forked from Archive/PX4-Autopilot
ROMFS:Removed FMUv1 from rcS etal
This commit is contained in:
David Sidrane
Daniel Agar
parent
c0bff500fe
commit
62a2351a72
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@ -121,10 +121,6 @@ then
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fi
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# This is a FMUv2+ thing
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if ver hwcmp PX4FMU_V1
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then
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set MIXER_AUX none
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fi
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#MindPX has not aux mixer
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if ver hwcmp MINDPX_V2
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@ -11,10 +11,6 @@ px4io recovery
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# Adjust PX4IO update rate limit
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#
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set PX4IO_LIMIT 400
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if ver hwcmp PX4FMU_V1
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then
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set PX4IO_LIMIT 200
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fi
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if px4io limit ${PX4IO_LIMIT}
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then
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@ -1,52 +1,42 @@
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#!nsh
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#
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# Standard startup script for PX4FMU v1, v2, v3, v4 onboard sensor drivers.
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# Standard startup script for PX4FMU v2, v3, v4 onboard sensor drivers.
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#
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if ver hwcmp PX4FMU_V1
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then
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ms5611 start
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else
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if ver hwcmp AEROFC_V1
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then
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# Aero FC uses separate driver
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else
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if ver hwcmp CRAZYFLIE
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then
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# Crazyflie uses separate driver
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else
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# Configure all I2C buses to 100 KHz as they
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# are all external or slow
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fmu i2c 1 100000
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fmu i2c 2 100000
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fi
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if ver hwcmp PX4FMU_V4
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then
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# We know there are sketchy boards out there
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# as chinese companies produce Pixracers without
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# fully understanding the critical parts of the
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# schematic and BOM, leading to sensor brownouts
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# on boot. Original Pixracers following the
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# open hardware design do not require this.
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fmu sensor_reset 50
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fi
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# External SPI
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ms5611 -S start
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# Internal SPI
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ms5611 -s start
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# Blacksheep telemetry
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bst start
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fi
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fi
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if ver hwcmp AEROFC_V1
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then
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# Aero FC uses separate driver
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else
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if ver hwcmp CRAZYFLIE
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then
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# Crazyflie uses separate driver
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else
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# Configure all I2C buses to 100 KHz as they
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# are all external or slow
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fmu i2c 1 100000
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fmu i2c 2 100000
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fi
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if ver hwcmp PX4FMU_V4
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then
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# We know there are sketchy boards out there
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# as chinese companies produce Pixracers without
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# fully understanding the critical parts of the
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# schematic and BOM, leading to sensor brownouts
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# on boot. Original Pixracers following the
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# open hardware design do not require this.
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fmu sensor_reset 50
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fi
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# External SPI
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ms5611 -S start
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# Internal SPI
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ms5611 -s start
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# Blacksheep telemetry
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bst start
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adc start
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fi
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@ -184,28 +174,6 @@ then
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bmp280 -I start
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fi
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if ver hwcmp PX4FMU_V1
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then
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# FMUv1
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mpu6000 start
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l3gd20 start
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# MAG selection
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if param compare SENS_EXT_MAG 2
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then
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hmc5883 -C -I start
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else
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# Use only external as primary
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if param compare SENS_EXT_MAG 1
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then
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hmc5883 -C -X start
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else
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# auto-detect the primary, prefer external
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hmc5883 start
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fi
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fi
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fi
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if ver hwcmp MINDPX_V2
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then
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# External I2C bus
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@ -13,7 +13,7 @@ set +e
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#
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# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
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#
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# UART mapping on FMUv1/2/3/4:
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# UART mapping on FMUv2/3/4:
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#
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# UART1 /dev/ttyS0 IO debug
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# USART2 /dev/ttyS1 TELEM1 (flow control)
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@ -418,11 +418,6 @@ then
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# Need IO for output but it not present, disable output
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set OUTPUT_MODE none
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# Avoid using ttyS0 for MAVLink on FMUv1
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if ver hwcmp PX4FMU_V1
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then
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set FMU_MODE serial
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fi
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fi
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if [ $OUTPUT_MODE == ardrone ]
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@ -438,10 +433,6 @@ then
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if [ $HIL == yes ]
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then
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set OUTPUT_MODE hil
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if ver hwcmp PX4FMU_V1
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then
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set FMU_MODE serial
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fi
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else
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gps start
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fi
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@ -559,18 +550,6 @@ then
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echo "FMU start failed" >> $LOG_FILE
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tone_alarm $TUNE_ERR
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fi
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if ver hwcmp PX4FMU_V1
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then
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if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ]
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then
