forked from Archive/PX4-Autopilot
Cleanup of fixedwing startup code
This commit is contained in:
Lorenz Meier
parent
f721c6f7e0
commit
fb9e98fb59
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@ -1,6 +1,6 @@
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#!nsh
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echo "[init] Multiplex Easystar"
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echo "[init] PX4FMU v1, v2 with or without IO on EasyStar"
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#
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# Load default params for this platform
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@ -20,28 +20,31 @@ fi
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#
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param set MAV_TYPE 1
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#
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# Start MAVLink (depends on orb)
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#
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mavlink start -d /dev/ttyS1 -b 57600
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usleep 5000
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set EXIT_ON_END no
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#
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# Start and configure PX4IO interface
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# Start and configure PX4IO or FMU interface
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#
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sh /etc/init.d/rc.io
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if px4io detect
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then
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# Start MAVLink (depends on orb)
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mavlink start
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usleep 5000
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#
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# Set actuator limit to 100 Hz update (50 Hz PWM)
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px4io limit 100
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sh /etc/init.d/rc.io
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# Limit to 100 Hz updates and (implicit) 50 Hz PWM
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px4io limit 100
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else
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# Start MAVLink (on UART1 / ttyS0)
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mavlink start -d /dev/ttyS0
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usleep 5000
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fmu mode_pwm
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param set BAT_V_SCALING 0.004593
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set EXIT_ON_END yes
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fi
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#
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# Start the commander
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#
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commander start
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#
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# Start the sensors
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# Start the sensors and test them.
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#
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sh /etc/init.d/rc.sensors
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@ -49,9 +52,14 @@ sh /etc/init.d/rc.sensors
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# Start logging (depends on sensors)
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#
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sh /etc/init.d/rc.logging
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#
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# Start GPS interface
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# Start the commander.
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#
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commander start
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#
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# Start GPS interface (depends on orb)
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#
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gps start
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@ -65,4 +73,10 @@ att_pos_estimator_ekf start
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#
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mixer load /dev/pwm_output /etc/mixers/FMU_RET.mix
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fw_att_control start
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fw_pos_control_l1 start
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# Not ready yet for prime-time
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#fw_pos_control_l1 start
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if [ $EXIT_ON_END == yes ]
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then
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exit
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fi
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@ -0,0 +1,82 @@
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#!nsh
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echo "[init] PX4FMU v1, v2 with or without IO on HK Bixler"
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#
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# Load default params for this platform
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#
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if param compare SYS_AUTOCONFIG 1
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then
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# Set all params here, then disable autoconfig
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# TODO
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param set SYS_AUTOCONFIG 0
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param save
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fi
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#
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# Force some key parameters to sane values
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# MAV_TYPE 1 = fixed wing
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#
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param set MAV_TYPE 1
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set EXIT_ON_END no
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#
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# Start and configure PX4IO or FMU interface
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#
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if px4io detect
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then
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# Start MAVLink (depends on orb)
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mavlink start
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usleep 5000
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sh /etc/init.d/rc.io
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# Limit to 100 Hz updates and (implicit) 50 Hz PWM
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px4io limit 100
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else
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# Start MAVLink (on UART1 / ttyS0)
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mavlink start -d /dev/ttyS0
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usleep 5000
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fmu mode_pwm
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param set BAT_V_SCALING 0.004593
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set EXIT_ON_END yes
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fi
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#
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# Start the sensors and test them.
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#
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sh /etc/init.d/rc.sensors
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#
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# Start logging (depends on sensors)
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#
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sh /etc/init.d/rc.logging
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#
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# Start the commander.
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#
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commander start
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#
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# Start GPS interface (depends on orb)
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#
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gps start
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#
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# Start the attitude and position estimator
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#
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att_pos_estimator_ekf start
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#
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# Load mixer and start controllers (depends on px4io)
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#
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mixer load /dev/pwm_output /etc/mixers/FMU_AERT.mix
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fw_att_control start
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# Not ready yet for prime-time
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#fw_pos_control_l1 start
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if [ $EXIT_ON_END == yes ]
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then
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exit
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fi
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@ -1,6 +1,6 @@
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#!nsh
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echo "[init] 30_io_camflyer: PX4FMU+PX4IO on Camflyer"
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echo "[init] PX4FMU v1, v2 with or without IO on Camflyer"
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#
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# Load default params for this platform
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@ -19,34 +19,32 @@ fi
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# MAV_TYPE 1 = fixed wing
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#
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param set MAV_TYPE 1
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#
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# Start MAVLink (depends on orb)
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#
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mavlink start -d /dev/ttyS1 -b 57600
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usleep 5000
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#
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# Start the commander (depends on orb, mavlink)
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#
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commander start
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#
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# Start PX4IO interface (depends on orb, commander)
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#
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px4io start
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#
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# Allow PX4IO to recover from midair restarts.
