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PX4: Changed the startup script to have mavlink on USART2 / Serial 1 on FMUv2

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This commit is contained in:
Julian Oes 2013-07-31 14:24:22 +02:00 committed by Andrew Tridgell
parent 16a3f0d47b
commit 3b9d71ae8a
1 changed files with 14 additions and 9 deletions
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23
mk/PX4/ROMFS/init.d/rc.APM
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@ -8,13 +8,6 @@
set deviceA /dev/ttyACM0 set deviceA /dev/ttyACM0
if [ -f /fs/microsd/APM/mavlink-ttys0 ]
then
set deviceC /dev/ttyS0
else
set deviceC /dev/ttyS2
fi
# check for an old file called APM, caused by # check for an old file called APM, caused by
# a bug in an earlier firmware release # a bug in an earlier firmware release
if [ -f /fs/microsd/APM ] if [ -f /fs/microsd/APM ]
@ -63,6 +56,18 @@ then
set BOARD FMUv2 set BOARD FMUv2
fi fi
if [ -f /fs/microsd/APM/mavlink-ttys0 ]
then
set deviceC /dev/ttyS0
else
if [ $BOARD == FMUv1 ]
then
set deviceC /dev/ttyS2
else
set deviceC /dev/ttyS1
fi
fi
echo checking for /etc/px4io/px4io.bin echo checking for /etc/px4io/px4io.bin
if [ -f /etc/px4io/px4io.bin ] if [ -f /etc/px4io/px4io.bin ]
then then
@ -118,7 +123,7 @@ then
fmu mode_pwm fmu mode_pwm
#echo "Loading FMU_pass mixer" #echo "Loading FMU_pass mixer"
#mixer load /dev/pwm_output /etc/mixers/FMU_pass.mix #mixer load /dev/pwm_output /etc/mixers/FMU_pass.mix
if [ $deviceC == /dev/ttyS1 ] if [ $BOARD == FMUv1 ] && [ $deviceC == /dev/ttyS1 ]
then then
# ttyS1 is used for PWM output for 4 extra channels # ttyS1 is used for PWM output for 4 extra channels
set deviceC /dev/ttyS2 set deviceC /dev/ttyS2
@ -140,7 +145,7 @@ then
echo "Setting up PX4FMU direct mode" echo "Setting up PX4FMU direct mode"
fmu mode_pwm fmu mode_pwm
if [ $deviceC == /dev/ttyS1 ] if [ $BOARD == FMUv1 ] && [ $deviceC == /dev/ttyS1 ]
then then
# ttyS1 is used for PWM output when there # ttyS1 is used for PWM output when there
# is no IO board # is no IO board