forked from Archive/PX4-Autopilot
123 lines
2.2 KiB
Plaintext
123 lines
2.2 KiB
Plaintext
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#!nsh
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#
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# Flight startup script for PX4FMU+PX4IO
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#
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# disable USB and autostart
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set USB no
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set MODE custom
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#
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# Start the ORB (first app to start)
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#
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uorb start
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#
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# Load microSD params
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#
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echo "[init] loading microSD params"
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param select /fs/microsd/params
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if [ -f /fs/microsd/params ]
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then
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param load /fs/microsd/params
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fi
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#
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# Load default params for this platform
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#
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if param compare SYS_AUTOCONFIG 1
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then
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# Set all params here, then disable autoconfig
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param set SYS_AUTOCONFIG 0
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param save /fs/microsd/params
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fi
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#
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# Force some key parameters to sane values
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# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
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# see https://pixhawk.ethz.ch/mavlink/
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#
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param set MAV_TYPE 10
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#
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# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
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#
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if [ -f /fs/microsd/px4io.bin ]
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then
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echo "PX4IO Firmware found. Checking Upgrade.."
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if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
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then
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echo "No newer version, skipping upgrade."
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else
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echo "Loading /fs/microsd/px4io.bin"
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if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
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then
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cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
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echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
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else
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echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
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echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
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fi
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fi
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fi
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#
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# Start MAVLink (depends on orb)
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#
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mavlink start -d /dev/ttyS1 -b 57600
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usleep 5000
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#
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# Start the commander (depends on orb, mavlink)
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#
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commander start
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#
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# Start PX4IO interface (depends on orb, commander)
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#
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px4io start
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#
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# Allow PX4IO to recover from midair restarts.
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# this is very unlikely, but quite safe and robust.
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px4io recovery
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#
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# Disable px4io topic limiting
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#
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px4io limit 200
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#
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# Start the sensors (depends on orb, px4io)
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#
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sh /etc/init.d/rc.sensors
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#
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# Start GPS interface (depends on orb)
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#
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gps start
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#
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# Start the attitude estimator (depends on orb)
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#
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attitude_estimator_ekf start
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#
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# Load mixer and start controllers (depends on px4io)
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#
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md25 start 3 0x58
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segway start
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#
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# Start logging
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#
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sdlog2 start -r 50 -a -b 14
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#
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# Start system state
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#
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if blinkm start
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then
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blinkm systemstate
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fi
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