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px4-firmware
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Reduce too chatty content, de-allocate non-needed string buffers

This commit is contained in:
Lorenz Meier 2014-11-17 14:58:29 +01:00
parent b06f7f4f2e
commit 489b4c4839
2 changed files with 82 additions and 82 deletions
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14
ROMFS/px4fmu_common/init.d/rc.interface
View File

@ -31,9 +31,9 @@ then
if mixer load $OUTPUT_DEV $MIXER_FILE if mixer load $OUTPUT_DEV $MIXER_FILE
then then
echo "[init] Mixer loaded: $MIXER_FILE" echo "[i] Mixer: $MIXER_FILE"
else else
echo "[init] Error loading mixer: $MIXER_FILE" echo "[i] Error loading mixer: $MIXER_FILE"
tone_alarm $TUNE_ERR tone_alarm $TUNE_ERR
fi fi
@ -41,7 +41,7 @@ then
else else
if [ $MIXER != skip ] if [ $MIXER != skip ]
then then
echo "[init] Mixer not defined" echo "[i] Mixer not defined"
tone_alarm $TUNE_ERR tone_alarm $TUNE_ERR
fi fi
fi fi
@ -55,7 +55,7 @@ then
# #
if [ $PWM_RATE != none ] if [ $PWM_RATE != none ]
then then
echo "[init] Set PWM rate: $PWM_RATE" echo "[i] PWM rate: $PWM_RATE"
pwm rate -c $PWM_OUT -r $PWM_RATE pwm rate -c $PWM_OUT -r $PWM_RATE
fi fi
@ -64,17 +64,17 @@ then
# #
if [ $PWM_DISARMED != none ] if [ $PWM_DISARMED != none ]
then then
echo "[init] Set PWM disarmed: $PWM_DISARMED" echo "[i] PWM disarmed: $PWM_DISARMED"
pwm disarmed -c $PWM_OUT -p $PWM_DISARMED pwm disarmed -c $PWM_OUT -p $PWM_DISARMED
fi fi
if [ $PWM_MIN != none ] if [ $PWM_MIN != none ]
then then
echo "[init] Set PWM min: $PWM_MIN" echo "[i] PWM min: $PWM_MIN"
pwm min -c $PWM_OUT -p $PWM_MIN pwm min -c $PWM_OUT -p $PWM_MIN
fi fi
if [ $PWM_MAX != none ] if [ $PWM_MAX != none ]
then then
echo "[init] Set PWM max: $PWM_MAX" echo "[i] PWM max: $PWM_MAX"
pwm max -c $PWM_OUT -p $PWM_MAX pwm max -c $PWM_OUT -p $PWM_MAX
fi fi
fi fi

150
ROMFS/px4fmu_common/init.d/rcS
View File

@ -7,25 +7,25 @@
# #
set MODE autostart set MODE autostart
set RC_FILE /fs/microsd/etc/rc.txt set FRC /fs/microsd/etc/rc.txt
set CONFIG_FILE /fs/microsd/etc/config.txt set FCONFIG /fs/microsd/etc/config.txt
set EXTRAS_FILE /fs/microsd/etc/extras.txt set FEXTRAS /fs/microsd/etc/extras.txt
set TUNE_OUT_ERROR ML<<CP4CP4CP4CP4CP4 set TUNE_ERR ML<<CP4CP4CP4CP4CP4
# #
# Try to mount the microSD card. # Try to mount the microSD card.
# #
echo "[init] Looking for microSD..." echo "[i] Looking for microSD..."
if mount -t vfat /dev/mmcsd0 /fs/microsd if mount -t vfat /dev/mmcsd0 /fs/microsd
then then
set LOG_FILE /fs/microsd/bootlog.txt set LOG_FILE /fs/microsd/bootlog.txt
echo "[init] microSD mounted: /fs/microsd" echo "[i] microSD mounted: /fs/microsd"
# Start playing the startup tune # Start playing the startup tune
tone_alarm start tone_alarm start
else else
set LOG_FILE /dev/null set LOG_FILE /dev/null
echo "[init] No microSD card found" echo "[i] No microSD card found"
