forked from Archive/PX4-Autopilot
Startup scripts major cleanup
This commit is contained in:
Anton Babushkin
parent
41dfdfb1a4
commit
557d3f22de
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@ -1,28 +1,6 @@
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#!nsh
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#
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# Flight startup script for PX4FMU with PWM outputs.
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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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echo "[init] doing PX4FMU Quad startup..."
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#
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# Start the ORB
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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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echo "[init] 01_fmu_quad_x: PX4FMU Quad X with PWM outputs"
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#
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# Load default params for this platform
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@ -52,8 +30,7 @@ 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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# MAV_TYPE 2 = quadrotor
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#
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param set MAV_TYPE 2
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@ -63,20 +40,25 @@ param set MAV_TYPE 2
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mavlink start -d /dev/ttyS0 -b 57600
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usleep 5000
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#
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# Start PWM output
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#
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fmu mode_pwm
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#
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# Load mixer
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#
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mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
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#
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# Set PWM output frequency
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#
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pwm -u 400 -m 0xff
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#
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# Start common for all multirotors apps
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#
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sh /etc/init.d/rc.multirotor
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#
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# Start PWM output
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#
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fmu mode_pwm
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mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
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pwm -u 400 -m 0xff
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# Try to get an USB console
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nshterm /dev/ttyACM0 &
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# Exit, because /dev/ttyS0 is needed for MAVLink
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#exit
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exit
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@ -1,26 +1,6 @@
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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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echo "[init] 02_io_quad_x: PX4FMU+PX4IO Quad X with PWM outputs"
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#
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# Load default params for this platform
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@ -28,74 +8,40 @@ fi
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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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# TODO
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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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# MAV_TYPE 2 = quadrotor
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#
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param set MAV_TYPE 2
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#
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# Start MAVLink (depends on orb)
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# Start MAVLink
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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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# Start and configure PX4IO interface
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#
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commander start
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sh /etc/init.d/rc.io
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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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# Load mixer
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#
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mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
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#
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# Set PWM output frequency
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#
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pwm -u 400 -m 0xff
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multirotor_att_control start
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#
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# Start logging once armed
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# Start common for all multirotors apps
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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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sh /etc/init.d/rc.multirotor
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@ -1,42 +1,25 @@
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#!nsh
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#
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# Flight startup script for PX4FMU on PX4IOAR carrier board.
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#
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echo "[init] doing PX4IOAR startup..."
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echo "[init] 08_ardrone: PX4FMU on PX4IOAR carrier board"
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#
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# Start the ORB
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# Load default params for this platform
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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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if param compare SYS_AUTOCONFIG 1
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then
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param load /fs/microsd/params
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# Set all params here, then disable autoconfig
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# TODO
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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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# MAV_TYPE 2 = quadrotor
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#
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param set MAV_TYPE 2
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#
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# Configure PX4FMU for operation with PX4IOAR
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#
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fmu mode_gpio_serial
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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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#
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# Start MAVLink
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#
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@ -44,19 +27,9 @@ mavlink start -d /dev/ttyS0 -b 57600
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usleep 5000
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#
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# Start the commander.
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# Configure PX4FMU for operation with PX4IOAR
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#
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commander start
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#
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# Start the attitude estimator
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#
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attitude_estimator_ekf start
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#
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# Fire up the multi rotor attitude controller
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#
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multirotor_att_control start
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fmu mode_gpio_serial
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#
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# Fire up the AR.Drone interface.
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@ -64,23 +37,9 @@ multirotor_att_control start
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ardrone_interface start -d /dev/ttyS1
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#
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# Start logging once armed
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# Start common for all multirotors apps
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#
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sdlog2 start -r 50 -a -b 14
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#
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# Start GPS capture
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#
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gps start
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#
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# startup is done; we don't want the shell because we
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# use the same UART for telemetry
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#
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echo "[init] startup done"
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# Try to get an USB console
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nshterm /dev/ttyACM0 &
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sh /etc/init.d/rc.multirotor
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# Exit, because /dev/ttyS0 is needed for MAVLink
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exit
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@ -1,49 +1,47 @@
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#!nsh
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#
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# Flight startup script for PX4FMU on PX4IOAR carrier board.
