forked from Archive/PX4-Autopilot
964 lines
18 KiB
Plaintext
964 lines
18 KiB
Plaintext
#!nsh
|
|
# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
|
|
set +e
|
|
# Un comment the line below to help debug scripts by printing a trace of the script commands
|
|
#set -x
|
|
# PX4FMU startup script.
|
|
#
|
|
# NOTE: environment variable references:
|
|
# If the dollar sign ('$') is followed by a left bracket ('{') then the
|
|
# variable name is terminated with the right bracket character ('}').
|
|
# Otherwise, the variable name goes to the end of the argument.
|
|
#
|
|
#
|
|
# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
|
|
#
|
|
# UART mapping on FMUv2/3/4:
|
|
#
|
|
# UART1 /dev/ttyS0 IO debug (except v4, there ttyS0 is the wifi)
|
|
# USART2 /dev/ttyS1 TELEM1 (flow control)
|
|
# USART3 /dev/ttyS2 TELEM2 (flow control)
|
|
# UART4
|
|
# UART7 CONSOLE
|
|
# UART8 SERIAL4
|
|
#
|
|
#
|
|
# UART mapping on FMUv5:
|
|
#
|
|
# UART1 /dev/ttyS0 GPS
|
|
# USART2 /dev/ttyS1 TELEM1 (flow control)
|
|
# USART3 /dev/ttyS2 TELEM2 (flow control)
|
|
# UART4 /dev/ttyS3 TELEM4
|
|
# USART6 /dev/ttyS4 TELEM3 (flow control)
|
|
# UART7 /dev/ttyS5 ?
|
|
# UART8 /dev/ttyS6 CONSOLE
|
|
|
|
#
|
|
# Mount the procfs.
|
|
#
|
|
mount -t procfs /proc
|
|
|
|
#
|
|
# Start CDC/ACM serial driver
|
|
#
|
|
sercon
|
|
|
|
# print full system version
|
|
ver all
|
|
|
|
#
|
|
# Default to auto-start mode.
|
|
#
|
|
set MODE autostart
|
|
|
|
set TUNE_ERR ML<<CP4CP4CP4CP4CP4
|
|
set LOG_FILE /fs/microsd/bootlog.txt
|
|
|
|
#
|
|
# Try to mount the microSD card.
|
|
#
|
|
# REBOOTWORK this needs to start after the flight control loop
|
|
if mount -t vfat /dev/mmcsd0 /fs/microsd
|
|
then
|
|
if hardfault_log check
|
|
then
|
|
tone_alarm error
|
|
if hardfault_log commit
|
|
then
|
|
hardfault_log reset
|
|
tone_alarm stop
|
|
fi
|
|
else
|
|
# Start playing the startup tune
|
|
tone_alarm start
|
|
fi
|
|
else
|
|
tone_alarm MBAGP
|
|
if mkfatfs /dev/mmcsd0
|
|
then
|
|
if mount -t vfat /dev/mmcsd0 /fs/microsd
|
|
then
|
|
echo "INFO [init] card formatted"
|
|
else
|
|
echo "ERROR [init] format failed"
