forked from Archive/PX4-Autopilot
Group hardware specific logic in rcS, deprecate the MODE parameter from rcS, and update comments.
This commit is contained in:
mcsauder
Beat Küng
parent
4e3f7bdcc6
commit
e2eb84042e
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@ -1,7 +1,7 @@
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#!nsh
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# Logging
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# Standard startup script for logging.
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#
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# Standard startup script for logging
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# NOTE: Script variables are declared/initialized/unset in the rcS script.
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#
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set LOGGER_ARGS ""
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@ -24,4 +24,3 @@ fi
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logger start -b ${LOGGER_BUF} -t ${LOGGER_ARGS}
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unset LOGGER_ARGS
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unset LOGGER_BUF
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@ -37,7 +37,6 @@ set MIXER none
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set MIXER_AUX none
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set MK_MODE none
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set MKBLCTRL_ARG ""
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set MODE autostart
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set OUTPUT_MODE none
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set PARAM_FILE /fs/microsd/params
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set PWM_OUT none
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@ -61,17 +60,19 @@ set VEHICLE_TYPE none
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mount -t procfs /proc
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#
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# Start CDC/ACM serial driver
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# Start CDC/ACM serial driver.
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#
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sercon
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# print full system version
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#
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# Print full system version.
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#
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ver all
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#
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# Try to mount the microSD card.
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#
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# REBOOTWORK this needs to start after the flight control loop
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# REBOOTWORK this needs to start after the flight control loop.
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if mount -t vfat /dev/mmcsd0 /fs/microsd
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then
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if hardfault_log check
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@ -119,34 +120,33 @@ fi
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if [ -f $FRC ]
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then
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sh $FRC
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set MODE custom
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fi
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if [ $MODE == autostart ]
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then
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else
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#
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# Start the ORB (first app to start)
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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 tone driver
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# Start tone driver.
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#
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tone_alarm start
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#
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# play startup tone
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# play startup tone.
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#
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tune_control play -t 1
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#
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# Load parameters
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# Set the parameter file if mtd starts successfully.
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#
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if mtd start
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then
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set PARAM_FILE /fs/mtd_params
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fi
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#
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# Load parameters.
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#
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param select $PARAM_FILE
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if param load
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then
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@ -157,7 +157,7 @@ then
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fi
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#
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# Start system state indicator
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# Start system state indicator.
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#
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if rgbled start
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then
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@ -168,11 +168,13 @@ then
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fi
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fi
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# FMUv5 may have both PWM I2C RGB LED support
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#
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# FMUv5 may have both PWM I2C RGB LED support.
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#
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rgbled_pwm start
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#
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# Set AUTOCNF flag to use it in AUTOSTART scripts
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# Set AUTOCNF flag to use it in AUTOSTART scripts.
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#
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if param compare SYS_AUTOCONFIG 1
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then
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@ -184,8 +186,8 @@ then
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#
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# Release 1.4.0 transitional support:
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# set to old default if unconfigured.
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# this preserves the previous behaviour
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# set to old default if unconfigured,
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# this preserves the previous behaviour.
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#
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if param compare BAT_N_CELLS 0
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then
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@ -193,6 +195,10 @@ then
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fi
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fi
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###############################################################################
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# Begin setup for board specific configurations. #
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###############################################################################
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if ver hwcmp PX4FMU_V5
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then
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set LOGGER_BUF 64
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@ -207,6 +213,11 @@ then
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fi
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fi
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if ver hwcmp AEROCORE2
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then
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set DATAMAN_OPT "-f /fs/mtd_dataman"
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fi
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if ver hwcmp AEROFC_V1
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then
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if param compare SYS_AUTOSTART 0
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@ -215,8 +226,10 @@ then
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fi
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# We don't allow changing AUTOSTART as it doesn't work in
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# other configurations
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# other configurations.
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param set SYS_AUTOSTART 4070
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set DATAMAN_OPT -i
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fi
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if ver hwcmp NXPHLITE_V3
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@ -224,8 +237,12 @@ then
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param set SYS_FMU_TASK 1
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fi
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###############################################################################
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# End Setup for board specific configurations. #
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###############################################################################
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#
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# Set USE_IO flag
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# Set USE_IO flag.
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#
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if param compare SYS_USE_IO 1
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then
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@ -238,7 +255,7 @@ then
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fi
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#
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# Set parameters and env variables for selected AUTOSTART
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# Set parameters and env variables for selected AUTOSTART.
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#
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if param compare SYS_AUTOSTART 0
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then
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@ -248,7 +265,7 @@ then
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#
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# If mount (gimbal) control is enabled and output mode is AUX, set the aux
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# mixer to mount (override the airframe-specific MIXER_AUX setting)
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# mixer to mount (override the airframe-specific MIXER_AUX setting).
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#
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if param compare MNT_MODE_IN -1
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then
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@ -260,7 +277,7 @@ then
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fi
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#
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# Override parameters from user configuration file
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# Override parameters from user configuration file.
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#
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if [ -f $FCONFIG ]
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then
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@ -269,7 +286,7 @@ then
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fi
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#
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# If autoconfig parameter was set, reset it and save parameters
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# If autoconfig parameter was set, reset it and save parameters.
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#
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if [ $AUTOCNF == yes ]
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then
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@ -279,7 +296,7 @@ then
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param set CBRK_IO_SAFETY 22027
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fi
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# Run FMU as task on Pixracer and on boards with enough RAM
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# Run FMU as task on Pixracer and on boards with enough RAM.
