forked from Archive/PX4-Autopilot
px4fmu_common:rcS:Use tune control, suport FW with no PX4IO
On FW with a px4io bin file, but not a px4io do not error Use tune control and have all paths in rcS indicate tunes
This commit is contained in:
David Sidrane
Lorenz Meier
parent
6a7d98229e
commit
c072fefa2c
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@ -57,6 +57,8 @@ set +e
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#
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# Set default paramter values.
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# Do not add intra word spaces
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# it wastes flash
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#
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set AUX_MODE pwm
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set DATAMAN_OPT ""
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@ -67,7 +69,7 @@ set FEXTRAS /fs/microsd/etc/extras.txt
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set FRC /fs/microsd/etc/rc.txt
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set FMU_ARGS ""
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set FMU_MODE pwm
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set IO_FILE ""
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set IOFW "/etc/extras/px4io-v2.bin"
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set IO_PRESENT no
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set LOG_FILE /fs/microsd/bootlog.txt
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set MAVLINK_F default
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@ -93,7 +95,7 @@ set PWM_RATE p:PWM_RATE
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set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
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set USE_IO no
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set VEHICLE_TYPE none
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set TUNE_ERR "ML<<CP4CP4CP4CP4CP4"
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#
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# Mount the procfs.
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#
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@ -109,6 +111,18 @@ sercon
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#
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ver all
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#
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# Start the ORB (first app to start)
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# tone_alarm and tune_control
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# is dependent.
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#
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uorb start
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#
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# Start the tone_alarm driver.
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#
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tone_alarm start
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#
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# Try to mount the microSD card.
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#
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@ -119,23 +133,24 @@ then
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then
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# Error tune.
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tune_control play -t 2
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if hardfault_log commit
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then
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hardfault_log reset
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tone_alarm stop
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fi
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else
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tune_control play -t 1
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fi
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else
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tone_alarm MBAGP
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# tune SD_INIT
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tune_control play -t 16
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if mkfatfs /dev/mmcsd0
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then
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if mount -t vfat /dev/mmcsd0 /fs/microsd
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then
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echo "INFO [init] card formatted"
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else
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tune_control play -t 17
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echo "ERROR [init] format failed"
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tune_control play -m MNBG
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set LOG_FILE /dev/null
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fi
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else
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@ -149,7 +164,7 @@ then
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# Run no SD alarm.
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if [ $LOG_FILE == /dev/null ]
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then
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# Error tune.
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# tune Make FS MBAGP
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tune_control play -t 2
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fi
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fi
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@ -162,21 +177,6 @@ if [ -f $FRC ]
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then
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sh $FRC
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else
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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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# Start the tone_alarm driver.
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#
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tone_alarm start
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#
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# Play the startup tone.
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#
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tune_control play -t 1
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#
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# Waypoint storage.
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# REBOOTWORK this needs to start in parallel.
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@ -343,45 +343,53 @@ else
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#
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# Check if PX4IO present and update firmware if needed.
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# Assumption IOFW set to firware file and IO_PRESENT = no
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#
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if [ -f /etc/extras/px4io-v2.bin ]
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then
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set IO_FILE /etc/extras/px4io-v2.bin
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if px4io checkcrc ${IO_FILE}
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if [ -f $IOFW ]
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then
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if px4io checkcrc ${IOFW}
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then
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set IO_PRESENT yes
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else
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tune_control play -m MLL32CP8MB
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if px4io start
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# Check for the mini using build with px4io fw file
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# but not a px4IO
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if ver hwtypecmp V540
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then
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# Try to safety px4 io so motor outputs don't go crazy.
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if ! px4io safety_on
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echo "PX4IO Not Suported" >> $LOG_FILE
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else
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# tune Program PX4IO
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tune_control play -t 18
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if px4io start
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then
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# px4io did not respond to the safety command.
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px4io stop
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# Try to safety px4 io so motor outputs don't go crazy.
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if ! px4io safety_on
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then
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# px4io did not respond to the safety command.
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px4io stop
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fi
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fi
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fi
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if px4io forceupdate 14662 ${IO_FILE}
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then
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usleep 10000
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if px4io checkcrc ${IO_FILE}
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if px4io forceupdate 14662 ${IOFW}
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then
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echo "PX4IO CRC OK after updating" >> $LOG_FILE
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tune_control play -m MLL8CDE
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usleep 10000
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tune_control stop
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if px4io checkcrc ${IOFW}
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then
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echo "PX4IO CRC OK after updating" >> $LOG_FILE
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#tune MLL8CDE Program PX4IO success
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tune_control play -t 19
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set IO_PRESENT yes
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fi
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fi
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set IO_PRESENT yes
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else
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if [ $IO_PRESENT == no ]
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then
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echo "PX4IO update failed" >> $LOG_FILE
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# Error tune.
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tune_control play -t 2
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tune_control play -t 20
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fi
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else
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echo "PX4IO update failed" >> $LOG_FILE
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# Error tune.
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tune_control play -t 2
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fi
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fi
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fi
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@ -552,7 +560,7 @@ unset FEXTRAS
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unset FRC
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unset FMU_ARGS
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unset FMU_MODE
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unset IO_FILE
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unset IOFW
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unset IO_PRESENT
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unset LOG_FILE
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unset MAVLINK_F
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@ -579,7 +587,6 @@ unset PWM_MIN
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unset SDCARD_MIXERS_PATH
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unset USE_IO
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unset VEHICLE_TYPE
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unset TUNE_ERR
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#
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# Boot is complete, inform MAVLink app(s) that the system is now fully up and running.
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