aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

PX4: adapt rc.APM for FMUv1 and FMUv2

Browse Source
This commit is contained in:
Andrew Tridgell 2013-07-26 11:12:37 +10:00
parent 25b2cc7bf6
commit 33aa91c0dc
1 changed files with 36 additions and 16 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

52
mk/PX4/ROMFS/init.d/rc.APM
View File

@ -52,22 +52,37 @@ then
echo "Created APM directory"
fi
if [ -f /fs/microsd/px4io.bin ]
uorb start
if mpu6000 start
then
echo "Detected FMUv1 board"
set BOARD FMUv1
set PX4IOBIN /etc/px4io/px4io-v1.bin
else
l3gd20 start
echo "Detected FMUv2 board"
set BOARD FMUv2
set PX4IOBIN /etc/px4io/px4io-v2.bin
fi
echo checking for $PX4IOBIN
if [ -f $PX4IOBIN ]
then
echo "Checking for new px4io firmware"
if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.loaded
if cmp $PX4IOBIN /fs/microsd/px4io.loaded
then
echo "No new px4io firmware"
else
echo "Loading /fs/microsd/px4io.bin"
echo Loading $PX4IOBIN
tone_alarm MBABGP
if px4io update /fs/microsd/px4io.bin > /fs/microsd/APM/px4io_update.log
if px4io update $PX4IOBIN > /fs/microsd/APM/px4io_update.log
then
cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.loaded
echo "Loaded /fs/microsd/px4io.bin OK" >> /fs/microsd/APM/px4io_update.log
cp $PX4IOBIN /fs/microsd/px4io.loaded
echo Loaded $PX4IOBIN OK >> /fs/microsd/APM/px4io_update.log
tone_alarm MSPAA
else
echo "Failed loading /fs/microsd/px4io.bin (check PX4IO is in bootloader mode - hold down the Safety Button while powering up)" >> /fs/microsd/APM/px4io_update.log
echo Failed loading $PX4IOBIN >> /fs/microsd/APM/px4io_update.log
echo "check Safety Button" >> /fs/microsd/APM/px4io_update.log
echo "Failed to upgrade PX4IO firmware - check PX4IO is in bootloader mode"
tone_alarm MNGGG
fi
@ -76,11 +91,20 @@ then
echo "Starting APM sensors"
echo "Starting APM sensors" > $logfile
uorb start
mpu6000 start
ms5611 start
hmc5883 start
adc start
if [ $BOARD == FMUv1 ]
then
ms5611 start
hmc5883 start
adc start
else
ms5611 start
if hmc5883 start
then
echo "Using external magnetometer"
fi
lsm303d start
adc start
fi
if ets_airspeed start
then
echo "Found ETS airspeed sensor" >> $logfile
@ -114,8 +138,6 @@ then
sleep 1
mkblctrl -mkmode x
sleep 1
fi
echo "Setting up PX4FMU direct mode"
@ -146,5 +168,3 @@ fi
echo "rc.APM finished"
echo "rc.APM finished" >> $logfile
fi