forked from Archive/PX4-Autopilot
posix rcS: automatically find matching autostart file based on SYS_AUTOSTART
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@ -37,6 +37,16 @@ fi
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# exit early when the minimal shell is requested
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[ $RUN_MINIMAL_SHELL == yes ] && exit 0
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# Use environment variable PX4_ESTIMATOR to choose estimator.
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if [ "$PX4_ESTIMATOR" == "ekf2" ]; then
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param set SYS_MC_EST_GROUP 2
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elif [ "$PX4_ESTIMATOR" == "lpe" ]; then
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param set SYS_MC_EST_GROUP 1
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elif [ "$PX4_ESTIMATOR" == "inav" ]; then
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param set SYS_MC_EST_GROUP 0
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fi
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if param compare SYS_AUTOSTART $REQUESTED_AUTOSTART
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then
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set AUTOCNF no
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@ -92,14 +102,19 @@ then
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param set SYS_RESTART_TYPE 2
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fi
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# Use environment variable PX4_ESTIMATOR to choose estimator.
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if [ "$PX4_ESTIMATOR" == "ekf2" ]; then
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param set SYS_MC_EST_GROUP 2
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elif [ "$PX4_ESTIMATOR" == "lpe" ]; then
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param set SYS_MC_EST_GROUP 1
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# Autostart ID
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autostart_file_match="etc/init.d-posix/$(param show -q SYS_AUTOSTART)_*"
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autostart_files=( $autostart_file_match )
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autostart_file="${autostart_files[0]}" # use first match, but there should really only be one
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if [ ! -e "$autostart_file" ]; then
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echo "Error: no autostart file found"
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exit -1
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fi
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sh "$autostart_file"
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dataman start
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replay tryapplyparams
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simulator start -s
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@ -113,7 +128,11 @@ commander start
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land_detector start multicopter
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navigator start
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if param compare SYS_MC_EST_GROUP 1
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if param compare SYS_MC_EST_GROUP 0
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then
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attitude_estimator_q start
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position_estimator_inav start
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elif param compare SYS_MC_EST_GROUP 1
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then
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attitude_estimator_q start
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local_position_estimator start
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@ -128,18 +147,6 @@ fi
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mc_pos_control start
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mc_att_control start
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# TODO: eventually we want to re-use the existing autostart
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# infrastructure already available on NuttX.
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if param compare SYS_AUTOSTART 10016
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then
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sh etc/init.d-posix/10016_iris
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elif param compare SYS_AUTOSTART 6011
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then
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sh etc/init.d-posix/6011_typhoon_h480
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fi
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mavlink start -x -u 14556 -r 4000000
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mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
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mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
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