forked from Archive/PX4-Autopilot
95 lines
1.4 KiB
Plaintext
95 lines
1.4 KiB
Plaintext
#!nsh
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#
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# Flight startup script for PX4FMU on PX4IOAR carrier board.
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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 ardrone
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echo "[init] doing PX4IOAR 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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# Configure PX4FMU for operation with PX4IOAR
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#
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fmu mode_gpio_serial
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#
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# Start the sensors.
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#
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sh /etc/init.d/rc.sensors
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#
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# Start MAVLink and MAVLink Onboard (Flow Sensor)
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#
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mavlink start -d /dev/ttyS0 -b 57600
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mavlink_onboard start -d /dev/ttyS3 -b 115200
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usleep 5000
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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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#
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# Start the position estimator
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#
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flow_position_estimator start
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#
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# Fire up the multi rotor attitude controller
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#
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multirotor_att_control start
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#
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# Fire up the flow position controller
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#
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flow_position_control start
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#
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# Fire up the flow speed controller
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#
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flow_speed_control start
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#
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# Fire up the AR.Drone interface.
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#
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ardrone_interface start -d /dev/ttyS1
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#
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# startup is done; we don't want the shell because we
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# use the same UART for telemetry
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#
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echo "[init] startup done"
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exit
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