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Merge remote-tracking branch 'upstream/autostart_cleanup' into beta

This commit is contained in:
Thomas Gubler 2014-01-19 12:43:32 +01:00
parent bda44a35cc d96e63960c
commit 302632e7c4
2 changed files with 10 additions and 62 deletions
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68
ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil
View File

@ -1,14 +1,13 @@
#!nsh #!nsh
# #
# USB HIL start # HIL Rascal 110 (Flightgear)
#
# Maintainers: Thomas Gubler <thomasgubler@gmail.com>
# #
echo "[HIL] HILStar starting.." echo "HIL Rascal 110 starting.."
# if [ $DO_AUTOCONFIG == yes ]
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then then
# Set all params here, then disable autoconfig # Set all params here, then disable autoconfig
@ -40,59 +39,8 @@ then
param save param save
fi fi
# Allow USB some time to come up set HIL yes
sleep 1
# Tell MAVLink that this link is "fast"
mavlink start -b 230400 -d /dev/ttyACM0
# Create a fake HIL /dev/pwm_output interface set VEHICLE_TYPE fw
hil mode_pwm set MIXER FMU_AERT
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
#
param set MAV_TYPE 1
#
# Check if we got an IO
#
if px4io start
then
echo "IO started"
else
fmu mode_serial
echo "FMU started"
fi
#
# Start the sensors (depends on orb, px4io)
#
sh /etc/init.d/rc.sensors
#
# Start the attitude estimator (depends on orb)
#
att_pos_estimator_ekf start
#
# Load mixer and start controllers (depends on px4io)
#
set MODE autostart
mixer load /dev/pwm_output /etc/mixers/FMU_AERT.mix
if [ -f /fs/microsd/etc/mixers/FMU_AERT.mix ]
then
echo "Using /fs/microsd/etc/mixers/FMU_AERT.mix"
mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_AERT.mix
else
echo "Using /etc/mixers/FMU_AERT.mix"
mixer load /dev/pwm_output /etc/mixers/FMU_AERT.mix
fi
fw_pos_control_l1 start
fw_att_control start
echo "[HIL] setup done, running"

4
ROMFS/px4fmu_common/init.d/rc.autostart
View File

@ -43,7 +43,7 @@ fi
if param compare SYS_AUTOSTART 1004 if param compare SYS_AUTOSTART 1004
then then
#sh /etc/init.d/1004_rc_fw_Rascal110.hil sh /etc/init.d/1004_rc_fw_Rascal110.hil
fi fi
# #
@ -84,7 +84,7 @@ fi
if param compare SYS_AUTOSTART 3032 if param compare SYS_AUTOSTART 3032
then then
#sh /etc/init.d/3032_skywalker_x5 sh /etc/init.d/3032_skywalker_x5
fi fi
if param compare SYS_AUTOSTART 3033 if param compare SYS_AUTOSTART 3033