2012-08-04 19:12:36 -03:00
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#!nsh
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2013-02-17 13:11:33 -04:00
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# Disable USB and autostart
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2012-12-06 17:35:20 -04:00
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set USB no
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2013-02-17 13:11:33 -04:00
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set MODE camflyer
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2012-08-04 19:12:36 -03:00
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#
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2013-02-17 13:11:33 -04:00
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# Start the ORB
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2012-08-04 19:12:36 -03:00
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#
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uorb start
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2013-02-17 13:11:33 -04:00
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2012-10-30 03:19:58 -03:00
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#
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2013-02-17 13:11:33 -04:00
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# Load microSD params
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2012-10-30 03:19:58 -03:00
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#
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2013-02-17 13:11:33 -04:00
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echo "[init] loading microSD params"
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param select /fs/microsd/parameters
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if [ -f /fs/microsd/parameters ]
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2012-10-30 03:19:58 -03:00
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then
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2013-02-17 13:11:33 -04:00
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param load /fs/microsd/parameters
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2012-10-30 03:19:58 -03:00
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fi
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2013-02-17 13:11:33 -04:00
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2012-12-10 04:05:26 -04:00
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#
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2013-02-17 13:11:33 -04:00
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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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2012-12-10 04:05:26 -04:00
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#
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2013-02-17 13:11:33 -04:00
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param set MAV_TYPE 1
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2012-08-04 19:12:36 -03:00
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#
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# Start the sensors.
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#
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sh /etc/init.d/rc.sensors
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2013-02-17 13:11:33 -04:00
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2012-08-04 19:12:36 -03:00
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#
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2013-02-17 13:11:33 -04:00
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# Start MAVLink
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2012-08-04 19:12:36 -03:00
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#
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2013-02-17 13:11:33 -04:00
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mavlink start -d /dev/ttyS1 -b 57600
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2012-12-06 17:35:20 -04:00
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usleep 5000
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2013-02-17 13:11:33 -04:00
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2012-08-04 19:12:36 -03:00
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#
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# Start the commander.
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#
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2012-10-30 03:19:58 -03:00
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commander start
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2013-02-17 13:11:33 -04:00
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#
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# Start GPS interface
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#
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gps start
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2012-08-04 19:12:36 -03:00
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#
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# Start the attitude estimator
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#
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2013-02-17 13:11:33 -04:00
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kalman_demo start
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2012-08-04 19:12:36 -03:00
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#
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2013-02-17 13:11:33 -04:00
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# Start PX4IO interface
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2012-08-04 19:12:36 -03:00
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#
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2013-02-17 13:11:33 -04:00
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px4io start
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2012-08-04 19:12:36 -03:00
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#
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2013-02-17 13:11:33 -04:00
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# Load mixer and start controllers
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2012-08-04 19:12:36 -03:00
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#
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2013-02-17 13:11:33 -04:00
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mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
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control_demo start
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#
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# Start logging
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2012-12-06 17:37:28 -04:00
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#
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2013-02-17 13:11:33 -04:00
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sdlog start -s 10
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2012-12-06 17:37:28 -04:00
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2012-08-04 19:12:36 -03:00
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#
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2013-02-17 13:11:33 -04:00
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# Start system state
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2012-08-04 19:12:36 -03:00
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#
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2013-02-17 13:11:33 -04:00
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if blinkm start
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then
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echo "using BlinkM for state indication"
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blinkm systemstate
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else
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echo "no BlinkM found, OK."
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fi
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