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PX4: changed startup to fail if no px4io on FMUv2

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This commit is contained in:
Andrew Tridgell 2013-10-30 15:33:42 +11:00
parent f6f6caafc8
commit 145bbd1656
1 changed files with 80 additions and 39 deletions
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119
mk/PX4/ROMFS/init.d/rc.APM
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@ -78,15 +78,13 @@ then
echo "Created APM directory"
fi
uorb start
if mpu6000 start
if [ -f /bin/lsm303d ]
then
echo "Detected FMUv1 board"
set BOARD FMUv1
else
l3gd20 start
echo "Detected FMUv2 board"
set BOARD FMUv2
else
echo "Detected FMUv1 board"
set BOARD FMUv1
fi
if [ -f /fs/microsd/APM/mavlink-ttys0 ]
@ -101,6 +99,70 @@ else
fi
fi
if uorb start
then
echo "uorb started OK"
else
sh /etc/init.d/rc.error
fi
# try the px4io start twice. Some FMUv2 board don't
# come up the first time
set HAVE_PX4IO false
if px4io start
then
set HAVE_PX4IO true
else
tone_alarm MNGG
sleep 2
if px4io start
then
set HAVE_PX4IO true
# play happy tune again
tone_alarm start
fi
fi
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
if [ $BOARD == FMUv2 ]
then
sh /etc/init.d/rc.error
fi
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
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
fi
echo "Starting APM sensors"
echo "Starting APM sensors" > $logfile
@ -127,12 +189,24 @@ then
else
sh /etc/init.d/rc.error
fi
if mpu6000 start
then
echo "mpu6000 started OK"
else
sh /etc/init.d/rc.error
fi
else
echo "Starting FMUv2 sensors"
if hmc5883 start
then
echo "Using external magnetometer"
fi
if l3gd20 start
then
echo "l3gd20 started OK"
else
sh /etc/init.d/rc.error
fi
if lsm303d start
then
echo "lsm303d started OK"
@ -154,39 +228,6 @@ fi
echo "Trying PX4IO board"
echo "Trying PX4IO board" >> $logfile
if px4io start
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
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
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
fi
# rgbled
if rgbled start