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if ver hwcmp PX4FMU_V4 PX4FMU_V4PRO PX4FMU_V5
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then
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param set SYS_FMU_TASK 1
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@ -289,7 +306,7 @@ then
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then
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param set SYS_FMU_TASK 1
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param set SYS_HAS_MAG 0
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# use the Q attitude estimator, it works w/o mag or GPS
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# use the Q attitude estimator, it works w/o mag or GPS.
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param set SYS_MC_EST_GROUP 1
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param set ATT_ACC_COMP 0
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param set ATT_W_ACC 0.4000
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@ -300,7 +317,7 @@ then
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fi
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#
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# Check if PX4IO present and update firmware if needed
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# Check if PX4IO present and update firmware if needed.
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#
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if [ -f /etc/extras/px4io-v2.bin ]
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then
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@ -314,12 +331,12 @@ then
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if px4io start
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then
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# try to safe px4 io so motor outputs dont go crazy
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# Try to safety px4 io so motor outputs dont go crazy.
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if px4io safety_on
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then
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# success! no-op
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else
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# px4io did not respond to the safety command
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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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@ -351,7 +368,7 @@ then
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fi
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#
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# Set default output if not set
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# Set default output if not set.
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#
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if [ $OUTPUT_MODE == none ]
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then
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@ -365,7 +382,7 @@ then
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if [ $OUTPUT_MODE == io -a $IO_PRESENT != yes ]
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then
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# Need IO for output but it not present, disable output
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# Need IO for output but it not present, disable output.
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set OUTPUT_MODE none
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fi
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@ -374,26 +391,17 @@ then
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set FMU_MODE rcin
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fi
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if ver hwcmp AEROFC_V1
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then
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set DATAMAN_OPT -i
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fi
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if ver hwcmp AEROCORE2
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then
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set DATAMAN_OPT "-f /fs/mtd_dataman"
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fi
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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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# Waypoint storage.
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# REBOOTWORK this needs to start in parallel.
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#
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if dataman start $DATAMAN_OPT
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then
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fi
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#
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# Sensors System (start before Commander so Preflight checks are properly run)
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# commander Needs to be this early for in-air-restarts
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# Sensors System (start before Commander so Preflight checks are properly run).
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# Commander Needs to be this early for in-air-restarts.
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#
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if param compare SYS_HITL 1
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then
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@ -415,23 +423,23 @@ then
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load_mon start
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#
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# Check if UAVCAN is enabled, default to it for ESCs
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# Check if UAVCAN is enabled, default to it for ESCs.
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#
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if param greater UAVCAN_ENABLE 2
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then
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set OUTPUT_MODE uavcan_esc
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fi
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# Sensors on the PWM interface bank
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# Sensors on the PWM interface bank.
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if param compare SENS_EN_LL40LS 1
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then
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# clear pins 5 and 6
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# Clear pins 5 and 6.
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set FMU_MODE pwm4
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set AUX_MODE pwm4
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fi
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if param greater TRIG_MODE 0
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then
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# We ONLY support trigger on pins 5 and 6 when simultanously using AUX for actuator output
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# We ONLY support trigger on pins 5 and 6 when simultanously using AUX for actuator output.
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if param compare TRIG_PINS 56
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then
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# clear pins 5 and 6
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@ -447,7 +455,7 @@ then
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camera_feedback start
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fi
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# If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output
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# If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output.
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if [ $OUTPUT_MODE != none ]
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then
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if [ $OUTPUT_MODE == uavcan_esc ]
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@ -507,7 +515,7 @@ then
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fi
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#
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# Start IO or FMU for RC PPM input if needed
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# Start IO or FMU for RC PPM input if needed.
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#
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if [ $IO_PRESENT == yes ]
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then
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@ -540,18 +548,18 @@ then
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sh /etc/init.d/rc.mavlink
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#
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# Starting stuff according to UAVCAN_ENABLE value
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# Starting stuff according to UAVCAN_ENABLE value.
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#
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if param greater UAVCAN_ENABLE 0
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then
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# Start core UAVCAN module
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# Start core UAVCAN module.
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if uavcan start
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then
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if param greater UAVCAN_ENABLE 1
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then
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# Reduce logger buffer to free up some RAM for UAVCAN servers
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# Reduce logger buffer to free up some RAM for UAVCAN servers.
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set LOGGER_BUF 6
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# Start UAVCAN firmware update server and dynamic node ID allocation server
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# Start UAVCAN firmware update server and dynamic node ID allocation server.
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uavcan start fw
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fi
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else
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@ -561,7 +569,7 @@ then
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if ver hwcmp PX4FMU_V2 PX4FMU_V4 PX4FMU_V4PRO MINDPX_V2 PX4FMU_V5 OMNIBUS_F4SD
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then
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# Check for flow sensor - as it is a background task, launch it last
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# Check for flow sensor - as it is a background task, launch it last.
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px4flow start &
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fi
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@ -630,7 +638,6 @@ unset MIXER
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unset MIXER_AUX
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unset MK_MODE
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unset MKBLCTRL_ARG
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unset MODE
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unset OUTPUT_AUX_DEV
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unset OUTPUT_DEV
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unset OUTPUT_MODE
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@ -652,5 +659,5 @@ unset USE_IO
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unset VEHICLE_TYPE
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# Boot is complete, inform MAVLink app(s) that the system is now fully up and running
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# Boot is complete, inform MAVLink app(s) that the system is now fully up and running.
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mavlink boot_complete
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