|
|
tone_alarm MNBG
|
|
set LOG_FILE /dev/null
|
|
fi
|
|
else
|
|
set LOG_FILE /dev/null
|
|
fi
|
|
fi
|
|
|
|
#
|
|
# Look for an init script on the microSD card.
|
|
# Disable autostart if the script found.
|
|
#
|
|
set FRC /fs/microsd/etc/rc.txt
|
|
if [ -f $FRC ]
|
|
then
|
|
sh $FRC
|
|
set MODE custom
|
|
fi
|
|
unset FRC
|
|
|
|
if [ $MODE == autostart ]
|
|
then
|
|
|
|
#
|
|
# Start the ORB (first app to start)
|
|
#
|
|
uorb start
|
|
|
|
#
|
|
# Load parameters
|
|
#
|
|
set PARAM_FILE /fs/microsd/params
|
|
if mtd start
|
|
then
|
|
set PARAM_FILE /fs/mtd_params
|
|
fi
|
|
|
|
param select $PARAM_FILE
|
|
if param load
|
|
then
|
|
else
|
|
if param reset
|
|
then
|
|
fi
|
|
fi
|
|
|
|
#
|
|
# Start system state indicator
|
|
#
|
|
if rgbled start
|
|
then
|
|
else
|
|
if blinkm start
|
|
then
|
|
blinkm systemstate
|
|
fi
|
|
fi
|
|
|
|
# FMUv5 may have both PWM I2C RGB LED support
|
|
rgbled_pwm start
|
|
|
|
#
|
|
# Set AUTOCNF flag to use it in AUTOSTART scripts
|
|
#
|
|
if param compare SYS_AUTOCONFIG 1
|
|
then
|
|
# Wipe out params except RC* and total flight time
|
|
param reset_nostart RC* LND_FLIGHT_T_*
|
|
set AUTOCNF yes
|
|
else
|
|
set AUTOCNF no
|
|
|
|
#
|
|
# Release 1.4.0 transitional support:
|
|
# set to old default if unconfigured.
|
|
# this preserves the previous behaviour
|
|
#
|
|
if param compare BAT_N_CELLS 0
|
|
then
|
|
param set BAT_N_CELLS 3
|
|
fi
|
|
fi
|
|
|
|
#
|
|
# Set default values
|
|
#
|
|
set VEHICLE_TYPE none
|
|
set MIXER none
|
|
set MIXER_AUX none
|
|
set OUTPUT_MODE none
|
|
set PWM_OUT none
|
|
set PWM_RATE p:PWM_RATE
|
|
set PWM_DISARMED p:PWM_DISARMED
|
|
set PWM_MIN p:PWM_MIN
|
|
set PWM_MAX p:PWM_MAX
|
|
set PWM_AUX_OUT none
|
|
set PWM_AUX_RATE none
|
|
set PWM_ACHDIS none
|
|
set PWM_AUX_DISARMED p:PWM_AUX_DISARMED
|
|
set PWM_AUX_MIN p:PWM_AUX_MIN
|
|
set PWM_AUX_MAX p:PWM_AUX_MAX
|
|
set FAILSAFE_AUX none
|
|
set MK_MODE none
|
|
set FMU_MODE pwm
|
|
set AUX_MODE pwm
|
|
set FMU_ARGS ""
|
|
set MAVLINK_F default
|
|
set MAVLINK_COMPANION_DEVICE /dev/ttyS2
|
|
set MAV_TYPE none
|
|
set FAILSAFE none
|
|
set USE_IO no
|
|
set LOGGER_BUF 14
|
|
|
|
if ver hwcmp PX4FMU_V5
|
|
then
|
|
set LOGGER_BUF 64
|
|
fi
|
|
|
|
if ver hwcmp CRAZYFLIE
|
|
then
|
|
if param compare SYS_AUTOSTART 0
|
|
then
|
|
param set SYS_AUTOSTART 4900
|
|
set AUTOCNF yes
|
|
fi
|
|
fi
|
|
|
|
if ver hwcmp AEROFC_V1
|
|
then
|
|
if param compare SYS_AUTOSTART 0
|
|
then
|
|
set AUTOCNF yes
|
|
fi
|
|
|
|
# We don't allow changing AUTOSTART as it doesn't work in
|
|
# other configurations
|
|
param set SYS_AUTOSTART 4070
|
|
fi
|
|
|
|
if ver hwcmp NXPHLITE_V3
|
|
then
|
|
param set SYS_FMU_TASK 1
|
|
set MAVLINK_COMPANION_DEVICE /dev/ttyS4
|
