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ROMFS: rcS start uavcan earlier 

- starting this earlier is a minor improvement for things like lights and buzzers on UAVCAN or parameter sync over mavlink
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Daniel Agar 2021-04-06 09:48:11 -04:00 committed by GitHub
parent 4189eb11f5
commit e05a4badf8
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1 changed files with 28 additions and 28 deletions
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56
ROMFS/px4fmu_common/init.d/rcS
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@ -254,6 +254,34 @@ else
param set SYS_AUTOCONFIG 0
fi
#
# Check if UAVCAN is enabled, default to it for ESCs.
#
if param greater -s UAVCAN_ENABLE 0
then
# Start core UAVCAN module.
if uavcan start
then
if param greater UAVCAN_ENABLE 1
then
# Start UAVCAN firmware update server and dynamic node ID allocation server.
uavcan start fw
tune_control play -t 1
if param greater UAVCAN_ENABLE 2
then
set OUTPUT_MODE uavcan_esc
fi
fi
else
tune_control play error
fi
else
if param greater -s UAVCAN_V1_ENABLE 0
then
uavcan_v1 start
fi
fi
#
# Check if PX4IO present and update firmware if needed.
# Assumption IOFW set to firmware file and IO_PRESENT = no
@ -398,34 +426,6 @@ else
camera_feedback start
fi
#
# Check if UAVCAN is enabled, default to it for ESCs.
#
if param greater -s UAVCAN_ENABLE 0
then
# Start core UAVCAN module.
if uavcan start
then
if param greater UAVCAN_ENABLE 1
then
# Start UAVCAN firmware update server and dynamic node ID allocation server.
uavcan start fw
tune_control play -t 1
if param greater UAVCAN_ENABLE 2
then
set OUTPUT_MODE uavcan_esc
fi
fi
else
tune_control play error
fi
fi
if param greater -s UAVCAN_V1_ENABLE 0
then
uavcan_v1 start
fi
#
# Optional board mavlink streams: rc.board_mavlink
#