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PX4: added support for mkblctrl driver

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this enables runtime support for the mkblctrl I2C ESC drivers
This commit is contained in:
Marco Bauer 2013-07-11 13:18:54 +10:00 committed by Andrew Tridgell
parent c7c0fc01c3
commit ae2ee399c2
1 changed files with 23 additions and 1 deletions
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24
mk/PX4/ROMFS/init.d/rc.APM
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@ -3,9 +3,17 @@
# APM startup script for NuttX on PX4 # APM startup script for NuttX on PX4
# To disable APM startup add a /fs/microsd/APM/nostart file # 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
set deviceA /dev/ttyACM0 set deviceA /dev/ttyACM0
set deviceC /dev/ttyS2
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
@ -96,6 +104,20 @@ then
else else
echo "No PX4IO board found" echo "No PX4IO board found"
echo "No PX4IO board found" >> $logfile 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
sleep 1
mkblctrl -mkmode x
sleep 1
fi
echo "Setting up PX4FMU direct mode" echo "Setting up PX4FMU direct mode"
fmu mode_pwm fmu mode_pwm
if [ $deviceC == /dev/ttyS1 ] if [ $deviceC == /dev/ttyS1 ]