|
fi
|
|
|
|
#
|
|
# Set USE_IO flag
|
|
#
|
|
if param compare SYS_USE_IO 1
|
|
then
|
|
set USE_IO yes
|
|
fi
|
|
|
|
if param compare SYS_FMU_TASK 1
|
|
then
|
|
set FMU_ARGS "-t"
|
|
fi
|
|
|
|
#
|
|
# Set parameters and env variables for selected AUTOSTART
|
|
#
|
|
if param compare SYS_AUTOSTART 0
|
|
then
|
|
else
|
|
sh /etc/init.d/rc.autostart
|
|
fi
|
|
unset MODE
|
|
|
|
#
|
|
# If mount (gimbal) control is enabled and output mode is AUX, set the aux
|
|
# mixer to mount (override the airframe-specific MIXER_AUX setting)
|
|
#
|
|
if param compare MNT_MODE_IN -1
|
|
then
|
|
else
|
|
if param compare MNT_MODE_OUT 0
|
|
then
|
|
set MIXER_AUX mount
|
|
fi
|
|
fi
|
|
|
|
#
|
|
# Override parameters from user configuration file
|
|
#
|
|
set FCONFIG /fs/microsd/etc/config.txt
|
|
if [ -f $FCONFIG ]
|
|
then
|
|
echo "Custom: ${FCONFIG}"
|
|
sh $FCONFIG
|
|
fi
|
|
unset FCONFIG
|
|
|
|
#
|
|
# If autoconfig parameter was set, reset it and save parameters
|
|
#
|
|
if [ $AUTOCNF == yes ]
|
|
then
|
|
# Disable safety switch by default on Pixracer
|
|
if ver hwcmp PX4FMU_V4
|
|
then
|
|
param set CBRK_IO_SAFETY 22027
|
|
fi
|
|
|
|
# Run FMU as task on Pixracer and on boards with enough RAM
|
|
if ver hwcmp PX4FMU_V4 PX4FMU_V4PRO PX4FMU_V5
|
|
then
|
|
param set SYS_FMU_TASK 1
|
|
fi
|
|
|
|
param set SYS_AUTOCONFIG 0
|
|
fi
|
|
unset AUTOCNF
|
|
|
|
set IO_PRESENT no
|
|
|
|
if [ $USE_IO == yes ]
|
|
then
|
|
#
|
|
# Check if PX4IO present and update firmware if needed
|
|
#
|
|
if [ -f /etc/extras/px4io-v2.bin ]
|
|
then
|
|
set IO_FILE /etc/extras/px4io-v2.bin
|
|
|
|
if px4io checkcrc ${IO_FILE}
|
|
then
|
|
set IO_PRESENT yes
|
|
else
|
|
tone_alarm MLL32CP8MB
|
|
|
|
if px4io start
|
|
then
|
|
# try to safe px4 io so motor outputs dont go crazy
|
|
if px4io safety_on
|
|
then
|
|
# success! no-op
|
|
else
|
|
# px4io did not respond to the safety command
|
|
px4io stop
|
|
fi
|
|
fi
|
|
|
|
if px4io forceupdate 14662 ${IO_FILE}
|
|
then
|
|
usleep 10000
|
|
if px4io checkcrc ${IO_FILE}
|
|
then
|
|
echo "PX4IO CRC OK after updating" >> $LOG_FILE
|
|
tone_alarm MLL8CDE
|
|
|
|
set IO_PRESENT yes
|
|
else
|
|
echo "PX4IO update failed" >> $LOG_FILE
|
|
tone_alarm ${TUNE_ERR}
|
|
fi
|
|
else
|
|
echo "PX4IO update failed" >> $LOG_FILE
|
|
tone_alarm ${TUNE_ERR}
|
|
fi
|
|
fi
|
|
fi
|
|
unset IO_FILE
|
|
|
|
if [ $IO_PRESENT == no ]
|
|
then
|
|
echo "PX4IO not found" >> $LOG_FILE
|
|
tone_alarm ${TUNE_ERR}
|
|
fi
|
|
fi
|
|
|
|
#
|
|
# Set default output if not set
|
|
#
|
|
if [ $OUTPUT_MODE == none ]
|
|
then
|
|
if [ $USE_IO == yes ]
|
|
then
|
|
set OUTPUT_MODE io
|
|
else
|
|
set OUTPUT_MODE fmu
|
|
fi
|
|
fi
|
|
|
|
if [ $OUTPUT_MODE == io -a $IO_PRESENT != yes ]
|
|