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#
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echo "[init] doing PX4IOAR startup..."
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echo "[init] 09_ardrone_flow: PX4FMU on PX4IOAR carrier board with PX4FLOW"
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#
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# Start the ORB
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# Load default params for this platform
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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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if param compare SYS_AUTOCONFIG 1
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then
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param load /fs/microsd/params
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# Set all params here, then disable autoconfig
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# TODO
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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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# MAV_TYPE 2 = quadrotor
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#
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param set MAV_TYPE 2
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#
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# Start MAVLink and MAVLink Onboard (PX4FLOW Sensor)
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#
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mavlink start -d /dev/ttyS0 -b 57600
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mavlink_onboard start -d /dev/ttyS3 -b 115200
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usleep 5000
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#
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# Configure PX4FMU for operation with PX4IOAR
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#
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fmu mode_gpio_serial
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#
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# Fire up the AR.Drone interface.
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#
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ardrone_interface start -d /dev/ttyS1
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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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#
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# Start MAVLink and MAVLink Onboard (Flow Sensor)
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#
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mavlink start -d /dev/ttyS0 -b 57600
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mavlink_onboard start -d /dev/ttyS3 -b 115200
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usleep 5000
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#
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# Start the commander.
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#
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@ -74,24 +72,5 @@ flow_position_control start
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#
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flow_speed_control start
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#
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# Fire up the AR.Drone interface.
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#
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ardrone_interface start -d /dev/ttyS1
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#
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# Start logging once armed
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#
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sdlog2 start -r 50 -a -b 14
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#
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# startup is done; we don't want the shell because we
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# use the same UART for telemetry
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#
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echo "[init] startup done"
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# Try to get an USB console
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nshterm /dev/ttyACM0 &
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# Exit, because /dev/ttyS0 is needed for MAVLink
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exit
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@ -1,12 +1,6 @@
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#!nsh
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#
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# Flight startup script for PX4FMU+PX4IO on an F330 quad.
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#
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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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echo "[init] 10_io_f330: PX4FMU+PX4IO on a DJI F330 quad frame"
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#
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# Load default params for this platform
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@ -35,8 +29,7 @@ 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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# MAV_TYPE 2 = quadrotor
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#
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param set MAV_TYPE 2
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@ -47,71 +40,28 @@ mavlink start
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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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# Start and configure PX4IO interface
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#
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commander start
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sh /etc/init.d/rc.io
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#
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# Start PX4IO interface (depends on orb, commander)
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# Set PWM values for DJI ESCs
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#
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if px4io start
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then
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#
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# This sets a PWM right after startup (regardless of safety button)
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#
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px4io idle 900 900 900 900
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pwm -u 400 -m 0xff
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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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# The values are for spinning motors when armed using DJI ESCs
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#
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px4io min 1200 1200 1200 1200
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#
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# Upper limits could be higher, this is on the safe side
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#
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px4io max 1800 1800 1800 1800
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mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
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else
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# SOS
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tone_alarm 6
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fi
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px4io idle 900 900 900 900
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px4io min 1200 1200 1200 1200
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px4io max 1800 1800 1800 1800
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#
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# Start the sensors (depends on orb, px4io)
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# Load mixer
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#
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sh /etc/init.d/rc.sensors
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mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
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#
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# Start GPS interface (depends on orb)
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# Set PWM output frequency
|
||||
#
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gps start
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pwm -u 400 -m 0xff
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|
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#
|
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# Start the attitude estimator (depends on orb)
|
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# Start common for all multirotors apps
|
||||
#
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attitude_estimator_ekf start
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multirotor_att_control start
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|
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#
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# Disable px4io topic limiting and start logging
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#
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if [ $BOARD == fmuv1 ]
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then
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px4io limit 200
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sdlog2 start -r 50 -a -b 16
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else
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px4io limit 400
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sdlog2 start -r 200 -a -b 16
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fi
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sh /etc/init.d/rc.multirotor
