Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

mk: removed more drivers from rc.APM

This commit is contained in:
Andrew Tridgell 2016-11-03 13:13:13 +11:00
parent 497b87fa65
commit 95de899229
1 changed files with 2 additions and 161 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

163
mk/PX4/ROMFS/init.d/rc.APM
View File

@ -6,9 +6,6 @@
# To enable mkblctrl startup add a /fs/microsd/APM/mkblctrl file
# To enable mkblctrl_+ startup add a /fs/microsd/APM/mkblctrl_+ file
# To enable mkblctrl_x startup add a /fs/microsd/APM/mkblctrl_x file
# To enable PWM on FMUv1 on ttyS1 add a /fs/microsd/APM/AUXPWM.en file
set deviceA /dev/ttyACM0
# check for an old file called APM, caused by
# a bug in an earlier firmware release
@ -56,35 +53,6 @@ then
echo "Created APM directory"
fi
if [ -f /bin/px4io ]
then
if [ -f /bin/lsm303d ]
then
echo "Detected FMUv2 board"
set BOARD FMUv2
else
echo "Detected FMUv1 board"
set BOARD FMUv1
fi
else
echo "Detected FMUv4 board"
set BOARD FMUv4
fi
if [ $BOARD == FMUv1 ]
then
set deviceC /dev/ttyS2
if [ -f /fs/microsd/APM/AUXPWM.en ]
then
set deviceD /dev/null
else
set deviceD /dev/ttyS1
fi
else
set deviceC /dev/ttyS1
set deviceD /dev/ttyS2
fi
if uorb start
then
echo "uorb started OK"
@ -114,108 +82,6 @@ then
mkblctrl -mkmode x -d /dev/pwm_output
fi
if [ -f /bin/px4io ]
then
echo "Trying PX4IO board"
# try the px4io start twice. Some FMUv2 board don't
# come up the first time
set HAVE_PX4IO false
if px4io start norc
then
set HAVE_PX4IO true
else
# it may be in bootloader mode
echo Loading /etc/px4io/px4io.bin
tone_alarm MBABGP
if px4io update /etc/px4io/px4io.bin
then
echo "upgraded PX4IO firmware OK"
tone_alarm MSPAA
else
echo "Failed to upgrade PX4IO firmware"
tone_alarm MNGGG
fi
sleep 1
if px4io start norc
then
set HAVE_PX4IO true
# play happy tune again
if [ -f /etc/tones/startup ]
then
tone_alarm /etc/tones/startup
else
tone_alarm 1
fi
fi
fi
else
set HAVE_PX4IO false
echo "No PX4IO support"
fi
if [ $HAVE_PX4IO == true ]
then
echo "PX4IO board OK"
if px4io checkcrc /etc/px4io/px4io.bin
then
echo "PX4IO CRC OK"
else
echo "PX4IO CRC failure"
echo "PX4IO CRC failure" >> $logfile
tone_alarm MBABGP
if px4io safety_on
then
echo "PX4IO disarm OK"
else
echo "PX4IO disarm failed"
fi
sleep 1
if px4io forceupdate 14662 /etc/px4io/px4io.bin
then
sleep 1
if px4io start norc
then
echo "PX4IO restart OK"
echo "PX4IO restart OK" >> $logfile
tone_alarm MSPAA
else
echo "PX4IO restart failed"
echo "PX4IO restart failed" >> $logfile
tone_alarm MNGGG
sh /etc/init.d/rc.error
fi
else
echo "PX4IO update failed"
echo "PX4IO update failed" >> $logfile
tone_alarm MNGGG
fi
fi
else
echo "No PX4IO board found"
echo "No PX4IO board found" >> $logfile
if [ $BOARD == FMUv2 ]
then
sh /etc/init.d/rc.error
fi
fi
if [ $BOARD == FMUv1 -a $deviceD == /dev/ttyS1 ]
then
echo "Setting FMU mode_serial"
fmu mode_serial
else
if fmu mode_pwm4
then
echo "Set FMU mode_pwm4"
fi
fi
if mtd start /fs/mtd
then
echo "started mtd driver OK"
@ -234,32 +100,8 @@ else
sh /etc/init.d/rc.error
fi
if [ $BOARD == FMUv2 -o $BOARD == FMUv4 ]
then
# the ramtron on FMUv2 is very fast and can handle trillions of
# writes. This full rw test on each boot ensures it is working
# properly. We have one board that failed this, so
# the test is arguably worth having
if mtd rwtest /fs/mtd
then
echo "mtd rwtest OK"
else
echo "failed to test mtd"
echo "failed to test mtd" >> $logfile
sh /etc/init.d/rc.error
fi
fi
if adc start
then
echo "adc started OK"
else
echo "No adc" >> $logfile
sh /etc/init.d/rc.error
fi
echo Starting ArduPilot $deviceA $deviceC $deviceD
if ArduPilot -d $deviceA -d2 $deviceC -d3 $deviceD start
echo Starting ArduPilot
if ArduPilot start
then
echo ArduPilot started OK
else
@ -267,4 +109,3 @@ else
fi
echo "rc.APM finished"