then
|
|
# Need IO for output but it not present, disable output
|
|
set OUTPUT_MODE none
|
|
fi
|
|
|
|
if [ $OUTPUT_MODE == tap_esc ]
|
|
then
|
|
set FMU_MODE rcin
|
|
fi
|
|
|
|
set DATAMAN_OPT ""
|
|
if ver hwcmp AEROFC_V1
|
|
then
|
|
set DATAMAN_OPT -i
|
|
fi
|
|
if ver hwcmp AEROCORE2
|
|
then
|
|
set DATAMAN_OPT "-f /fs/mtd_dataman"
|
|
fi
|
|
# waypoint storage
|
|
# REBOOTWORK this needs to start in parallel
|
|
if dataman start $DATAMAN_OPT
|
|
then
|
|
fi
|
|
unset DATAMAN_OPT
|
|
|
|
#
|
|
# Sensors System (start before Commander so Preflight checks are properly run)
|
|
# commander Needs to be this early for in-air-restarts
|
|
if param compare SYS_HITL 1
|
|
then
|
|
set OUTPUT_MODE hil
|
|
sensors start -h
|
|
commander start --hil
|
|
else
|
|
if ver hwcmp PX4_SAME70XPLAINED_V1
|
|
then
|
|
gps start -d /dev/ttyS2
|
|
else
|
|
gps start
|
|
fi
|
|
sh /etc/init.d/rc.sensors
|
|
commander start
|
|
fi
|
|
|
|
send_event start
|
|
load_mon start
|
|
|
|
#
|
|
# Check if UAVCAN is enabled, default to it for ESCs
|
|
#
|
|
if param greater UAVCAN_ENABLE 2
|
|
then
|
|
set OUTPUT_MODE uavcan_esc
|
|
fi
|
|
|
|
# Sensors on the PWM interface bank
|
|
if param compare SENS_EN_LL40LS 1
|
|
then
|
|
# clear pins 5 and 6
|
|
set FMU_MODE pwm4
|
|
set AUX_MODE pwm4
|
|
fi
|
|
if param greater TRIG_MODE 0
|
|
then
|
|
# We ONLY support trigger on pins 5 and 6 when simultanously using AUX for actuator output
|
|
if param compare TRIG_PINS 56
|
|
then
|
|
# clear pins 5 and 6
|
|
set FMU_MODE pwm4
|
|
set AUX_MODE pwm4
|
|
else
|
|
set FMU_MODE none
|
|
set AUX_MODE none
|
|
fi
|
|
camera_trigger start
|
|
|
|
param set CAM_FBACK_MODE 1
|
|
camera_feedback start
|
|
fi
|
|
|
|
# If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output
|
|
if [ $OUTPUT_MODE != none ]
|
|
then
|
|
if [ $OUTPUT_MODE == uavcan_esc ]
|
|
then
|
|
if param compare UAVCAN_ENABLE 0
|
|
then
|
|
param set UAVCAN_ENABLE 3
|
|
fi
|
|
fi
|
|
|
|
if [ $OUTPUT_MODE == io -o $OUTPUT_MODE == uavcan_esc ]
|
|
then
|
|
if px4io start
|
|
then
|
|
sh /etc/init.d/rc.io
|
|
else
|
|
echo "PX4IO start failed" >> $LOG_FILE
|
|
tone_alarm $TUNE_ERR
|
|
fi
|
|
fi
|
|
|
|
if [ $OUTPUT_MODE == fmu ]
|
|
then
|
|
if fmu mode_$FMU_MODE $FMU_ARGS
|
|
then
|
|
else
|
|
echo "FMU start failed" >> $LOG_FILE
|
|
tone_alarm $TUNE_ERR
|
|
fi
|
|
fi
|
|
|
|
if [ $OUTPUT_MODE == mkblctrl ]
|
|
then
|
|
set MKBLCTRL_ARG ""
|
|
if [ $MKBLCTRL_MODE == x ]
|
|
then
|
|
set MKBLCTRL_ARG "-mkmode x"
|
|
fi
|
|
if [ $MKBLCTRL_MODE == + ]
|
|
then
|
|
set MKBLCTRL_ARG "-mkmode +"
|
|
fi
|
|
|
|
if mkblctrl $MKBLCTRL_ARG
|
|
then
|
|
else
|
|
tone_alarm $TUNE_ERR
|
|
fi
|
|
unset MKBLCTRL_ARG
|
|
fi
|
|
unset MK_MODE
|
|
|
|