# Play SOS # Play SOS
tone_alarm error tone_alarm error
fi fi
@ -34,13 +34,13 @@ fi
# Look for an init script on the microSD card. # Look for an init script on the microSD card.
# Disable autostart if the script found. # Disable autostart if the script found.
# #
if [ -f $RC_FILE ] if [ -f $FRC ]
then then
echo "[init] Executing init script: $RC_FILE" echo "[i] Executing init script: $FRC"
sh $RC_FILE sh $FRC
set MODE custom set MODE custom
else else
echo "[init] Init script not found: $RC_FILE" echo "[i] Init script not found: $FRC"
fi fi
# if this is an APM build then there will be a rc.APM script # if this is an APM build then there will be a rc.APM script
@ -49,17 +49,17 @@ if [ -f /etc/init.d/rc.APM ]
then then
if sercon if sercon
then then
echo "[init] USB interface connected" echo "[i] USB interface connected"
fi fi
echo "[init] Running rc.APM" echo "[i] Running rc.APM"
# if APM startup is successful then nsh will exit # if APM startup is successful then nsh will exit
sh /etc/init.d/rc.APM sh /etc/init.d/rc.APM
fi fi
if [ $MODE == autostart ] if [ $MODE == autostart ]
then then
echo "[init] AUTOSTART mode" echo "[i] AUTOSTART mode"
# #
# Start CDC/ACM serial driver # Start CDC/ACM serial driver
@ -117,31 +117,31 @@ then
set VEHICLE_TYPE none set VEHICLE_TYPE none
set MIXER none set MIXER none
set OUTPUT_MODE none set OUTPUT_MODE none
set PWM_OUTPUTS none set PWM_OUT none
set PWM_RATE none set PWM_RATE none
set PWM_DISARMED none set PWM_DISARMED none
set PWM_MIN none set PWM_MIN none
set PWM_MAX none set PWM_MAX none
set MKBLCTRL_MODE none set MK_MODE none
set FMU_MODE pwm set FMU_MODE pwm
set MAVLINK_FLAGS default set MAVLINK_F default
set EXIT_ON_END no set EXIT_ON_END no
set MAV_TYPE none set MAV_TYPE none
set LOAD_DEFAULT_APPS yes set LOAD_DAPPS yes
set GPS yes set GPS yes
set GPS_FAKE no set GPS_FAKE no
set FAILSAFE none set FAILSAFE none
# #
# Set DO_AUTOCONFIG flag to use it in AUTOSTART scripts # Set AUTOCNF flag to use it in AUTOSTART scripts
# #
if param compare SYS_AUTOCONFIG 1 if param compare SYS_AUTOCONFIG 1
then then
# Wipe out params # Wipe out params
param reset_nostart param reset_nostart
set DO_AUTOCONFIG yes set AUTOCNF yes
else else
set DO_AUTOCONFIG no set AUTOCNF no
fi fi
# #
@ -159,7 +159,7 @@ then
# #
if param compare SYS_AUTOSTART 0 if param compare SYS_AUTOSTART 0
then then
echo "[init] No autostart" echo "[i] No autostart"
else else
sh /etc/init.d/rc.autostart sh /etc/init.d/rc.autostart
fi fi
@ -167,18 +167,19 @@ then
# #
# Override parameters from user configuration file # Override parameters from user configuration file
# #
if [ -f $CONFIG_FILE ] if [ -f $FCONFIG ]
then then
echo "[init] Config: $CONFIG_FILE" echo "[i] Config: $FCONFIG"
sh $CONFIG_FILE sh $FCONFIG
else else
echo "[init] Config not found: $CONFIG_FILE" echo "[i] Config not found: $FCONFIG"
fi fi
unset FCONFIG
# #
# If autoconfig parameter was set, reset it and save parameters # If autoconfig parameter was set, reset it and save parameters
# #
if [ $DO_AUTOCONFIG == yes ] if [ $AUTOCNF == yes ]
then then
param set SYS_AUTOCONFIG 0 param set SYS_AUTOCONFIG 0
param save param save
@ -219,18 +220,18 @@ then
set IO_PRESENT yes set IO_PRESENT yes
else else
echo "PX4IO update failed" >> $LOG_FILE echo "PX4IO update failed" >> $LOG_FILE
tone_alarm $TUNE_OUT_ERROR tone_alarm $TUNE_ERR
fi fi
else else
echo "PX4IO update failed" >> $LOG_FILE echo "PX4IO update failed" >> $LOG_FILE
