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PX4: setup uartD on PX4

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on FMUv1 enable uartD only if /fs/microsd/APM/uartD.en exists

on FMU2 always enable uartD
This commit is contained in:
Andrew Tridgell 2013-11-22 21:54:37 +11:00
parent 2fa5e6310d
commit 45bf96382c
1 changed files with 19 additions and 32 deletions
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49
mk/PX4/ROMFS/init.d/rc.APM
View File

@ -4,7 +4,7 @@
# To disable APM startup add a /fs/microsd/APM/nostart file
# To enable mkblctrl startup add a /fs/microsd/APM/mkblctrl file
# To enable mavlink on ttys0 add a /fs/microsd/APM/mavlink-ttys0 file
# To enable uartD on FMUv1 on ttyS1 add a /fs/microsd/APM/uartD.en file
set deviceA /dev/ttyACM0
@ -87,16 +87,18 @@ else
set BOARD FMUv1
fi
if [ -f /fs/microsd/APM/mavlink-ttys0 ]
then
set deviceC /dev/ttyS0
else
if [ $BOARD == FMUv1 ]
then
set deviceC /dev/ttyS2
if [ -f /fs/microsd/APM/uartD.en ]
then
set deviceD /dev/ttyS1
else
set deviceD /dev/null
fi
else
set deviceC /dev/ttyS1
fi
set deviceD /dev/ttyS2
fi
if uorb start
@ -128,13 +130,6 @@ 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
@ -152,15 +147,15 @@ else
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
if [ $BOARD == FMUv1 -a $deviceD == /dev/ttyS1 ]
then
echo "Setting FMU mode_serial"
fmu mode_serial
else
echo "Setting FMU mode_pwm"
fmu mode_pwm
fi
@ -238,22 +233,14 @@ else
fi
echo Starting ArduPilot
echo Starting ArduPilot $deviceA $deviceC >> $logfile
if ArduPilot -d $deviceA -d2 $deviceC start
echo Starting ArduPilot $deviceA $deviceC $deviceD >> $logfile
if ArduPilot -d $deviceA -d2 $deviceC -d3 $deviceD start
then
echo ArduPilot started OK
else
sh /etc/init.d/rc.error
fi
# if starting on the console, tell nsh to exit
# this prevents it from chewing bytes
if [ $deviceC == /dev/ttyS0 ]
then
echo "Exiting from nsh shell"
exit
fi
echo "rc.APM finished"
echo "rc.APM finished" >> $logfile