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HAL_PX4: remove the need for the fmu_only flag file

This commit is contained in:
Andrew Tridgell 2013-03-21 14:59:58 +11:00
parent 80bd593814
commit cc932973d6
1 changed files with 10 additions and 9 deletions
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19
libraries/AP_HAL_PX4/scripts/rc.APM
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@ -3,7 +3,6 @@
# 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 disable use of a PX4IO board add a file /fs/microsd/APM/fmu_only
set deviceA /dev/ttyACM0 set deviceA /dev/ttyACM0
set deviceC /dev/ttyS1 set deviceC /dev/ttyS1
@ -53,6 +52,7 @@ then
then then
echo "Created APM directory" echo "Created APM directory"
fi fi
if [ -f /fs/microsd/px4io.bin ] if [ -f /fs/microsd/px4io.bin ]
then then
echo "Checking for new px4io firmware" echo "Checking for new px4io firmware"
@ -79,8 +79,16 @@ then
hmc5883 start hmc5883 start
adc start adc start
if [ -f /fs/microsd/APM/fmu_only ] echo "Trying PX4IO board"
if px4io start
then then
echo "PX4IO board OK"
echo "Loading FMU_pass mixer"
mixer load /dev/pwm_output /etc/mixers/FMU_pass.mix
echo "Setting FMU mode_serial"
fmu mode_serial
else
echo "No PX4IO board found"
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 ]
@ -89,13 +97,6 @@ then
# is no IO board # is no IO board
set deviceC /dev/ttyS2 set deviceC /dev/ttyS2
fi fi
else
echo "Setting up PX4IO board"
px4io start
echo "Loading FMU_pass mixer"
mixer load /dev/pwm_output /etc/mixers/FMU_pass.mix
echo "Setting FMU mode_serial"
fmu mode_serial
fi fi
echo Starting $sketch echo Starting $sketch