forked from Archive/PX4-Autopilot
714 lines
12 KiB
Plaintext
714 lines
12 KiB
Plaintext
#!nsh
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#
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# PX4FMU startup script.
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#
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# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
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#
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#
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# Start CDC/ACM serial driver
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#
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sercon
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#
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# Default to auto-start mode.
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#
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set MODE autostart
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set FRC /fs/microsd/etc/rc.txt
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set FCONFIG /fs/microsd/etc/config.txt
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set TUNE_ERR ML<<CP4CP4CP4CP4CP4
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set LOG_FILE /fs/microsd/bootlog.txt
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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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if mount -t vfat /dev/mmcsd0 /fs/microsd
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then
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echo "[i] microSD mounted: /fs/microsd"
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# Start playing the startup tune
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tone_alarm start
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else
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tone_alarm MBAGP
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if mkfatfs /dev/mmcsd0
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then
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if mount -t vfat /dev/mmcsd0 /fs/microsd
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then
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echo "[i] microSD card formatted"
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else
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echo "[i] format failed"
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tone_alarm MNBG
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set LOG_FILE /dev/null
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fi
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else
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set LOG_FILE /dev/null
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fi
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fi
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#
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# Look for an init script on the microSD card.
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# Disable autostart if the script found.
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#
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if [ -f $FRC ]
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then
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echo "[i] Executing script: $FRC"
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sh $FRC
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set MODE custom
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fi
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unset FRC
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if [ $MODE == autostart ]
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then
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# Try to get an USB console
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# REBOOTWORK this needs to start after the flight control loop
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nshterm /dev/ttyACM0 &
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#
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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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# Load parameters
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#
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set PARAM_FILE /fs/microsd/params
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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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param select $PARAM_FILE
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if param load
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then
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echo "[param] Loaded: $PARAM_FILE"
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else
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echo "[param] FAILED loading $PARAM_FILE"
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if param reset
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then
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fi
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fi
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#
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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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else
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if blinkm start
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then
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blinkm systemstate
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fi
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fi
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# Currently unused, but might be useful down the road
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#if pca8574 start
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#then
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#fi
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#
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# Set default values
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#
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set HIL no
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set VEHICLE_TYPE none
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set MIXER none
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set MIXER_AUX none
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set OUTPUT_MODE none
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set PWM_OUT none
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set PWM_RATE none
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set PWM_DISARMED none
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set PWM_MIN none
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set PWM_MAX none
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set PWM_AUX_OUT none
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set PWM_AUX_RATE none
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set PWM_AUX_DISARMED none
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set PWM_AUX_MIN none
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set PWM_AUX_MAX none
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set FAILSAFE_AUX none
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set MK_MODE none
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set FMU_MODE pwm
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set MAVLINK_F default
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set EXIT_ON_END no
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set MAV_TYPE none
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set LOAD_DAPPS yes
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set GPS yes
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set GPS_FAKE no
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set FAILSAFE none
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#
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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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# Wipe out params except RC*
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param reset_nostart RC*
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set AUTOCNF yes
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else
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set AUTOCNF no
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fi
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#
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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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set USE_IO yes
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else
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set USE_IO no
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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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#
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if param compare SYS_AUTOSTART 0
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then
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echo "[i] No autostart"
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else