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|
|
|
|||
|
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@ -1,27 +1,6 @@
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#!nsh
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||||
#
|
||||
# Flight startup script for PX4FMU+PX4IO on a Team Blacksheep Discovery quad
|
||||
# with stock DJI ESCs, motors and props.
|
||||
#
|
||||
|
||||
# disable USB and autostart
|
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set USB no
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set MODE custom
|
||||
|
||||
#
|
||||
# Start the ORB (first app to start)
|
||||
#
|
||||
uorb start
|
||||
|
||||
#
|
||||
# Load microSD params
|
||||
#
|
||||
echo "[init] loading microSD params"
|
||||
param select /fs/microsd/params
|
||||
if [ -f /fs/microsd/params ]
|
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then
|
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param load /fs/microsd/params
|
||||
fi
|
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echo "[init] 15_io_tbs: PX4FMU+PX4IO on a Team Blacksheep Discovery quad"
|
||||
|
||||
#
|
||||
# Load default params for this platform
|
||||
|
|
@ -50,8 +29,7 @@ fi
|
|||
|
||||
#
|
||||
# Force some key parameters to sane values
|
||||
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
|
||||
# see https://pixhawk.ethz.ch/mavlink/
|
||||
# MAV_TYPE 2 = quadrotor
|
||||
#
|
||||
param set MAV_TYPE 2
|
||||
|
||||
|
|
@ -62,34 +40,15 @@ mavlink start
|
|||
usleep 5000
|
||||
|
||||
#
|
||||
# Start the commander (depends on orb, mavlink)
|
||||
# Start and configure PX4IO interface
|
||||
#
|
||||
commander start
|
||||
sh /etc/init.d/rc.io
|
||||
|
||||
#
|
||||
# Start PX4IO interface (depends on orb, commander)
|
||||
#
|
||||
px4io start
|
||||
pwm -u 400 -m 0xff
|
||||
|
||||
#
|
||||
# Allow PX4IO to recover from midair restarts.
|
||||
# This is very unlikely, but quite safe and robust.
|
||||
px4io recovery
|
||||
|
||||
#
|
||||
# This sets a PWM right after startup (regardless of safety button)
|
||||
# Set PWM values for DJI ESCs
|
||||
#
|
||||
px4io idle 900 900 900 900
|
||||
|
||||
#
|
||||
# The values are for spinning motors when armed using DJI ESCs
|
||||
#
|
||||
px4io min 1180 1180 1180 1180
|
||||
|
||||
#
|
||||
# Upper limits could be higher, this is on the safe side
|
||||
#
|
||||
px4io max 1800 1800 1800 1800
|
||||
|
||||
#
|
||||
|
|
@ -98,41 +57,11 @@ px4io max 1800 1800 1800 1800
|
|||
mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix
|
||||
|
||||
#
|
||||
# Start the sensors (depends on orb, px4io)
|
||||
# Set PWM output frequency
|
||||
#
|
||||
sh /etc/init.d/rc.sensors
|
||||
pwm -u 400 -m 0xff
|
||||
|
||||
#
|
||||
# Start GPS interface (depends on orb)
|
||||
# Start common for all multirotors apps
|
||||
#
|
||||
gps start
|
||||
|
||||
#
|
||||
# Start the attitude estimator (depends on orb)
|
||||
#
|
||||
attitude_estimator_ekf start
|
||||
|
||||
#
|
||||
# Start the controllers (depends on orb)
|
||||
#
|
||||
multirotor_att_control start
|
||||
|
||||
#
|
||||
# Disable px4io topic limiting and start logging
|
||||
#
|
||||
if [ $BOARD == fmuv1 ]
|
||||
then
|
||||
px4io limit 200
|
||||
sdlog2 start -r 50 -a -b 16
|
||||
if blinkm start
|
||||
then
|
||||
blinkm systemstate
|
||||
fi
|
||||
else
|
||||
px4io limit 400
|
||||
sdlog2 start -r 200 -a -b 16
|
||||
if rgbled start
|
||||
then
|
||||
#rgbled systemstate
|
||||
fi
|
||||
fi
|
||||
sh /etc/init.d/rc.multirotor
|
||||
|
|
|
