forked from Archive/PX4-Autopilot
67 lines
1.0 KiB
Plaintext
67 lines
1.0 KiB
Plaintext
#!nsh
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#
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# Flight startup script for PX4FMU with PWM outputs.
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#
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# Disable the USB interface
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set USB no
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# Disable autostarting other apps
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set MODE custom
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echo "[init] doing PX4FMU Quad startup..."
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#
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# Start the ORB
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#
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uorb start
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#
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# Load microSD params
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#
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echo "[init] loading microSD params"
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param select /fs/microsd/params
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if [ -f /fs/microsd/params ]
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then
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param load /fs/microsd/params
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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, 2 = quadrotor, 13 = hexarotor
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# see https://pixhawk.ethz.ch/mavlink/
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#
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param set MAV_TYPE 2
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#
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# Start MAVLink
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#
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mavlink start -d /dev/ttyS0 -b 57600
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usleep 5000
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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 the commander.
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#
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commander start
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#
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# Start the attitude estimator
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#
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attitude_estimator_ekf start
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echo "[init] starting PWM output"
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fmu mode_pwm
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mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
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#
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# Start attitude control
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#
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multirotor_att_control start
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echo "[init] startup done, exiting"
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exit |