forked from Archive/PX4-Autopilot
353 lines
6.4 KiB
Plaintext
Executable File
353 lines
6.4 KiB
Plaintext
Executable File
#!nsh
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#
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# PX4FMU startup script.
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#
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# Default to auto-start mode. An init script on the microSD card
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# can change this to prevent automatic startup of the flight script.
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#
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set MODE autostart
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#
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# Try to mount the microSD card.
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#
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echo "[init] looking for microSD..."
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if mount -t vfat /dev/mmcsd0 /fs/microsd
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then
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echo "[init] card mounted at /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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echo "[init] no microSD card found"
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# Play SOS
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tone_alarm error
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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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#
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# To prevent automatic startup in the current flight mode,
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# the script should set MODE to some other value.
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#
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if [ -f /fs/microsd/etc/rc ]
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then
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echo "[init] reading /fs/microsd/etc/rc"
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sh /fs/microsd/etc/rc
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fi
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# Also consider rc.txt files
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if [ -f /fs/microsd/etc/rc.txt ]
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then
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echo "[init] reading /fs/microsd/etc/rc.txt"
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sh /fs/microsd/etc/rc.txt
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fi
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# if this is an APM build then there will be a rc.APM script
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# from an EXTERNAL_SCRIPTS build option
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if [ -f /etc/init.d/rc.APM ]
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then
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if sercon
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then
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echo "[init] USB interface connected"
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fi
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echo "Running rc.APM"
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# if APM startup is successful then nsh will exit
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sh /etc/init.d/rc.APM
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fi
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if [ $MODE == autostart ]
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then
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#
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# Start terminal
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#
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if sercon
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then
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echo "USB connected"
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fi
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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 microSD params
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#
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#if ramtron start
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#then
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# param select /ramtron/params
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# if [ -f /ramtron/params ]
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# then
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# param load /ramtron/params
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# fi
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#else
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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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if param load /fs/microsd/params
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then
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echo "Parameters loaded"
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else
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echo "Parameter file corrupt - ignoring"
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fi
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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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echo "Using external RGB Led"
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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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if param compare SYS_AUTOSTART 1000
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then
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sh /etc/init.d/1000_rc_fw_easystar.hil
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set MODE custom
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fi
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if param compare SYS_AUTOSTART 1001
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then
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sh /etc/init.d/1001_rc_quad.hil
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set MODE custom
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fi
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if param compare SYS_AUTOSTART 1002
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then
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sh /etc/init.d/1002_rc_fw_state.hil
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set MODE custom
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fi
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if param compare SYS_AUTOSTART 1003
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then
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sh /etc/init.d/1003_rc_quad_+.hil
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set MODE custom
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fi
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if param compare SYS_AUTOSTART 1004
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then
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sh /etc/init.d/1004_rc_fw_Rascal110.hil
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set MODE custom
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fi
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if [ $MODE != custom ]
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then
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# Try to get an USB console
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nshterm /dev/ttyACM0 &
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fi
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#
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# Upgrade PX4IO firmware
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#
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if px4io detect
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then
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echo "PX4IO running, not upgrading"
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else
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echo "Attempting to upgrade PX4IO"
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if px4io update
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then
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if [ -d /fs/microsd ]
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then
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echo "Flashed PX4IO Firmware OK" > /fs/microsd/px4io.log
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fi
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# Allow IO to safely kick back to app
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usleep 200000
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else
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echo "No PX4IO to upgrade here"
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fi
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fi
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#
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# Check if auto-setup from one of the standard scripts is wanted
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# SYS_AUTOSTART = 0 means no autostart (default)
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#
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if param compare SYS_AUTOSTART 8
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then
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sh /etc/init.d/08_ardrone
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set MODE custom
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fi
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if param compare SYS_AUTOSTART 9
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then
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sh /etc/init.d/09_ardrone_flow
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set MODE custom
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fi
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if param compare SYS_AUTOSTART 10
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then
