forked from Archive/PX4-Autopilot
124 lines
1.5 KiB
Plaintext
124 lines
1.5 KiB
Plaintext
#!nsh
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#
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# Standard startup script for PX4FMU v1, v2, v3 onboard sensor drivers.
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#
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ms5611 start
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adc start
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if ver hwcmp PX4FMU_V2
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then
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# External I2C bus
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if hmc5883 -C -T -X start
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then
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fi
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# Internal I2C bus
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if hmc5883 -C -T -I -R 4 start
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then
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fi
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# external MPU6K is rotated 180 degrees yaw
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if mpu6000 -X -R 4 start
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then
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set BOARD_FMUV3 true
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else
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set BOARD_FMUV3 false
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fi
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if [ $BOARD_FMUV3 == true ]
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then
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# external L3GD20H is rotated 180 degrees yaw
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if l3gd20 -X -R 4 start
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then
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fi
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# external LSM303D is rotated 270 degrees yaw
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if lsm303d -X -R 6 start
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then
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fi
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# internal MPU6000 is rotated 180 deg roll, 270 deg yaw
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if mpu6000 -R 14 start
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then
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fi
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if hmc5883 -C -T -S -R 8 start
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then
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fi
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else
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# FMUv2
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if mpu6000 start
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then
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fi
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if l3gd20 start
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then
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fi
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if lsm303d start
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then
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fi
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fi
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else
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# FMUv1
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if mpu6000 start
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then
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fi
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if l3gd20 start
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then
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fi
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# MAG selection
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if param compare SENS_EXT_MAG 2
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then
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if hmc5883 -C -I start
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then
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fi
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else
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# Use only external as primary
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if param compare SENS_EXT_MAG 1
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then
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if hmc5883 -C -X start
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then
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fi
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else
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# auto-detect the primary, prefer external
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if hmc5883 start
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then
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fi
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fi
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fi
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fi
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if meas_airspeed start
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then
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else
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if ets_airspeed start
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then
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else
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if ets_airspeed start -b 1
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then
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fi
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fi
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fi
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# Check for flow sensor
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if px4flow start
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then
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fi
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if ll40ls start
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then
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fi
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#
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# Start sensors -> preflight_check
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#
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if sensors start
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then
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preflight_check &
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fi
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