu mode_pwm
if [ $BOARD == FMUv1 -a $deviceC == /dev/ttyS1 ]
then
# ttyS1 is used for PWM output for 4 extra channels
set deviceC /dev/ttyS2
fi
else
echo "No PX4IO board found"
echo "No PX4IO board found" >> $logfile
if [ $BOARD == FMUv2 ]
then
sh /etc/init.d/rc.error
fi
if [ -f /fs/microsd/APM/mkblctrl ]
then
echo "APM/mkblctrl found - switch to MK I2C ESCs"
echo "APM/mkblctrl found - switch to MK I2C ESCs" >> $logfile
echo "Setting up mkblctrl driver"
echo "Setting up mkblctrl driver" >> $logfile
mkblctrl -mkmode x
fi
echo "Setting up PX4FMU direct mode"
fmu mode_pwm
if [ $BOARD == FMUv1 -a $deviceC == /dev/ttyS1 ]
then
# ttyS1 is used for PWM output when there
# is no IO board
set deviceC /dev/ttyS2
fi
fi
echo "Starting APM sensors" echo "Starting APM sensors"
echo "Starting APM sensors" > $logfile echo "Starting APM sensors" > $logfile
@ -127,12 +189,24 @@ then
else else
sh /etc/init.d/rc.error sh /etc/init.d/rc.error
fi fi
if mpu6000 start
then
echo "mpu6000 started OK"
else
sh /etc/init.d/rc.error
fi
else else
echo "Starting FMUv2 sensors" echo "Starting FMUv2 sensors"
if hmc5883 start if hmc5883 start
then then
echo "Using external magnetometer" echo "Using external magnetometer"
fi fi
if l3gd20 start
then
echo "l3gd20 started OK"
else
sh /etc/init.d/rc.error
fi
if lsm303d start if lsm303d start
then then
echo "lsm303d started OK" echo "lsm303d started OK"
@ -154,39 +228,6 @@ fi
echo "Trying PX4IO board" echo "Trying PX4IO board"
echo "Trying PX4IO board" >> $logfile echo "Trying PX4IO board" >> $logfile
if px4io start
then
echo "PX4IO board OK"
echo "PX4IO board OK" >> $logfile
echo "Setting FMU mode_pwm"
fmu mode_pwm
if [ $BOARD == FMUv1 -a $deviceC == /dev/ttyS1 ]
then
# ttyS1 is used for PWM output for 4 extra channels
set deviceC /dev/ttyS2
fi
else
echo "No PX4IO board found"
echo "No PX4IO board found" >> $logfile
if [ -f /fs/microsd/APM/mkblctrl ]
then
echo "APM/mkblctrl found - switch to MK I2C ESCs"
echo "APM/mkblctrl found - switch to MK I2C ESCs" >> $logfile
echo "Setting up mkblctrl driver"
echo "Setting up mkblctrl driver" >> $logfile
mkblctrl -mkmode x
fi
echo "Setting up PX4FMU direct mode"
fmu mode_pwm
if [ $BOARD == FMUv1 -a $deviceC == /dev/ttyS1 ]
then
# ttyS1 is used for PWM output when there
# is no IO board
set deviceC /dev/ttyS2
fi
fi
# rgbled # rgbled
if rgbled start if rgbled start