tone_alarm $TUNE_OUT_ERROR tone_alarm $TUNE_ERR
fi fi
fi fi
if [ $IO_PRESENT == no ] if [ $IO_PRESENT == no ]
then then
echo "[init] ERROR: PX4IO not found" echo "[i] ERROR: PX4IO not found"
tone_alarm $TUNE_OUT_ERROR tone_alarm $TUNE_ERR
fi fi
fi fi
@ -251,7 +252,7 @@ then
then then
# Need IO for output but it not present, disable output # Need IO for output but it not present, disable output
set OUTPUT_MODE none set OUTPUT_MODE none
echo "[init] ERROR: PX4IO not found, disabling output" echo "[i] ERROR: PX4IO not found, disabling output"
# Avoid using ttyS0 for MAVLink on FMUv1 # Avoid using ttyS0 for MAVLink on FMUv1
if ver hwcmp PX4FMU_V1 if ver hwcmp PX4FMU_V1
@ -294,33 +295,31 @@ then
then then
if param compare UAVCAN_ENABLE 0 if param compare UAVCAN_ENABLE 0
then then
echo "[init] OVERRIDING UAVCAN_ENABLE = 1" echo "[i] OVERRIDING UAVCAN_ENABLE = 1"
param set UAVCAN_ENABLE 1 param set UAVCAN_ENABLE 1
fi fi
fi fi
if [ $OUTPUT_MODE == io -o $OUTPUT_MODE == uavcan_esc ] if [ $OUTPUT_MODE == io -o $OUTPUT_MODE == uavcan_esc ]
then then
echo "[init] Use PX4IO PWM as primary output"
if px4io start if px4io start
then then
echo "[init] PX4IO started" echo "[i] PX4IO started"
sh /etc/init.d/rc.io sh /etc/init.d/rc.io
else else
echo "[init] ERROR: PX4IO start failed" echo "[i] ERROR: PX4IO start failed"
tone_alarm $TUNE_OUT_ERROR tone_alarm $TUNE_ERR
fi fi
fi fi
if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == ardrone ] if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == ardrone ]
then then
echo "[init] Use FMU as primary output"
if fmu mode_$FMU_MODE if fmu mode_$FMU_MODE
then then
echo "[init] FMU mode_$FMU_MODE started" echo "[i] FMU mode_$FMU_MODE started"
else else
echo "[init] ERROR: FMU mode_$FMU_MODE start failed" echo "[i] ERROR: FMU mode_$FMU_MODE start failed"
tone_alarm $TUNE_OUT_ERROR tone_alarm $TUNE_ERR
fi fi
if ver hwcmp PX4FMU_V1 if ver hwcmp PX4FMU_V1
@ -338,36 +337,34 @@ then
if [ $OUTPUT_MODE == mkblctrl ] if [ $OUTPUT_MODE == mkblctrl ]
then then
echo "[init] Use MKBLCTRL as primary output"
set MKBLCTRL_ARG "" set MKBLCTRL_ARG ""
if [ $MKBLCTRL_MODE == x ] if [ $MK_MODE == x ]
then then
set MKBLCTRL_ARG "-mkmode x" set MKBLCTRL_ARG "-mkmode x"
fi fi
if [ $MKBLCTRL_MODE == + ] if [ $MK_MODE == + ]
then then
set MKBLCTRL_ARG "-mkmode +" set MKBLCTRL_ARG "-mkmode +"
fi fi
if mkblctrl $MKBLCTRL_ARG if mkblctrl $MKBLCTRL_ARG
then then
echo "[init] MKBLCTRL started" echo "[i] MK started"
else else
echo "[init] ERROR: MKBLCTRL start failed" echo "[i] ERROR: MK start failed"
tone_alarm $TUNE_OUT_ERROR tone_alarm $TUNE_ERR
fi fi
fi fi
if [ $OUTPUT_MODE == hil ] if [ $OUTPUT_MODE == hil ]
then then
echo "[init] Use HIL as primary output"
if hil mode_port2_pwm8 if hil mode_port2_pwm8
then then
echo "[init] HIL output started" echo "[i] HIL output started"
else else
echo "[init] ERROR: HIL output start failed" echo "[i] ERROR: HIL output start failed"
tone_alarm $TUNE_OUT_ERROR tone_alarm $TUNE_ERR
fi fi
fi fi
@ -380,11 +377,11 @@ then
then then
if px4io start if px4io start
then then
echo "[init] PX4IO started" echo "[i] PX4IO started"
sh /etc/init.d/rc.io sh /etc/init.d/rc.io
else else
echo "[init] ERROR: PX4IO start failed" echo "[i] ERROR: PX4IO start failed"
tone_alarm $TUNE_OUT_ERROR tone_alarm $TUNE_ERR
fi fi
fi fi
else else
@ -392,10 +389,10 @@ then
then then
if fmu mode_$FMU_MODE if fmu mode_$FMU_MODE
then then
