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PX4: enable uartD by default in rc.APM

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This commit is contained in:
Randy Mackay 2014-01-13 14:35:42 +09:00
parent 3af69f5328
commit 1b3a1f5337
1 changed files with 6 additions and 9 deletions
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15
mk/PX4/ROMFS/init.d/rc.APM
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@ -4,10 +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 uartD on FMUv1 on ttyS1 add a /fs/microsd/APM/uartD.en
# file
# enable uartD by default on PX4v1
# To enable PWM on FMUv1 on ttyS1 add a /fs/microsd/APM/AUXPWM.en file
set deviceA /dev/ttyACM0
@ -65,11 +62,11 @@ fi
if [ $BOARD == FMUv1 ]
then
set deviceC /dev/ttyS2
if [ -f /fs/microsd/APM/uartD.en ]
if [ -f /fs/microsd/APM/AUXPWM.en ]
then
set deviceD /dev/ttyS1
else
set deviceD /dev/null
else
set deviceD /dev/ttyS1
fi
else
set deviceC /dev/ttyS1
@ -261,8 +258,8 @@ 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