|||
|
|
@ -1,26 +1,6 @@
|
|||
#!nsh
|
||||
#
|
||||
# Flight startup script for PX4FMU+PX4IO
|
||||
#
|
||||
|
||||
# disable USB and autostart
|
||||
set USB no
|
||||
set MODE custom
|
||||
|
||||
#
|
||||
# Start the ORB (first app to start)
|
||||
#
|
||||
uorb start
|
||||
|
||||
#
|
||||
# Load microSD params
|
||||
#
|
||||
echo "[init] loading microSD params"
|
||||
param select /fs/microsd/params
|
||||
if [ -f /fs/microsd/params ]
|
||||
then
|
||||
param load /fs/microsd/params
|
||||
fi
|
||||
cho "[init] 30_io_camflyer: PX4FMU+PX4IO on Camflyer"
|
||||
|
||||
#
|
||||
# Load default params for this platform
|
||||
|
|
@ -28,39 +8,18 @@ fi
|
|||
if param compare SYS_AUTOCONFIG 1
|
||||
then
|
||||
# Set all params here, then disable autoconfig
|
||||
# TODO
|
||||
|
||||
param set SYS_AUTOCONFIG 0
|
||||
param save /fs/microsd/params
|
||||
fi
|
||||
|
||||
#
|
||||
# Force some key parameters to sane values
|
||||
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
|
||||
# see https://pixhawk.ethz.ch/mavlink/
|
||||
# MAV_TYPE 1 = fixed wing
|
||||
#
|
||||
param set MAV_TYPE 1
|
||||
|
||||
#
|
||||
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
|
||||
#
|
||||
if [ -f /fs/microsd/px4io.bin ]
|
||||
then
|
||||
echo "PX4IO Firmware found. Checking Upgrade.."
|
||||
if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
|
||||
then
|
||||
echo "No newer version, skipping upgrade."
|
||||
else
|
||||
echo "Loading /fs/microsd/px4io.bin"
|
||||
if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
|
||||
then
|
||||
cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
|
||||
echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
|
||||
else
|
||||
echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
|
||||
echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Start MAVLink (depends on orb)
|
||||
#
|
||||
|
|
@ -106,16 +65,3 @@ kalman_demo start
|
|||
#
|
||||
mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
|
||||
control_demo start
|
||||
|
||||
#
|
||||
# Start logging
|
||||
#
|
||||
sdlog2 start -r 50 -a -b 14
|
||||
|
||||
#
|
||||
# Start system state
|
||||
#
|
||||
if blinkm start
|
||||
then
|
||||
blinkm systemstate
|
||||
fi
|
||||
|
|
|
|||
|
|
@ -1,26 +1,6 @@
|
|||
#!nsh
|
||||
#
|
||||
# Flight startup script for PX4FMU+PX4IO
|
||||
#
|
||||
|
||||
# disable USB and autostart
|
||||
set USB no
|
||||
set MODE custom
|
||||
|
||||
#
|
||||
# Start the ORB (first app to start)
|
||||
#
|
||||
uorb start
|
||||
|
||||
#
|
||||
# Load microSD params
|
||||
#
|
||||
echo "[init] loading microSD params"
|
||||
param select /fs/microsd/params
|
||||
if [ -f /fs/microsd/params ]
|
||||
then
|
||||
param load /fs/microsd/params
|
||||
fi
|
||||
echo "[init] 31_io_phantom: PX4FMU+PX4IO on Phantom"
|
||||
|
||||
#
|
||||
# Load default params for this platform
|
||||
|
|
@ -28,39 +8,18 @@ fi
|
|||
if param compare SYS_AUTOCONFIG 1
|
||||
then
|
||||
# Set all params here, then disable autoconfig
|
||||
# TODO
|
||||
|
||||
param set SYS_AUTOCONFIG 0
|
||||
param save /fs/microsd/params
|
||||
fi
|
||||
|
||||
#
|
||||
# Force some key parameters to sane values
|
||||
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
|
||||
# see https://pixhawk.ethz.ch/mavlink/
|
||||
# MAV_TYPE 1 = fixed wing
|
||||
#
|
||||
param set MAV_TYPE 1
|
||||
|
||||
#
|
||||
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
|
||||
#
|
||||
if [ -f /fs/microsd/px4io.bin ]
|
||||
then
|
||||
echo "PX4IO Firmware found. Checking Upgrade.."