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sh /etc/init.d/rc.autostart
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fi
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unset MODE
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#
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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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echo "[i] Custom config: $FCONFIG"
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sh $FCONFIG
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fi
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unset FCONFIG
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#
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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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param set SYS_AUTOCONFIG 0
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param save
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fi
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unset AUTOCNF
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set IO_PRESENT no
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if [ $USE_IO == yes ]
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then
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#
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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_default.bin ]
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then
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set IO_FILE /etc/extras/px4io-v2_default.bin
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else
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set IO_FILE /etc/extras/px4io-v1_default.bin
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fi
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if px4io checkcrc ${IO_FILE}
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then
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echo "PX4IO CRC OK" >> $LOG_FILE
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set IO_PRESENT yes
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else
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echo "PX4IO Trying to update" >> $LOG_FILE
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tone_alarm MLL32CP8MB
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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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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 stop
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fi
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fi
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if px4io forceupdate 14662 ${IO_FILE}
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then
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usleep 500000
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if px4io checkcrc $IO_FILE
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then
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echo "PX4IO CRC OK after updating" >> $LOG_FILE
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tone_alarm MLL8CDE
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set IO_PRESENT yes
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else
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echo "ERROR: PX4IO update failed" >> $LOG_FILE
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tone_alarm $TUNE_ERR
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fi
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else
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echo "ERROR: PX4IO update failed" >> $LOG_FILE
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tone_alarm $TUNE_ERR
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fi
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fi
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unset IO_FILE
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if [ $IO_PRESENT == no ]
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then
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echo "[i] ERROR: PX4IO not found"
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echo "ERROR: PX4IO not found" >> $LOG_FILE
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tone_alarm $TUNE_ERR
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fi
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fi
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#
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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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if [ $USE_IO == yes ]
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then
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set OUTPUT_MODE io
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else
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set OUTPUT_MODE fmu
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fi
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fi
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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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set OUTPUT_MODE none
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echo "[i] ERROR: PX4IO not found, disabling output"
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# Avoid using ttyS0 for MAVLink on FMUv1
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if ver hwcmp PX4FMU_V1
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then
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set FMU_MODE serial
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fi
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fi
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if [ $OUTPUT_MODE == ardrone ]
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then
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set FMU_MODE gpio_serial
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fi
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if [ $HIL == yes ]
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then
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set OUTPUT_MODE hil
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if ver hwcmp PX4FMU_V1
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then
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set FMU_MODE serial
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fi
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fi
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unset HIL
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# waypoint storage
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# REBOOTWORK this needs to start in parallel
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if dataman start
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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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#
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sh /etc/init.d/rc.sensors
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if [ $GPS == yes ]
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then
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if [ $GPS_FAKE == yes ]
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then
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echo "[i] Faking GPS"
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gps start -f
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else
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gps start
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fi
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fi
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unset GPS_FAKE
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# Needs to be this early for in-air-restarts
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commander start
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#
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# Start primary output
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#
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set TTYS1_BUSY no
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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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then
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if param compare UAVCAN_ENABLE 0
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then
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echo "[i] OVERRIDING UAVCAN_ENABLE = 1"
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param set UAVCAN_ENABLE 1
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fi
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fi
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if [ $OUTPUT_MODE == io -o $OUTPUT_MODE == uavcan_esc ]
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then
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if px4io start
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then
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sh /etc/init.d/rc.io
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else
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echo "ERROR: PX4IO start failed" >> $LOG_FILE
