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PX4: adapt rc.APM for FMUv1 and FMUv2

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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
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52
mk/PX4/ROMFS/init.d/rc.APM
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@ -52,22 +52,37 @@ then
echo "Created APM directory" echo "Created APM directory"
fi 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 then
echo "Checking for new px4io firmware" 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 then
echo "No new px4io firmware" echo "No new px4io firmware"
else else
echo "Loading /fs/microsd/px4io.bin" echo Loading $PX4IOBIN
tone_alarm MBABGP 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 then
cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.loaded cp $PX4IOBIN /fs/microsd/px4io.loaded
echo "Loaded /fs/microsd/px4io.bin OK" >> /fs/microsd/APM/px4io_update.log echo Loaded $PX4IOBIN OK >> /fs/microsd/APM/px4io_update.log
tone_alarm MSPAA tone_alarm MSPAA
else 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" echo "Failed to upgrade PX4IO firmware - check PX4IO is in bootloader mode"
tone_alarm MNGGG tone_alarm MNGGG
fi fi
@ -76,11 +91,20 @@ then
echo "Starting APM sensors" echo "Starting APM sensors"
echo "Starting APM sensors" > $logfile echo "Starting APM sensors" > $logfile
uorb start if [ $BOARD == FMUv1 ]
mpu6000 start then
ms5611 start ms5611 start
hmc5883 start hmc5883 start
adc start adc start
else
ms5611 start
if hmc5883 start
then
echo "Using external magnetometer"
fi
lsm303d start
adc start
fi
if ets_airspeed start if ets_airspeed start
then then
echo "Found ETS airspeed sensor" >> $logfile echo "Found ETS airspeed sensor" >> $logfile
@ -114,8 +138,6 @@ then
sleep 1 sleep 1
mkblctrl -mkmode x mkblctrl -mkmode x
sleep 1 sleep 1
fi fi
echo "Setting up PX4FMU direct mode" echo "Setting up PX4FMU direct mode"
@ -146,5 +168,3 @@ fi
echo "rc.APM finished" echo "rc.APM finished"
echo "rc.APM finished" >> $logfile echo "rc.APM finished" >> $logfile
fi fi