|
||||
if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
|
||||
then
|
||||
echo "No newer version, skipping upgrade."
|
||||
else
|
||||
echo "Loading /fs/microsd/px4io.bin"
|
||||
if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
|
||||
then
|
||||
cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
|
||||
echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
|
||||
else
|
||||
echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
|
||||
echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Start MAVLink (depends on orb)
|
||||
#
|
||||
|
|
@ -68,36 +27,31 @@ mavlink start -d /dev/ttyS1 -b 57600
|
|||
usleep 5000
|
||||
|
||||
#
|
||||
# Start the commander (depends on orb, mavlink)
|
||||
# Start and configure PX4IO interface
|
||||
#
|
||||
commander start
|
||||
|
||||
#
|
||||
# Start PX4IO interface (depends on orb, commander)
|
||||
#
|
||||
px4io start
|
||||
|
||||
#
|
||||
# Allow PX4IO to recover from midair restarts.
|
||||
# this is very unlikely, but quite safe and robust.
|
||||
px4io recovery
|
||||
sh /etc/init.d/rc.io
|
||||
|
||||
#
|
||||
# Set actuator limit to 100 Hz update (50 Hz PWM)
|
||||
px4io limit 100
|
||||
|
||||
#
|
||||
# Start the sensors (depends on orb, px4io)
|
||||
# Start the commander
|
||||
#
|
||||
commander start
|
||||
|
||||
#
|
||||
# Start the sensors
|
||||
#
|
||||
sh /etc/init.d/rc.sensors
|
||||
|
||||
#
|
||||
# Start GPS interface (depends on orb)
|
||||
# Start GPS interface
|
||||
#
|
||||
gps start
|
||||
|
||||
#
|
||||
# Start the attitude estimator (depends on orb)
|
||||
# Start the attitude estimator
|
||||
#
|
||||
kalman_demo start
|
||||
|
||||
|
|
@ -106,16 +60,3 @@ kalman_demo start
|
|||
#
|
||||
mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
|
||||
control_demo start
|
||||
|
||||
#
|
||||
# Start logging
|
||||
#
|
||||
sdlog2 start -r 50 -a -b 14
|
||||
|
||||
#
|
||||
# Start system state
|
||||
#
|
||||
if blinkm start
|
||||
then
|
||||
blinkm systemstate
|
||||
fi
|
||||
|
|
|
|||
|
|
@ -1,26 +1,4 @@
|
|||
#!nsh
|
||||
#
|
||||
# Flight startup script for PX4FMU+PX4IO
|
||||
#
|
||||
|
||||
# disable USB and autostart
|
||||
set USB no
|
||||
set MODE custom
|
||||
|
||||
#
|
||||
# Start the ORB (first app to start)
|
||||
#
|
||||
uorb start
|
||||
|
||||
#
|
||||
# Load microSD params
|
||||
#
|
||||
echo "[init] loading microSD params"
|
||||
param select /fs/microsd/params
|
||||
if [ -f /fs/microsd/params ]
|
||||
then
|
||||
param load /fs/microsd/params
|
||||
fi
|
||||
|
||||
#
|
||||
# Load default params for this platform
|
||||
|
|
@ -28,65 +6,34 @@ fi
|
|||
if param compare SYS_AUTOCONFIG 1
|
||||
then
|
||||
# Set all params here, then disable autoconfig
|
||||
# TODO
|
||||
|
||||
param set SYS_AUTOCONFIG 0
|
||||
param save /fs/microsd/params
|
||||
fi
|
||||
|
||||
#
|
||||
# Force some key parameters to sane values
|
||||
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
|
||||
# see https://pixhawk.ethz.ch/mavlink/
|
||||
# MAV_TYPE 10 = ground rover
|
||||
#
|
||||
param set MAV_TYPE 10
|
||||
|
||||
#
|
||||
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
|
||||
#
|
||||
if [ -f /fs/microsd/px4io.bin ]
|
||||
then
|
||||
echo "PX4IO Firmware found. Checking Upgrade.."
