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PX4: try to startup FMUv3 with right rotations

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This commit is contained in:
Andrew Tridgell 2014-07-03 14:21:45 +10:00
parent 226eece7e2
commit 292d1d8179
1 changed files with 36 additions and 20 deletions
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56
mk/PX4/ROMFS/init.d/rc.APM
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@ -248,40 +248,56 @@ else
fi
fi
if mpu6000 start
if mpu6000 -X -R 4 start
then
echo "Found MPU6000"
echo "Found MPU6000 external"
set HAVE_FMUV3 true
else
echo "No MPU6000"
echo "No MPU6000" >> $logfile
echo "No MPU6000 external"
fi
if l3gd20 start
then
echo "l3gd20 started OK"
else
if l3gd20 -X start
if [ $HAVE_FMUV3 == true ]
if mpu6000 -R 14 start
then
echo "Found MPU6000 internal"
else
echo "No MPU6000"
echo "No MPU6000" >> $logfile
sh /etc/init.d/rc.error
fi
if l3gd20 -X -R 6 start
then
echo "l3gd20 external started OK"
else
echo "No l3gd20"
sh /etc/init.d/rc.error
fi
fi
if lsm303d start
then
echo "lsm303d started OK"
else
if lsm303d -X start
if lsm303d -X -R 6 start
then
echo "lsm303d external started OK"
else
echo "No lsm303d"
sh /etc/init.d/rc.error
fi
fi
if mpu6000 -X start
then
echo "Found MPU6000 external"
else
echo "No MPU6000 external"
if mpu6000 start
then
echo "Found MPU6000"
else
echo "No MPU6000"
echo "No MPU6000" >> $logfile
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"
else
sh /etc/init.d/rc.error
fi
fi
fi