if [ $OUTPUT_MODE == hil ]
|
|
then
|
|
if pwm_out_sim mode_pwm16
|
|
then
|
|
else
|
|
tone_alarm $TUNE_ERR
|
|
fi
|
|
fi
|
|
|
|
#
|
|
# Start IO or FMU for RC PPM input if needed
|
|
#
|
|
if [ $IO_PRESENT == yes ]
|
|
then
|
|
if [ $OUTPUT_MODE != io ]
|
|
then
|
|
if px4io start
|
|
then
|
|
sh /etc/init.d/rc.io
|
|
else
|
|
echo "PX4IO start failed" >> $LOG_FILE
|
|
tone_alarm $TUNE_ERR
|
|
fi
|
|
fi
|
|
else
|
|
if [ $OUTPUT_MODE != fmu ]
|
|
then
|
|
if fmu mode_${FMU_MODE} $FMU_ARGS
|
|
then
|
|
else
|
|
echo "FMU mode_${FMU_MODE} start failed" >> $LOG_FILE
|
|
tone_alarm $TUNE_ERR
|
|
fi
|
|
fi
|
|
fi
|
|
fi
|
|
|
|
if [ $MAVLINK_F == default ]
|
|
then
|
|
# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s
|
|
set MAVLINK_F "-r 1200 -f"
|
|
|
|
# Use ttyS1 for MAVLink on FMUv4 in addition to ttyS0 (debug)
|
|
if ver hwcmp PX4FMU_V4
|
|
then
|
|
set MAVLINK_F "-r 1200 -d /dev/ttyS1"
|
|
# Start MAVLink on Wifi (ESP8266 port)
|
|
mavlink start -r 20000 -b 921600 -d /dev/ttyS0
|
|
fi
|
|
|
|
if ver hwcmp AEROFC_V1
|
|
then
|
|
set MAVLINK_F "-r 1200 -d /dev/ttyS3"
|
|
fi
|
|
|
|
if ver hwcmp CRAZYFLIE
|
|
then
|
|
# Avoid using either of the two available serials
|
|
set MAVLINK_F none
|
|
fi
|
|
fi
|
|
|
|
if [ "x$MAVLINK_F" == xnone ]
|
|
then
|
|
else
|
|
mavlink start ${MAVLINK_F}
|
|
fi
|
|
unset MAVLINK_F
|
|
|
|
#
|
|
# MAVLink onboard / TELEM2
|
|
#
|
|
# XXX We need a better way for runtime eval of shell variables,
|
|
# but this works for now
|
|
if param compare SYS_COMPANION 10
|
|
then
|
|
frsky_telemetry start -d ${MAVLINK_COMPANION_DEVICE}
|
|
fi
|
|
if param compare SYS_COMPANION 20
|
|
then
|
|
syslink start
|
|
mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000
|
|
fi
|
|
if param compare SYS_COMPANION 921600
|
|
then
|
|
if ver hwcmp AEROFC_V1
|
|
then
|
|
if protocol_splitter start ${MAVLINK_COMPANION_DEVICE}
|
|
then
|
|
mavlink start -d /dev/mavlink -b 921600 -m onboard -r 5000 -x
|
|
micrortps_client start -d /dev/rtps -b 921600 -l -1 -s 2000
|
|
else
|
|
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -m onboard -r 80000 -x -f
|
|
fi
|
|
else
|
|
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -m onboard -r 80000 -x -f
|
|
fi
|
|
fi
|
|
if param compare SYS_COMPANION 57600
|
|
then
|
|
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m onboard -r 5000 -x -f
|
|
fi
|
|
if param compare SYS_COMPANION 460800
|
|
then
|
|
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 460800 -m onboard -r 5000 -x -f
|
|
fi
|
|
if param compare SYS_COMPANION 157600
|
|
then
|
|
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m osd -r 1000
|
|
fi
|
|
if param compare SYS_COMPANION 257600
|
|
then
|
|
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m magic -r 5000 -x -f