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sh /etc/init.d/10_dji_f330
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set MODE custom
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fi
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if param compare SYS_AUTOSTART 11
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then
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sh /etc/init.d/11_dji_f450
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set MODE custom
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fi
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if param compare SYS_AUTOSTART 12
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then
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set MIXER /etc/mixers/FMU_hex_x.mix
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sh /etc/init.d/12-13_hex
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set MODE custom
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fi
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if param compare SYS_AUTOSTART 13
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then
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set MIXER /etc/mixers/FMU_hex_+.mix
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sh /etc/init.d/12-13_hex
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set MODE custom
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fi
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if param compare SYS_AUTOSTART 15
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then
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sh /etc/init.d/15_tbs_discovery
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set MODE custom
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fi
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if param compare SYS_AUTOSTART 16
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then
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sh /etc/init.d/16_3dr_iris
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set MODE custom
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fi
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# PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 X Frame
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if param compare SYS_AUTOSTART 17
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then
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set MKBLCTRL_MODE no
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set MKBLCTRL_FRAME x
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sh /etc/init.d/rc.custom_dji_f330_mkblctrl
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set MODE custom
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fi
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# PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 + Frame
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if param compare SYS_AUTOSTART 18
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then
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set MKBLCTRL_MODE no
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set MKBLCTRL_FRAME +
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sh /etc/init.d/rc.custom_dji_f330_mkblctrl
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set MODE custom
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fi
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# PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 X Frame Mikrokopter-Addressing
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if param compare SYS_AUTOSTART 19
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then
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set MKBLCTRL_MODE yes
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set MKBLCTRL_FRAME x
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sh /etc/init.d/rc.custom_dji_f330_mkblctrl
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set MODE custom
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fi
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# PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 + Frame Mikrokopter-Addressing
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if param compare SYS_AUTOSTART 20
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then
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set MKBLCTRL_MODE yes
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set MKBLCTRL_FRAME +
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sh /etc/init.d/rc.custom_dji_f330_mkblctrl
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set MODE custom
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fi
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# PX4FMU v1 with IO + PPM-based ESCs on Quad X-shape frame
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if param compare SYS_AUTOSTART 21
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then
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set FRAME_GEOMETRY x
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set ESC_MAKER afro
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sh /etc/init.d/rc.custom_io_esc
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set MODE custom
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fi
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# PX4FMU v1 with IO + PPM-based ESCs on Quad X-shape frame
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if param compare SYS_AUTOSTART 22
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then
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set FRAME_GEOMETRY w
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sh /etc/init.d/rc.custom_io_esc
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set MODE custom
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fi
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if param compare SYS_AUTOSTART 30
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then
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sh /etc/init.d/30_io_camflyer
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set MODE custom
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fi
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if param compare SYS_AUTOSTART 31
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then
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sh /etc/init.d/31_io_phantom
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set MODE custom
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fi
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if param compare SYS_AUTOSTART 32
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then
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sh /etc/init.d/32_skywalker_x5
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set MODE custom
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fi
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if param compare SYS_AUTOSTART 40
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then
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sh /etc/init.d/40_io_segway
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set MODE custom
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fi
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if param compare SYS_AUTOSTART 100
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then
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sh /etc/init.d/100_mpx_easystar
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set MODE custom
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fi
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if param compare SYS_AUTOSTART 101
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then
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sh /etc/init.d/101_hk_bixler
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set MODE custom
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fi
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# Start any custom extensions that might be missing
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if [ -f /fs/microsd/etc/rc.local ]
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then
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sh /fs/microsd/etc/rc.local
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fi
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# If none of the autostart scripts triggered, get a minimal setup
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if [ $MODE == autostart ]
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then
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# Telemetry port is on both FMU boards ttyS1
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# but the AR.Drone motors can be get 'flashed'
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# if starting MAVLink on them - so do not
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# start it as default (default link: USB)
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# Start commander
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commander start
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# Start px4io if present
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if px4io detect
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then
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px4io start
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else
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if fmu mode_serial
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then
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echo "FMU driver (no PWM) started"
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fi
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fi
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# Start sensors
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sh /etc/init.d/rc.sensors
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# Start one of the estimators
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attitude_estimator_ekf start
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# Start GPS
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gps start
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fi
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# End of autostart
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fi
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