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tone_alarm $TUNE_ERR
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fi
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fi
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if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == ardrone ]
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then
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if fmu mode_$FMU_MODE
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then
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echo "[i] FMU mode_$FMU_MODE started"
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else
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echo "[i] ERROR: FMU mode_$FMU_MODE start failed"
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echo "ERROR: FMU start failed" >> $LOG_FILE
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tone_alarm $TUNE_ERR
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fi
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if ver hwcmp PX4FMU_V1
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then
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if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ]
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then
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set TTYS1_BUSY yes
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fi
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if [ $FMU_MODE == pwm_gpio -o $OUTPUT_MODE == ardrone ]
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then
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set TTYS1_BUSY yes
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fi
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fi
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fi
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if [ $OUTPUT_MODE == mkblctrl ]
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then
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set MKBLCTRL_ARG ""
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if [ $MKBLCTRL_MODE == x ]
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then
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set MKBLCTRL_ARG "-mkmode x"
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fi
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if [ $MKBLCTRL_MODE == + ]
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then
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set MKBLCTRL_ARG "-mkmode +"
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fi
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if mkblctrl $MKBLCTRL_ARG
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then
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echo "[i] MK started"
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else
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echo "[i] ERROR: MK start failed"
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echo "ERROR: MK start failed" >> $LOG_FILE
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tone_alarm $TUNE_ERR
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fi
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unset MKBLCTRL_ARG
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fi
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unset MK_MODE
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if [ $OUTPUT_MODE == hil ]
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then
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if hil mode_port2_pwm8
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then
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echo "[i] HIL output started"
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else
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echo "[i] ERROR: HIL output start failed"
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echo "ERROR: HIL output start failed" >> $LOG_FILE
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tone_alarm $TUNE_ERR
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fi
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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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#
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if [ $IO_PRESENT == yes ]
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then
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if [ $OUTPUT_MODE != io ]
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then
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if px4io start
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then
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echo "[i] PX4IO started"
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sh /etc/init.d/rc.io
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else
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echo "[i] ERROR: PX4IO start failed"
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echo "ERROR: PX4IO start failed" >> $LOG_FILE
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tone_alarm $TUNE_ERR
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fi
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fi
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else
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if [ $OUTPUT_MODE != fmu -a $OUTPUT_MODE != ardrone ]
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then
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if fmu mode_$FMU_MODE
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then
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echo "[i] FMU mode_$FMU_MODE started"
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else
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echo "[i] ERROR: FMU mode_$FMU_MODE start failed"
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echo "ERROR: FMU mode_$FMU_MODE start failed" >> $LOG_FILE
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tone_alarm $TUNE_ERR
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fi
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if ver hwcmp PX4FMU_V1
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then
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if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ]
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then
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set TTYS1_BUSY yes
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fi
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if [ $FMU_MODE == pwm_gpio -o $OUTPUT_MODE == ardrone ]
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then
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set TTYS1_BUSY yes
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fi
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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 [ $MAVLINK_F == default ]
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then
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# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s
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if [ $TTYS1_BUSY == yes ]
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then
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# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else
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set MAVLINK_F "-r 5000 -d /dev/ttyS0"
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# Exit from nsh to free port for mavlink
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set EXIT_ON_END yes
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else
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# Start MAVLink on default port: ttyS1
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set MAVLINK_F "-r 5000"
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fi
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fi
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mavlink start $MAVLINK_F
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unset MAVLINK_F
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#
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# MAVLink onboard / TELEM2
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#
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if ver hwcmp PX4FMU_V2
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then
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# XXX We need a better way for runtime eval of shell variables,
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# but this works for now
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if param compare SYS_COMPANION 921600
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then
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mavlink start -d /dev/ttyS2 -b 921600 -m onboard -r 80000 -x
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fi
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if param compare SYS_COMPANION 57600
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then
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mavlink start -d /dev/ttyS2 -b 57600 -m onboard -r 5000 -x
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fi
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if param compare SYS_COMPANION 157600
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then