|
|
fi
|
|
if param compare SYS_COMPANION 319200
|
|
then
|
|
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 19200 -r 1000 -f
|
|
fi
|
|
if param compare SYS_COMPANION 338400
|
|
then
|
|
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 38400 -r 1000 -f
|
|
fi
|
|
if param compare SYS_COMPANION 357600
|
|
then
|
|
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -r 1000 -f
|
|
fi
|
|
if param compare SYS_COMPANION 3115200
|
|
then
|
|
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 115200 -r 1000 -f
|
|
fi
|
|
if param compare SYS_COMPANION 419200
|
|
then
|
|
iridiumsbd start -d /dev/ttyS2
|
|
mavlink start -d /dev/iridium -b 19200 -m iridium -r 10
|
|
fi
|
|
if param compare SYS_COMPANION 1921600
|
|
then
|
|
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -r 20000
|
|
fi
|
|
if param compare SYS_COMPANION 1500000
|
|
then
|
|
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 1500000 -m onboard -r 10000 -x -f
|
|
fi
|
|
|
|
unset MAVLINK_COMPANION_DEVICE
|
|
|
|
#
|
|
# Starting stuff according to UAVCAN_ENABLE value
|
|
#
|
|
if param greater UAVCAN_ENABLE 0
|
|
then
|
|
if uavcan start
|
|
then
|
|
set LOGGER_BUF 6
|
|
uavcan start fw
|
|
else
|
|
tone_alarm ${TUNE_ERR}
|
|
fi
|
|
fi
|
|
|
|
if ver hwcmp PX4FMU_V4 MINDPX_V2
|
|
then
|
|
frsky_telemetry start -d /dev/ttyS6
|
|
fi
|
|
|
|
if ver hwcmp PX4FMU_V2 PX4FMU_V4 PX4FMU_V4PRO MINDPX_V2 PX4FMU_V5
|
|
then
|
|
# Check for flow sensor - as it is a background task, launch it last
|
|
px4flow start &
|
|
fi
|
|
|
|
if ver hwcmp AEROFC_V1
|
|
then
|
|
# don't start mavlink ttyACM0 on aerofc_v1
|
|
else
|
|
# Start MAVLink
|
|
mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
|
|
fi
|
|
|
|
#
|
|
# Logging
|
|
#
|
|
if param compare SYS_LOGGER 0
|
|
then
|
|
sdlog2 start -r 100 -a -b 9 -t
|
|
else
|
|
set LOGGER_ARGS ""
|
|
|
|
if param compare SDLOG_MODE 1
|
|
then
|
|
set LOGGER_ARGS "-e"
|
|
fi
|
|
|
|
if param compare SDLOG_MODE 2
|
|
then
|
|
set LOGGER_ARGS "-f"
|
|
fi
|
|
|
|
if ver hwcmp AEROFC_V1
|
|
then
|
|
set LOGGER_ARGS "-m mavlink"
|
|
fi
|
|
|
|
logger start -b ${LOGGER_BUF} -t ${LOGGER_ARGS}
|
|
|
|
unset LOGGER_BUF
|
|
unset LOGGER_ARGS
|
|
fi
|
|
|
|
#
|
|
# Fixed wing setup
|
|
#
|
|
if [ $VEHICLE_TYPE == fw ]
|
|
then
|
|
if [ $MIXER == none ]
|
|
then
|
|
# Set default mixer for fixed wing if not defined
|
|
set MIXER AERT
|
|
fi
|
|
|
|
if [ $MAV_TYPE == none ]
|
|
then
|
|
# Use MAV_TYPE = 1 (fixed wing) if not defined
|
|
set MAV_TYPE 1
|
|
fi
|
|
|
|
param set MAV_TYPE ${MAV_TYPE}
|
|
|
|
# Load mixer and configure outputs
|
|
sh /etc/init.d/rc.interface
|
|
|
|
# Start standard fixedwing apps
|
|
sh /etc/init.d/rc.fw_apps
|
|
fi
|
|
|
|
#
|