echo "[init] FMU mode_$FMU_MODE started" echo "[i] FMU mode_$FMU_MODE started"
else else
echo "[init] ERROR: FMU mode_$FMU_MODE start failed" echo "[i] ERROR: FMU mode_$FMU_MODE start failed"
tone_alarm $TUNE_OUT_ERROR tone_alarm $TUNE_ERR
fi fi
if ver hwcmp PX4FMU_V1 if ver hwcmp PX4FMU_V1
@ -413,23 +410,24 @@ then
fi fi
fi fi
if [ $MAVLINK_FLAGS == default ] if [ $MAVLINK_F == default ]
then then
# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s # Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s
if [ $TTYS1_BUSY == yes ] if [ $TTYS1_BUSY == yes ]
then then
# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else # Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else
set MAVLINK_FLAGS "-r 1000 -d /dev/ttyS0" set MAVLINK_F "-r 1000 -d /dev/ttyS0"
# Exit from nsh to free port for mavlink # Exit from nsh to free port for mavlink
set EXIT_ON_END yes set EXIT_ON_END yes
else else
# Start MAVLink on default port: ttyS1 # Start MAVLink on default port: ttyS1
set MAVLINK_FLAGS "-r 1000" set MAVLINK_F "-r 1000"
fi fi
fi fi
mavlink start $MAVLINK_FLAGS mavlink start $MAVLINK_F
unset MAVLINK_F
# #
# UAVCAN # UAVCAN
@ -444,15 +442,16 @@ then
if [ $GPS == yes ] if [ $GPS == yes ]
then then
echo "[init] Start GPS" echo "[i] Start GPS"
if [ $GPS_FAKE == yes ] if [ $GPS_FAKE == yes ]
then then
echo "[init] Faking GPS" echo "[i] Faking GPS"
gps start -f gps start -f
else else
gps start gps start
fi fi
fi fi
unset GPS_FAKE
# #
# Start up ARDrone Motor interface # Start up ARDrone Motor interface
@ -467,7 +466,7 @@ then
# #
if [ $VEHICLE_TYPE == fw ] if [ $VEHICLE_TYPE == fw ]
then then
echo "[init] Vehicle type: FIXED WING" echo "[i] FIXED WING"
if [ $MIXER == none ] if [ $MIXER == none ]
then then
@ -481,13 +480,13 @@ then
set MAV_TYPE 1 set MAV_TYPE 1
fi fi
param set MAV_TYPE $MAV_TYPE #param set MAV_TYPE $MAV_TYPE
# Load mixer and configure outputs # Load mixer and configure outputs
sh /etc/init.d/rc.interface sh /etc/init.d/rc.interface
# Start standard fixedwing apps # Start standard fixedwing apps
if [ $LOAD_DEFAULT_APPS == yes ] if [ $LOAD_DAPPS == yes ]
then then
sh /etc/init.d/rc.fw_apps sh /etc/init.d/rc.fw_apps
fi fi
@ -498,11 +497,11 @@ then
# #
if [ $VEHICLE_TYPE == mc ] if [ $VEHICLE_TYPE == mc ]
then then
echo "[init] Vehicle type: MULTICOPTER" echo "[i] MULTICOPTER"
if [ $MIXER == none ] if [ $MIXER == none ]
then then
echo "Default mixer for multicopter not defined" echo "Mixer undefined"
fi fi
if [ $MAV_TYPE == none ] if [ $MAV_TYPE == none ]
@ -546,7 +545,7 @@ then
sh /etc/init.d/rc.interface sh /etc/init.d/rc.interface
# Start standard multicopter apps # Start standard multicopter apps
if [ $LOAD_DEFAULT_APPS == yes ] if [ $LOAD_DAPPS == yes ]
then then
sh /etc/init.d/rc.mc_apps sh /etc/init.d/rc.mc_apps
fi fi
@ -562,22 +561,23 @@ then
# #
if [ $VEHICLE_TYPE == none ] if [ $VEHICLE_TYPE == none ]
then then
echo "[init] Vehicle type: No autostart ID found" echo "[i] No autostart ID found"
fi fi
# Start any custom addons # Start any custom addons
if [ -f $EXTRAS_FILE ] if [ -f $FEXTRAS ]
then then
echo "[init] Starting addons script: $EXTRAS_FILE" echo "[i] Addons script: $FEXTRAS"
sh $EXTRAS_FILE sh $FEXTRAS
else else
echo "[init] No addons script: $EXTRAS_FILE" echo "[i] No addons script: $FEXTRAS"
fi fi
unset FEXTRAS
if [ $EXIT_ON_END == yes ] if [ $EXIT_ON_END == yes ]
then then
echo "[init] Exit from nsh" echo "Exit from nsh"
exit exit
fi fi