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ROMFS:Removed FMUv1 from rcS etal

This commit is contained in:
David Sidrane 2017-08-10 08:31:54 -10:00 committed by Daniel Agar
parent c0bff500fe
commit 62a2351a72
5 changed files with 133 additions and 257 deletions
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4
ROMFS/px4fmu_common/init.d/rc.interface
View File

@ -121,10 +121,6 @@ then
fi fi
# This is a FMUv2+ thing # This is a FMUv2+ thing
if ver hwcmp PX4FMU_V1
then
set MIXER_AUX none
fi
#MindPX has not aux mixer #MindPX has not aux mixer
if ver hwcmp MINDPX_V2 if ver hwcmp MINDPX_V2

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

@ -11,10 +11,6 @@ px4io recovery
# Adjust PX4IO update rate limit # Adjust PX4IO update rate limit
# #
set PX4IO_LIMIT 400 set PX4IO_LIMIT 400
if ver hwcmp PX4FMU_V1
then
set PX4IO_LIMIT 200
fi
if px4io limit ${PX4IO_LIMIT} if px4io limit ${PX4IO_LIMIT}
then then

34
ROMFS/px4fmu_common/init.d/rc.sensors
View File

@ -1,12 +1,8 @@
#!nsh #!nsh
# #
# Standard startup script for PX4FMU v1, v2, v3, v4 onboard sensor drivers. # Standard startup script for PX4FMU v2, v3, v4 onboard sensor drivers.
# #
if ver hwcmp PX4FMU_V1
then
ms5611 start
else
if ver hwcmp AEROFC_V1 if ver hwcmp AEROFC_V1
then then
# Aero FC uses separate driver # Aero FC uses separate driver
@ -40,13 +36,7 @@ else
# Blacksheep telemetry # Blacksheep telemetry
bst start bst start
fi
fi
if ver hwcmp AEROFC_V1
then
# Aero FC uses separate driver
else
adc start adc start
fi fi
@ -184,28 +174,6 @@ then
bmp280 -I start bmp280 -I start
fi fi
if ver hwcmp PX4FMU_V1
then
# FMUv1
mpu6000 start
l3gd20 start
# MAG selection
if param compare SENS_EXT_MAG 2
then
hmc5883 -C -I start
else
# Use only external as primary
if param compare SENS_EXT_MAG 1
then
hmc5883 -C -X start
else
# auto-detect the primary, prefer external
hmc5883 start
fi
fi
fi
if ver hwcmp MINDPX_V2 if ver hwcmp MINDPX_V2
then then
# External I2C bus # External I2C bus

46
ROMFS/px4fmu_common/init.d/rcS
View File

@ -13,7 +13,7 @@ set +e
# #
# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS. # NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
# #
# UART mapping on FMUv1/2/3/4: # UART mapping on FMUv2/3/4:
# #
# UART1 /dev/ttyS0 IO debug # UART1 /dev/ttyS0 IO debug
# USART2 /dev/ttyS1 TELEM1 (flow control) # USART2 /dev/ttyS1 TELEM1 (flow control)
@ -418,11 +418,6 @@ 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
# Avoid using ttyS0 for MAVLink on FMUv1
if ver hwcmp PX4FMU_V1
then
set FMU_MODE serial
fi
fi fi
if [ $OUTPUT_MODE == ardrone ] if [ $OUTPUT_MODE == ardrone ]
@ -438,10 +433,6 @@ then
if [ $HIL == yes ] if [ $HIL == yes ]
then then
set OUTPUT_MODE hil set OUTPUT_MODE hil
if ver hwcmp PX4FMU_V1
then
set FMU_MODE serial
fi
else else
gps start gps start
fi fi
@ -559,18 +550,6 @@ then
echo "FMU start failed" >> $LOG_FILE echo "FMU start failed" >> $LOG_FILE
tone_alarm $TUNE_ERR tone_alarm $TUNE_ERR
fi fi
if ver hwcmp PX4FMU_V1
then
if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ]
then
set TTYS1_BUSY yes
fi
if [ $FMU_MODE == pwm_gpio -o $OUTPUT_MODE == ardrone ]
then
set TTYS1_BUSY yes
fi
fi
fi fi
if [ $OUTPUT_MODE == mkblctrl ] if [ $OUTPUT_MODE == mkblctrl ]
@ -628,18 +607,6 @@ then
echo "FMU mode_${FMU_MODE} start failed" >> $LOG_FILE echo "FMU mode_${FMU_MODE} start failed" >> $LOG_FILE
tone_alarm $TUNE_ERR tone_alarm $TUNE_ERR
fi fi
if ver hwcmp PX4FMU_V1
then
if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ]
then
set TTYS1_BUSY yes
fi
if [ $FMU_MODE == pwm_gpio -o $OUTPUT_MODE == ardrone ]
then
set TTYS1_BUSY yes
fi
fi
fi fi
fi fi
fi fi
@ -687,9 +654,6 @@ then
# #
# MAVLink onboard / TELEM2 # MAVLink onboard / TELEM2
# #
if ver hwcmp PX4FMU_V1
then
else
# XXX We need a better way for runtime eval of shell variables, # XXX We need a better way for runtime eval of shell variables,
# but this works for now # but this works for now
if param compare SYS_COMPANION 10 if param compare SYS_COMPANION 10
@ -750,7 +714,6 @@ then
then then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 1500000 -m onboard -r 10000 -x -f mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 1500000 -m onboard -r 10000 -x -f
fi fi
fi
unset MAVLINK_COMPANION_DEVICE unset MAVLINK_COMPANION_DEVICE
@ -811,12 +774,6 @@ then
# #
# Logging # Logging
# #
if ver hwcmp PX4FMU_V1
then
if sdlog2 start -r 30 -a -b 2 -t
then
fi
else
if param compare SYS_LOGGER 0 if param compare SYS_LOGGER 0
then then
# check if we should increase logging rate for ekf2 replay message logging # check if we should increase logging rate for ekf2 replay message logging
@ -858,7 +815,6 @@ then
unset LOGGER_BUF unset LOGGER_BUF
unset LOGGER_ARGS unset LOGGER_ARGS
fi fi
fi
# #
# Start up ARDrone Motor interface # Start up ARDrone Motor interface

42
ROMFS/px4fmu_test/init.d/rc.sensors
View File

@ -1,14 +1,8 @@
#!nsh #!nsh
# #
# Standard startup script for PX4FMU v1, v2, v3, v4 onboard sensor drivers. # Standard startup script for PX4FMU v2, v3, v4 onboard sensor drivers.
# #
if ver hwcmp PX4FMU_V1
then
if ms5611 start
then
fi
else
# Configure all I2C buses to 100 KHz as they # Configure all I2C buses to 100 KHz as they
# are all external or slow # are all external or slow
fmu i2c 1 100000 fmu i2c 1 100000
@ -22,7 +16,6 @@ else
if bst start if bst start
then then
fi fi
fi
if adc start if adc start
then then
@ -116,39 +109,6 @@ then
fi fi
fi fi
if ver hwcmp PX4FMU_V1
then
# FMUv1
if mpu6000 start
then
fi
if l3gd20 start
then
fi
# MAG selection
if param compare SENS_EXT_MAG 2
then
if hmc5883 -C -I start
then
fi
else
# Use only external as primary
if param compare SENS_EXT_MAG 1
then
if hmc5883 -C -X start
then
fi
else
# auto-detect the primary, prefer external
if hmc5883 start
then
fi
fi
fi
fi
if ver hwcmp MINDPX_V2 if ver hwcmp MINDPX_V2
then then
# External I2C bus # External I2C bus