forked from Archive/PX4-Autopilot
41 lines
629 B
Plaintext
41 lines
629 B
Plaintext
#
|
|
# Startup for X-quad on FMU1.5/1.6
|
|
#
|
|
|
|
echo "[init] uORB"
|
|
uorb start
|
|
|
|
echo "[init] eeprom"
|
|
eeprom start
|
|
if [ -f /eeprom/parameters]
|
|
then
|
|
eeprom load_param /eeprom/parameters
|
|
fi
|
|
|
|
echo "[init] sensors"
|
|
#bma180 start
|
|
#l3gd20 start
|
|
mpu6000 start
|
|
hmc5883 start
|
|
ms5611 start
|
|
|
|
sensors start
|
|
|
|
echo "[init] mavlink"
|
|
mavlink start -d /dev/ttyS0 -b 57600
|
|
usleep 5000
|
|
|
|
echo "[init] commander"
|
|
commander start
|
|
|
|
echo "[init] attitude control"
|
|
attitude_estimator_bm &
|
|
multirotor_att_control start
|
|
|
|
echo "[init] starting PWM output"
|
|
fmu mode_pwm
|
|
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
|
|
|
|
echo "[init] startup done, exiting"
|
|
exit
|