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set TTYS1_BUSY yes
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fi
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if [ $FMU_MODE == pwm_gpio -o $OUTPUT_MODE == ardrone ]
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then
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set TTYS1_BUSY yes
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fi
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fi
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fi
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if [ $OUTPUT_MODE == mkblctrl ]
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@ -628,18 +607,6 @@ then
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echo "FMU mode_${FMU_MODE} start failed" >> $LOG_FILE
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tone_alarm $TUNE_ERR
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fi
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if ver hwcmp PX4FMU_V1
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then
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if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ]
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then
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set TTYS1_BUSY yes
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fi
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if [ $FMU_MODE == pwm_gpio -o $OUTPUT_MODE == ardrone ]
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then
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set TTYS1_BUSY yes
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fi
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fi
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fi
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fi
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fi
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@ -687,69 +654,65 @@ then
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#
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# MAVLink onboard / TELEM2
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#
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if ver hwcmp PX4FMU_V1
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# XXX We need a better way for runtime eval of shell variables,
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# but this works for now
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if param compare SYS_COMPANION 10
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then
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else
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# XXX We need a better way for runtime eval of shell variables,
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# but this works for now
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if param compare SYS_COMPANION 10
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then
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frsky_telemetry start -d ${MAVLINK_COMPANION_DEVICE}
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fi
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if param compare SYS_COMPANION 20
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then
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syslink start
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mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000
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fi
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if param compare SYS_COMPANION 921600
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then
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mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -m onboard -r 80000 -x -f
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fi
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if param compare SYS_COMPANION 57600
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then
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mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m onboard -r 5000 -x -f
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fi
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if param compare SYS_COMPANION 460800
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then
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mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 460800 -m onboard -r 5000 -x -f
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fi
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if param compare SYS_COMPANION 157600
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then
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mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m osd -r 1000
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fi
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if param compare SYS_COMPANION 257600
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then
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mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m magic -r 5000 -x -f
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fi
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if param compare SYS_COMPANION 319200
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then
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mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 19200 -r 1000
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fi
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if param compare SYS_COMPANION 338400
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then
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mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 38400 -r 1000
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fi
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if param compare SYS_COMPANION 357600
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then
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mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -r 1000
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fi
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if param compare SYS_COMPANION 3115200
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then
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mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 115200 -r 1000
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fi
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if param compare SYS_COMPANION 419200
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then
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iridiumsbd start -d /dev/ttyS2
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mavlink start -d /dev/iridium -b 19200 -m iridium -r 10
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fi
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if param compare SYS_COMPANION 1921600
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then
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mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -r 20000
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fi
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if param compare SYS_COMPANION 1500000
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then
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mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 1500000 -m onboard -r 10000 -x -f
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fi
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frsky_telemetry start -d ${MAVLINK_COMPANION_DEVICE}
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fi
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if param compare SYS_COMPANION 20
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then
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syslink start
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mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000
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fi
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if param compare SYS_COMPANION 921600
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then
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mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -m onboard -r 80000 -x -f
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fi
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if param compare SYS_COMPANION 57600
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then
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mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m onboard -r 5000 -x -f
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fi
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if param compare SYS_COMPANION 460800
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then
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mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 460800 -m onboard -r 5000 -x -f
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fi
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if param compare SYS_COMPANION 157600
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then
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mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m osd -r 1000
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fi
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if param compare SYS_COMPANION 257600
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then
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mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m magic -r 5000 -x -f
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fi
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if param compare SYS_COMPANION 319200
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then
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mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 19200 -r 1000
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fi
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if param compare SYS_COMPANION 338400
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then
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mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 38400 -r 1000
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fi
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if param compare SYS_COMPANION 357600
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then
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mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -r 1000
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fi
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if param compare SYS_COMPANION 3115200
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then
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mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 115200 -r 1000
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fi
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if param compare SYS_COMPANION 419200
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then
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iridiumsbd start -d /dev/ttyS2
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mavlink start -d /dev/iridium -b 19200 -m iridium -r 10
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fi