|
||||
if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
|
||||
then
|
||||
echo "No newer version, skipping upgrade."
|
||||
else
|
||||
echo "Loading /fs/microsd/px4io.bin"
|
||||
if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
|
||||
then
|
||||
cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
|
||||
echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
|
||||
else
|
||||
echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
|
||||
echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Start MAVLink (depends on orb)
|
||||
#
|
||||
mavlink start -d /dev/ttyS1 -b 57600
|
||||
usleep 5000
|
||||
|
||||
#
|
||||
# Start and configure PX4IO interface
|
||||
#
|
||||
sh /etc/init.d/rc.io
|
||||
|
||||
#
|
||||
# Start the commander (depends on orb, mavlink)
|
||||
#
|
||||
commander start
|
||||
|
||||
#
|
||||
# Start PX4IO interface (depends on orb, commander)
|
||||
#
|
||||
px4io start
|
||||
|
||||
#
|
||||
# Allow PX4IO to recover from midair restarts.
|
||||
# this is very unlikely, but quite safe and robust.
|
||||
px4io recovery
|
||||
|
||||
#
|
||||
# Disable px4io topic limiting
|
||||
#
|
||||
px4io limit 200
|
||||
|
||||
#
|
||||
# Start the sensors (depends on orb, px4io)
|
||||
#
|
||||
|
|
@ -107,16 +54,3 @@ attitude_estimator_ekf start
|
|||
#
|
||||
md25 start 3 0x58
|
||||
segway start
|
||||
|
||||
#
|
||||
# Start logging
|
||||
#
|
||||
sdlog2 start -r 50 -a -b 14
|
||||
|
||||
#
|
||||
# Start system state
|
||||
#
|
||||
if blinkm start
|
||||
then
|
||||
blinkm systemstate
|
||||
fi
|
||||
|
|
|
|||
|
|
@ -1,28 +1,6 @@
|
|||
#!nsh
|
||||
#
|
||||
# Flight startup script for PX4FMU with PWM outputs.
|
||||
#
|
||||
|
||||
# disable USB and autostart
|
||||
set USB no
|
||||
set MODE custom
|
||||
|
||||
echo "[init] doing PX4FMU Quad startup 666_fmu_quad_X550..."
|
||||
|
||||
#
|
||||
# Start the ORB
|
||||
#
|
||||
uorb start
|
||||
|
||||
#
|
||||
# Load microSD params
|
||||
#
|
||||
echo "[init] loading microSD params"
|
||||
param select /fs/microsd/params
|
||||
if [ -f /fs/microsd/params ]
|
||||
then
|
||||
param load /fs/microsd/params
|
||||
fi
|
||||
echo "[init] 666_fmu_q_x550: PX4FMU Quad X550 with PWM outputs"
