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PX4: start all sensor types on PX4

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this allows for secondary sensors
This commit is contained in:
Andrew Tridgell 2013-12-08 20:45:32 +11:00
parent eb883fbb0c
commit 3ead86ee2d
1 changed files with 28 additions and 26 deletions
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54
mk/PX4/ROMFS/init.d/rc.APM
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@ -4,7 +4,10 @@
# 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
# To enable uartD on FMUv1 on ttyS1 add a /fs/microsd/APM/uartD.en
# file
# enable uartD by default on PX4v1
set deviceA /dev/ttyACM0
@ -190,39 +193,38 @@ then
else
sh /etc/init.d/rc.error
fi
if l3gd20 start
then
echo "l3gd20 started OK"
else
echo "No l3gd20"
echo "No l3gd20" >> $logfile
fi
else
echo "Starting FMUv2 sensors"
if hmc5883 start
then
echo "Using external magnetometer"
fi
set HAVE_MPU6000 false
if [ ! -f /fs/microsd/APM/LSM303D.en ]
if mpu6000 start
then
if mpu6000 start
then
set HAVE_MPU6000 true
echo "Found MPU6000"
echo "Found MPU6000" >> $logfile
else
echo "No MPU6000"
echo "No MPU6000" >> $logfile
fi
fi
if [ $HAVE_MPU6000 == false ]
echo "Found MPU6000"
echo "Found MPU6000" >> $logfile
else
echo "No MPU6000"
echo "No MPU6000" >> $logfile
fi
if l3gd20 start
then
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
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