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mavlink start -d /dev/ttyS2 -b 57600 -m osd -r 1000
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fi
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fi
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# UAVCAN
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#
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sh /etc/init.d/rc.uavcan
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#
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# Logging
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#
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sh /etc/init.d/rc.logging
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#
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# Start up ARDrone Motor interface
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#
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if [ $OUTPUT_MODE == ardrone ]
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then
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ardrone_interface start -d /dev/ttyS1
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fi
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#
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# Fixed wing setup
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#
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if [ $VEHICLE_TYPE == fw ]
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then
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echo "[i] FIXED WING"
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if [ $MIXER == none ]
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then
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# Set default mixer for fixed wing if not defined
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set MIXER AERT
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fi
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if [ $MAV_TYPE == none ]
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then
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# Use MAV_TYPE = 1 (fixed wing) if not defined
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set MAV_TYPE 1
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fi
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param set MAV_TYPE $MAV_TYPE
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# Load mixer and configure outputs
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sh /etc/init.d/rc.interface
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# Start standard fixedwing apps
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if [ $LOAD_DAPPS == yes ]
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then
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sh /etc/init.d/rc.fw_apps
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fi
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fi
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#
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# Multicopters setup
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#
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if [ $VEHICLE_TYPE == mc ]
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then
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echo "[i] MULTICOPTER"
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if [ $MIXER == none ]
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then
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echo "Mixer undefined"
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fi
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if [ $MAV_TYPE == none ]
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then
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# Use mixer to detect vehicle type
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if [ $MIXER == quad_x -o $MIXER == quad_+ ]
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then
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set MAV_TYPE 2
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fi
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if [ $MIXER == quad_w -o $MIXER == sk450_deadcat ]
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then
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set MAV_TYPE 2
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fi
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if [ $MIXER == tri_y_yaw- -o $MIXER == tri_y_yaw+ ]
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then
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set MAV_TYPE 2
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fi
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if [ $MIXER == hexa_x -o $MIXER == hexa_+ ]
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then
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set MAV_TYPE 13
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fi
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if [ $MIXER == hexa_cox ]
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then
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set MAV_TYPE 13
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fi
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if [ $MIXER == octo_x -o $MIXER == octo_+ ]
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then
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set MAV_TYPE 14
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fi
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if [ $MIXER == octo_cox ]
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then
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set MAV_TYPE 14
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fi
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fi
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# Still no MAV_TYPE found
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if [ $MAV_TYPE == none ]
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then
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echo "Unknown MAV_TYPE"
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else
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param set MAV_TYPE $MAV_TYPE
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fi
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# Load mixer and configure outputs
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sh /etc/init.d/rc.interface
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# Start standard multicopter apps
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if [ $LOAD_DAPPS == yes ]
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then
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sh /etc/init.d/rc.mc_apps
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fi
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fi
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#
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# VTOL setup
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#
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if [ $VEHICLE_TYPE == vtol ]
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then
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echo "[init] Vehicle type: VTOL"
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if [ $MIXER == none ]
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then
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echo "Default mixer for vtol not defined"
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fi
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|
|
if [ $MAV_TYPE == none ]
|
|
then
|
|
# Use mixer to detect vehicle type
|
|
if [ $MIXER == caipirinha_vtol ]
|
|
then
|
|
set MAV_TYPE 19
|
|
fi
|
|
if [ $MIXER == firefly6 ]
|
|
then
|
|
set MAV_TYPE 21
|
|
fi
|
|
fi
|
|
|
|
# Still no MAV_TYPE found
|
|
if [ $MAV_TYPE == none ]
|
|
then
|
|
echo "Unknown MAV_TYPE"
|
|
else
|
|
param set MAV_TYPE $MAV_TYPE
|
|
fi
|
|
|
|
# Load mixer and configure outputs
|
|
sh /etc/init.d/rc.interface
|
|
|
|
# Start standard vtol apps
|
|
if [ $LOAD_DAPPS == yes ]
|
|
then
|
|
sh /etc/init.d/rc.vtol_apps
|
|
fi
|
|
fi
|
|
|
|
#
|
|
# Rover setup
|
|
#
|
|
if [ $VEHICLE_TYPE == rover ]
|
|
then
|
|
# 10 is MAV_TYPE_GROUND_ROVER
|
|
set MAV_TYPE 10
|
|
|
|
# Load mixer and configure outputs
|
|
sh /etc/init.d/rc.interface
|
|
|
|
# Start standard rover apps
|
|
if [ $LOAD_DAPPS == yes ]
|
|
then
|
|
sh /etc/init.d/rc.axialracing_ax10_apps
|
|
fi
|
|
fi
|
|
|
|
unset MIXER
|
|
unset MAV_TYPE
|
|
unset OUTPUT_MODE
|
|
|
|
#
|
|
# Start the navigator
|
|
#
|
|
navigator start
|
|
|
|
#
|
|
# Generic setup (autostart ID not found)
|
|
#
|
|
if [ $VEHICLE_TYPE == none ]
|
|
then
|
|
echo "[i] No autostart ID found"
|
|
|
|
fi
|
|
|
|
# Start any custom addons
|
|
set FEXTRAS /fs/microsd/etc/extras.txt
|
|
if [ -f $FEXTRAS ]
|
|
then
|
|
echo "[i] Addons script: $FEXTRAS"
|
|
sh $FEXTRAS
|
|
fi
|
|
unset FEXTRAS
|
|
|
|
if [ $EXIT_ON_END == yes ]
|
|
then
|
|
echo "Exit from nsh"
|
|
exit
|
|
fi
|
|
unset EXIT_ON_END
|
|
|
|
# Run no SD alarm last
|
|
if [ $LOG_FILE == /dev/null ]
|
|
then
|
|
echo "[i] No microSD card found"
|
|
# Play SOS
|
|
tone_alarm error
|
|
fi
|
|
|
|
# End of autostart
|
|
fi
|
|
|
|
# There is no further processing, so we can free some RAM
|
|
# XXX potentially unset all script variables.
|
|
unset TUNE_ERR
|