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if param compare SYS_COMPANION 1921600
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then
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mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -r 20000
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fi
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if param compare SYS_COMPANION 1500000
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then
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mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 1500000 -m onboard -r 10000 -x -f
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fi
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unset MAVLINK_COMPANION_DEVICE
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@ -811,53 +774,46 @@ then
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#
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# Logging
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#
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if ver hwcmp PX4FMU_V1
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if param compare SYS_LOGGER 0
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then
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if sdlog2 start -r 30 -a -b 2 -t
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# check if we should increase logging rate for ekf2 replay message logging
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if param greater EKF2_REC_RPL 0
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then
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fi
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else
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if param compare SYS_LOGGER 0
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then
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# check if we should increase logging rate for ekf2 replay message logging
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if param greater EKF2_REC_RPL 0
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if sdlog2 start -r 500 -e -b 18 -t
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then
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if sdlog2 start -r 500 -e -b 18 -t
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then
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fi
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else
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if sdlog2 start -r 100 -a -b 9 -t
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then
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fi
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fi
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else
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set LOGGER_ARGS ""
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#
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# Adjust FMUv5 logging settings
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#
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if ver hwcmp PX4FMU_V5
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then
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set LOGGER_BUF 64
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param set SDLOG_MODE 2
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fi
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if param compare SDLOG_MODE 1
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then
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set LOGGER_ARGS "-e"
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fi
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if param compare SDLOG_MODE 2
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then
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set LOGGER_ARGS "-f"
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fi
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if ver hwcmp AEROFC_V1
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then
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set LOGGER_ARGS "-m mavlink"
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fi
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if logger start -b ${LOGGER_BUF} -t ${LOGGER_ARGS}
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if sdlog2 start -r 100 -a -b 9 -t
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then
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fi
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unset LOGGER_BUF
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unset LOGGER_ARGS
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fi
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else
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set LOGGER_ARGS ""
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#
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# Adjust FMUv5 logging settings
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#
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if ver hwcmp PX4FMU_V5
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then
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set LOGGER_BUF 64
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param set SDLOG_MODE 2
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fi
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if param compare SDLOG_MODE 1
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then
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set LOGGER_ARGS "-e"
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fi
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if param compare SDLOG_MODE 2
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then
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set LOGGER_ARGS "-f"
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fi
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if ver hwcmp AEROFC_V1
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then
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set LOGGER_ARGS "-m mavlink"
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fi
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if logger start -b ${LOGGER_BUF} -t ${LOGGER_ARGS}
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then
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fi
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unset LOGGER_BUF
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unset LOGGER_ARGS
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fi
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#
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@ -1,27 +1,20 @@
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#!nsh
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#
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# Standard startup script for PX4FMU v1, v2, v3, v4 onboard sensor drivers.
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# Standard startup script for PX4FMU v2, v3, v4 onboard sensor drivers.
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#
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if ver hwcmp PX4FMU_V1
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# Configure all I2C buses to 100 KHz as they
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# are all external or slow
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fmu i2c 1 100000
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fmu i2c 2 100000
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if ms5611 -s start
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then
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if ms5611 start
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then
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fi
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else
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# Configure all I2C buses to 100 KHz as they
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# are all external or slow
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fmu i2c 1 100000
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fmu i2c 2 100000
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fi
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if ms5611 -s start
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then
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fi
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# Blacksheep telemetry
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if bst start
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then
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fi
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# Blacksheep telemetry
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if bst start
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then
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fi
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if adc start
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@ -116,39 +109,6 @@ then
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fi
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fi
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if ver hwcmp PX4FMU_V1
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then
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# FMUv1
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if mpu6000 start
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then
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fi
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if l3gd20 start
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then
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fi
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# MAG selection
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if param compare SENS_EXT_MAG 2
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then
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if hmc5883 -C -I start
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then
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fi
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else
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# Use only external as primary
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if param compare SENS_EXT_MAG 1
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then
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if hmc5883 -C -X start
|
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then
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fi
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else
|
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# auto-detect the primary, prefer external
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if hmc5883 start
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then
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fi
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fi
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fi
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fi
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if ver hwcmp MINDPX_V2
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then
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# External I2C bus
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