dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

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

@ -121,10 +121,6 @@ then
fi
# This is a FMUv2+ thing
if ver hwcmp PX4FMU_V1
then
set MIXER_AUX none
fi
#MindPX has not aux mixer
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
#
set PX4IO_LIMIT 400
if ver hwcmp PX4FMU_V1
then
set PX4IO_LIMIT 200
fi
if px4io limit ${PX4IO_LIMIT}
then

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

@ -1,12 +1,8 @@
#!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
then
# Aero FC uses separate driver
@ -40,13 +36,7 @@ else
# Blacksheep telemetry
bst start
fi
fi
if ver hwcmp AEROFC_V1
then
# Aero FC uses separate driver
else
adc start
fi
@ -184,28 +174,6 @@ then
bmp280 -I start
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
then
# 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.
#
# UART mapping on FMUv1/2/3/4:
# UART mapping on FMUv2/3/4:
#
# UART1 /dev/ttyS0 IO debug
# USART2 /dev/ttyS1 TELEM1 (flow control)
@ -418,11 +418,6 @@ then
# Need IO for output but it not present, disable output
set OUTPUT_MODE none
# Avoid using ttyS0 for MAVLink on FMUv1
if ver hwcmp PX4FMU_V1
then
set FMU_MODE serial
fi
fi
if [ $OUTPUT_MODE == ardrone ]
@ -438,10 +433,6 @@ then
if [ $HIL == yes ]
then
set OUTPUT_MODE hil
if ver hwcmp PX4FMU_V1
then
set FMU_MODE serial
fi
else
gps start
fi
@ -559,18 +550,6 @@ then
echo "FMU start failed" >> $LOG_FILE
tone_alarm $TUNE_ERR
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
if [ $OUTPUT_MODE == mkblctrl ]
@ -628,18 +607,6 @@ then
echo "FMU mode_${FMU_MODE} start failed" >> $LOG_FILE
tone_alarm $TUNE_ERR
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
@ -687,9 +654,6 @@ then
#
# MAVLink onboard / TELEM2
#
if ver hwcmp PX4FMU_V1
then
else
# XXX We need a better way for runtime eval of shell variables,
# but this works for now
if param compare SYS_COMPANION 10
@ -750,7 +714,6 @@ then
then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 1500000 -m onboard -r 10000 -x -f
fi
fi
unset MAVLINK_COMPANION_DEVICE
@ -811,12 +774,6 @@ then
#
# 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
then
# check if we should increase logging rate for ekf2 replay message logging
@ -858,7 +815,6 @@ then
unset LOGGER_BUF
unset LOGGER_ARGS
fi
fi
#
# Start up ARDrone Motor interface

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

@ -1,14 +1,8 @@
#!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
# are all external or slow
fmu i2c 1 100000
@ -22,7 +16,6 @@ else
if bst start
then
fi
fi
if adc start
then
@ -116,39 +109,6 @@ then
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
then
# External I2C bus