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# this is very unlikely, but quite safe and robust.
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px4io recovery
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set EXIT_ON_END no
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#
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# Set actuator limit to 100 Hz update (50 Hz PWM)
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px4io limit 100
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# Start and configure PX4IO or FMU interface
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#
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if px4io detect
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then
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# Start MAVLink (depends on orb)
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mavlink start
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usleep 5000
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sh /etc/init.d/rc.io
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# Limit to 100 Hz updates and (implicit) 50 Hz PWM
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px4io limit 100
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else
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# Start MAVLink (on UART1 / ttyS0)
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mavlink start -d /dev/ttyS0
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usleep 5000
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fmu mode_pwm
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param set BAT_V_SCALING 0.004593
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set EXIT_ON_END yes
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fi
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#
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# Start the sensors (depends on orb, px4io)
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# Start the sensors and test them.
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#
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sh /etc/init.d/rc.sensors
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@ -54,7 +52,12 @@ sh /etc/init.d/rc.sensors
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# Start logging (depends on sensors)
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#
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sh /etc/init.d/rc.logging
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#
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# Start the commander.
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#
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commander start
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#
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# Start GPS interface (depends on orb)
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#
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@ -70,4 +73,10 @@ att_pos_estimator_ekf start
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#
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mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
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fw_att_control start
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fw_pos_control_l1 start
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# Not ready yet for prime-time
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#fw_pos_control_l1 start
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if [ $EXIT_ON_END == yes ]
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then
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exit
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fi
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@ -1,6 +1,6 @@
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#!nsh
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echo "[init] 31_io_phantom: PX4FMU+PX4IO on Phantom"
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echo "[init] PX4FMU v1, v2 with or without IO on Phantom FPV"
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#
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# Load default params for this platform
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@ -20,28 +20,31 @@ fi
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#
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param set MAV_TYPE 1
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#
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# Start MAVLink (depends on orb)
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#
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mavlink start -d /dev/ttyS1 -b 57600
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usleep 5000
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set EXIT_ON_END no
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#
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# Start and configure PX4IO interface
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# Start and configure PX4IO or FMU interface
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#
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sh /etc/init.d/rc.io
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if px4io detect
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then
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# Start MAVLink (depends on orb)
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mavlink start
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usleep 5000
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#
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# Set actuator limit to 100 Hz update (50 Hz PWM)
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px4io limit 100
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sh /etc/init.d/rc.io
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# Limit to 100 Hz updates and (implicit) 50 Hz PWM
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px4io limit 100
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else
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# Start MAVLink (on UART1 / ttyS0)
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mavlink start -d /dev/ttyS0
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usleep 5000
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fmu mode_pwm
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param set BAT_V_SCALING 0.004593
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set EXIT_ON_END yes
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fi
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#
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# Start the commander
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#
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commander start
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#
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# Start the sensors
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# Start the sensors and test them.
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#
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sh /etc/init.d/rc.sensors
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@ -49,9 +52,14 @@ sh /etc/init.d/rc.sensors
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# Start logging (depends on sensors)
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#
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sh /etc/init.d/rc.logging
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#
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# Start GPS interface
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# Start the commander.
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#
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commander start
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#
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# Start GPS interface (depends on orb)
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#
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gps start
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@ -65,4 +73,10 @@ att_pos_estimator_ekf start
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#
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mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
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fw_att_control start
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fw_pos_control_l1 start
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# Not ready yet for prime-time
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#fw_pos_control_l1 start
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if [ $EXIT_ON_END == yes ]
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then
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exit
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fi
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@ -178,6 +178,18 @@ then
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sh /etc/init.d/31_io_phantom
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set MODE custom
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fi
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if param compare SYS_AUTOSTART 100
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then
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sh /etc/init.d/100_mpx_easystar
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set MODE custom
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fi
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if param compare SYS_AUTOSTART 101
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then
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sh /etc/init.d/101_hk_bixler
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set MODE custom
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fi
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# Start any custom extensions that might be missing
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if [ -f /fs/microsd/etc/rc.local ]
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