|
||||
|
||||
#
|
||||
# Load default params for this platform
|
||||
|
|
@ -52,8 +30,7 @@ fi
|
|||
|
||||
#
|
||||
# Force some key parameters to sane values
|
||||
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
|
||||
# see https://pixhawk.ethz.ch/mavlink/
|
||||
# MAV_TYPE 2 = quadrotor
|
||||
#
|
||||
param set MAV_TYPE 2
|
||||
|
||||
|
|
@ -64,53 +41,24 @@ mavlink start -d /dev/ttyS0 -b 57600
|
|||
usleep 5000
|
||||
|
||||
#
|
||||
# Start the sensors and test them.
|
||||
# Start PWM output
|
||||
#
|
||||
sh /etc/init.d/rc.sensors
|
||||
|
||||
#
|
||||
# Start the commander.
|
||||
#
|
||||
commander start
|
||||
|
||||
#
|
||||
# Start GPS interface (depends on orb)
|
||||
#
|
||||
gps start
|
||||
|
||||
#
|
||||
# Start the attitude estimator
|
||||
#
|
||||
attitude_estimator_ekf start
|
||||
#
|
||||
# Start the position estimator
|
||||
#
|
||||
position_estimator_inav start
|
||||
|
||||
echo "[init] starting PWM output"
|
||||
fmu mode_pwm
|
||||
|
||||
#
|
||||
# Load mixer
|
||||
#
|
||||
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
|
||||
|
||||
#
|
||||
# Set PWM output frequency
|
||||
#
|
||||
pwm -u 400 -m 0xff
|
||||
|
||||
#
|
||||
# Start attitude control
|
||||
# Start common for all multirotors apps
|
||||
#
|
||||
multirotor_att_control start
|
||||
sh /etc/init.d/rc.multirotor
|
||||
|
||||
#
|
||||
# Start position control
|
||||
#
|
||||
multirotor_pos_control start
|
||||
|
||||
#
|
||||
# Start logging
|
||||
#
|
||||
sdlog2 start -r 50 -a -b 14
|
||||
|
||||
#
|
||||
# Start system state
|
||||
#
|
||||
if blinkm start
|
||||
then
|
||||
blinkm systemstate
|
||||
fi
|
||||
# Exit, because /dev/ttyS0 is needed for MAVLink
|
||||
exit
|
||||
|
|
@ -0,0 +1,23 @@
|
|||
#
|
||||
# Start PX4IO interface (depends on orb, commander)
|
||||
#
|
||||
if px4io start
|
||||
then
|
||||
#
|
||||
# Allow PX4IO to recover from midair restarts.
|
||||
# this is very unlikely, but quite safe and robust.
|
||||
px4io recovery
|
||||
|
||||
#
|
||||
# Disable px4io topic limiting
|
||||
#
|
||||
if [ $BOARD == fmuv1 ]
|
||||
then
|
||||
px4io limit 200
|
||||
else
|
||||
px4io limit 400
|
||||
fi
|
||||
else
|
||||
# SOS
|
||||
tone_alarm 6
|
||||
fi
|
||||
|
|
@ -5,5 +5,10 @@
|
|||
|
||||
if [ -d /fs/microsd ]
|
||||
then
|
||||
sdlog start
|
||||
if [ $BOARD == fmuv1 ]
|
||||
then
|
||||
sdlog2 start -r 50 -a -b 16
|
||||
else
|
||||
sdlog2 start -r 200 -a -b 16
|
||||
fi
|
||||
fi
|
||||
|
|
|
|||
|
|
@ -37,13 +37,3 @@ multirotor_att_control start
|
|||
# Start position control
|
||||
#
|
||||
multirotor_pos_control start
|
||||
|
||||
#
|
||||
# Start logging
|
||||
#
|
||||
if [ $BOARD == fmuv1 ]
|
||||
then
|
||||
sdlog2 start -r 50 -a -b 16
|
||||
else
|
||||
sdlog2 start -r 200 -a -b 16
|
||||
fi
|
||||
|
|
|
|||
|
|
@ -57,59 +57,63 @@ fi
|
|||
|
||||
if [ $MODE == autostart ]
|
||||
then
|
||||
|
||||
#
|
||||
# Start terminal
|
||||
#
|
||||
if sercon
|
||||
then
|
||||
#
|
||||
# Start terminal
|
||||
#
|
||||
if sercon
|
||||
then
|
||||
echo "USB connected"
|
||||
else
|
||||
else
|
||||
# second attempt
|
||||
sercon &
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Start the ORB (first app to start)
|
||||
#
|
||||
uorb start
|
||||
#
|
||||
# Start the ORB (first app to start)
|
||||
#
|
||||
uorb start
|
||||
|
||||
#
|
||||
# Load microSD params
|
||||
#
|
||||
if ramtron start
|
||||
then
|
||||
#
|
||||
# Load microSD params
|
||||
#
|
||||
if ramtron start
|
||||
then
|
||||
param select /ramtron/params
|
||||
if [ -f /ramtron/params ]
|
||||
then
|
||||
param load /ramtron/params
|
||||
fi
|
||||
else
|
||||
else
|
||||
param select /fs/microsd/params
|
||||
if [ -f /fs/microsd/params ]
|
||||
then
|
||||
param load /fs/microsd/params
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Start system state indicator
|
||||
#
|
||||
if rgbled start
|
||||
then
|
||||
#
|
||||
# Start system state indicator
|
||||
#
|
||||
if rgbled start
|
||||
then
|
||||
echo "Using external RGB Led"
|
||||
else
|
||||
else
|
||||
if blinkm start
|
||||
then
|
||||
blinkm systemstate
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
|
||||
#
|
||||
if [ -f /fs/microsd/px4io.bin ]
|
||||
then
|
||||
#
|
||||
# Start logging
|
||||
#
|
||||
sh /etc/init.d/rc.logging
|
||||
|
||||
#
|
||||
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
|
||||
#
|
||||
if [ -f /fs/microsd/px4io.bin ]
|
||||
then
|
||||
echo "PX4IO Firmware found. Checking Upgrade.."
