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PX4: move PX4IO update to before any sensors start

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this seems to make the update much more reliable, possibly as it
avoids an interrupt load from l3gd20 driver
This commit is contained in:
Andrew Tridgell 2013-09-07 17:39:51 +10:00
parent b8b72819c1
commit 905c84bb4c
1 changed files with 28 additions and 27 deletions
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55
mk/PX4/ROMFS/init.d/rc.APM
View File

@ -45,6 +45,34 @@ then
sh /etc/init.d/rc.error sh /etc/init.d/rc.error
fi fi
########################
# PX4IO upgrade handling
echo checking for /etc/px4io/px4io.bin
if [ -f /etc/px4io/px4io.bin ]
then
echo "Checking for new px4io firmware"
if cmp /etc/px4io/px4io.bin /fs/microsd/px4io.loaded
then
echo "No new px4io firmware"
else
echo Loading /etc/px4io/px4io.bin
tone_alarm MBABGP
echo Loading /etc/px4io/px4io.bin > /fs/microsd/px4io_update.log
if px4io update /etc/px4io/px4io.bin
then
cp /etc/px4io/px4io.bin /fs/microsd/px4io.loaded
echo Loaded /etc/px4io/px4io.bin OK >> /fs/microsd/px4io_update.log
tone_alarm MSPAA
else
echo Failed loading /etc/px4io/px4io.bin >> /fs/microsd/px4io_update.log
echo "check Safety Button" >> /fs/microsd/APM/px4io_update.log
echo "Failed to upgrade PX4IO firmware"
tone_alarm MNGGG
fi
fi
fi
if mkdir /fs/microsd/APM > /dev/null if mkdir /fs/microsd/APM > /dev/null
then then
echo "Created APM directory" echo "Created APM directory"
@ -74,33 +102,6 @@ else
fi fi
########################
# PX4IO upgrade handling
echo checking for /etc/px4io/px4io.bin
if [ -f /etc/px4io/px4io.bin ]
then
echo "Checking for new px4io firmware"
if cmp /etc/px4io/px4io.bin /fs/microsd/px4io.loaded
then
echo "No new px4io firmware"
else
echo Loading /etc/px4io/px4io.bin
tone_alarm MBABGP
echo Loading /etc/px4io/px4io.bin > /fs/microsd/APM/px4io_update.log
if px4io update /etc/px4io/px4io.bin
then
cp /etc/px4io/px4io.bin /fs/microsd/px4io.loaded
echo Loaded /etc/px4io/px4io.bin OK >> /fs/microsd/APM/px4io_update.log
tone_alarm MSPAA
else
echo Failed loading /etc/px4io/px4io.bin >> /fs/microsd/APM/px4io_update.log
echo "check Safety Button" >> /fs/microsd/APM/px4io_update.log
echo "Failed to upgrade PX4IO firmware"
tone_alarm MNGGG
fi
fi
fi
echo "Starting APM sensors" echo "Starting APM sensors"
echo "Starting APM sensors" > $logfile echo "Starting APM sensors" > $logfile
if ms5611 start if ms5611 start