|
||||
if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.cur
|
||||
then
|
||||
|
|
@ -125,66 +129,66 @@ then
|
|||
echo "Failed to upgrade px4io firmware - check if px4io is in bootloader mode"
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Check if auto-setup from one of the standard scripts is wanted
|
||||
# SYS_AUTOSTART = 0 means no autostart (default)
|
||||
#
|
||||
if param compare SYS_AUTOSTART 1
|
||||
then
|
||||
#
|
||||
# Check if auto-setup from one of the standard scripts is wanted
|
||||
# SYS_AUTOSTART = 0 means no autostart (default)
|
||||
#
|
||||
if param compare SYS_AUTOSTART 1
|
||||
then
|
||||
sh /etc/init.d/01_fmu_quad_x
|
||||
set MODE custom
|
||||
fi
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 2
|
||||
then
|
||||
if param compare SYS_AUTOSTART 2
|
||||
then
|
||||
sh /etc/init.d/02_io_quad_x
|
||||
set MODE custom
|
||||
fi
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 8
|
||||
then
|
||||
if param compare SYS_AUTOSTART 8
|
||||
then
|
||||
sh /etc/init.d/08_ardrone
|
||||
set MODE custom
|
||||
fi
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 9
|
||||
then
|
||||
if param compare SYS_AUTOSTART 9
|
||||
then
|
||||
sh /etc/init.d/09_ardrone_flow
|
||||
set MODE custom
|
||||
fi
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 10
|
||||
then
|
||||
if param compare SYS_AUTOSTART 10
|
||||
then
|
||||
sh /etc/init.d/10_io_f330
|
||||
set MODE custom
|
||||
fi
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 15
|
||||
then
|
||||
if param compare SYS_AUTOSTART 15
|
||||
then
|
||||
sh /etc/init.d/15_io_tbs
|
||||
set MODE custom
|
||||
fi
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 30
|
||||
then
|
||||
if param compare SYS_AUTOSTART 30
|
||||
then
|
||||
sh /etc/init.d/30_io_camflyer
|
||||
set MODE custom
|
||||
fi
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 31
|
||||
then
|
||||
if param compare SYS_AUTOSTART 31
|
||||
then
|
||||
sh /etc/init.d/31_io_phantom
|
||||
set MODE custom
|
||||
fi
|
||||
fi
|
||||
|
||||
# Try to get an USB console
|
||||
nshterm /dev/ttyACM0 &
|
||||
# Try to get an USB console
|
||||
nshterm /dev/ttyACM0 &
|
||||
|
||||
# If none of the autostart scripts triggered, get a minimal setup
|
||||
if [ $MODE == autostart ]
|
||||
then
|
||||
# If none of the autostart scripts triggered, get a minimal setup
|
||||
if [ $MODE == autostart ]
|
||||
then
|
||||
# Telemetry port is on both FMU boards ttyS1
|
||||
mavlink start -b 57600 -d /dev/ttyS1
|
||||
usleep 5000
|
||||
|
|
@ -212,7 +216,6 @@ then
|
|||
# Start GPS
|
||||
gps start
|
||||
|
||||
fi
|
||||
|
||||
fi
|
||||
# End of autostart
|
||||
fi
|
||||
|
|
|
|||
Loading…
Reference in New Issue