|
# Multicopters setup
|
|
#
|
|
if [ $VEHICLE_TYPE == mc ]
|
|
then
|
|
if [ $MIXER == none ]
|
|
then
|
|
echo "Mixer undefined"
|
|
fi
|
|
|
|
if [ $MAV_TYPE == none ]
|
|
then
|
|
# Use mixer to detect vehicle type
|
|
if [ $MIXER == quad_x -o $MIXER == quad_+ ]
|
|
then
|
|
set MAV_TYPE 2
|
|
fi
|
|
if [ $MIXER == quad_w -o $MIXER == quad_dc ]
|
|
then
|
|
set MAV_TYPE 2
|
|
fi
|
|
if [ $MIXER == quad_h ]
|
|
then
|
|
set MAV_TYPE 2
|
|
fi
|
|
if [ $MIXER == tri_y_yaw- -o $MIXER == tri_y_yaw+ ]
|
|
then
|
|
set MAV_TYPE 15
|
|
fi
|
|
if [ $MIXER == hexa_x -o $MIXER == hexa_+ ]
|
|
then
|
|
set MAV_TYPE 13
|
|
fi
|
|
if [ $MIXER == hexa_cox ]
|
|
then
|
|
set MAV_TYPE 13
|
|
fi
|
|
if [ $MIXER == octo_x -o $MIXER == octo_+ ]
|
|
then
|
|
set MAV_TYPE 14
|
|
fi
|
|
if [ $MIXER == octo_cox -o $MIXER == octo_cox_w ]
|
|
then
|
|
set MAV_TYPE 14
|
|
fi
|
|
if [ $MIXER == coax ]
|
|
then
|
|
set MAV_TYPE 3
|
|
fi
|
|
fi
|
|
|
|
# Still no MAV_TYPE found
|
|
if [ $MAV_TYPE == none ]
|
|
then
|
|
param set MAV_TYPE 2
|
|
else
|
|
param set MAV_TYPE ${MAV_TYPE}
|
|
fi
|
|
|
|
# Load mixer and configure outputs
|
|
sh /etc/init.d/rc.interface
|
|
|
|
# Start standard multicopter apps
|
|
sh /etc/init.d/rc.mc_apps
|
|
fi
|
|
|
|
#
|
|
# VTOL setup
|
|
#
|
|
if [ $VEHICLE_TYPE == vtol ]
|
|
then
|
|
if [ $MIXER == none ]
|
|
then
|
|
echo "VTOL mixer undefined"
|
|
fi
|
|
|
|
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
|
|
if [ $MIXER == quad_x_pusher_vtol ]
|
|
then
|
|
set MAV_TYPE 22
|
|
fi
|
|
fi
|
|
|
|
# Still no MAV_TYPE found
|
|
if [ $MAV_TYPE == none ]
|
|
then
|
|
echo "Unknown MAV_TYPE"
|
|
param set MAV_TYPE 19
|
|
else
|
|
param set MAV_TYPE ${MAV_TYPE}
|
|
fi
|
|
|
|
# Load mixer and configure outputs
|
|
sh /etc/init.d/rc.interface
|
|
|
|
# Start standard vtol apps
|
|
sh /etc/init.d/rc.vtol_apps
|
|
fi
|
|
|
|
#
|
|
# UGV setup
|
|
#
|
|
if [ $VEHICLE_TYPE == ugv ]
|
|
then
|
|
if [ $MIXER == none ]
|
|
then
|
|
# Set default mixer for UGV if not defined
|
|
set MIXER ugv_generic
|
|
fi
|
|
|
|
if [ $MAV_TYPE == none ]
|
|
then
|
|
# Use MAV_TYPE = 10 (UGV) if not defined
|
|
set MAV_TYPE 10
|
|
fi
|
|
|
|
param set MAV_TYPE ${MAV_TYPE}
|
|
|
|
# Load mixer and configure outputs
|
|
sh /etc/init.d/rc.interface
|
|
|
|
# Start standard UGV apps
|
|
sh /etc/init.d/rc.ugv_apps
|
|
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 "No autostart ID found"
|
|
ekf2 start
|
|
fi
|
|
|
|
# Start any custom addons
|
|
set FEXTRAS /fs/microsd/etc/extras.txt
|
|
if [ -f $FEXTRAS ]
|
|
then
|
|
echo "Addons script: ${FEXTRAS}"
|
|
sh $FEXTRAS
|
|
fi
|
|
unset FEXTRAS
|
|
|
|
if ver hwcmp CRAZYFLIE
|
|
then
|
|
# CF2 shouldn't have an sd card
|
|
else
|
|
|
|
if ver hwcmp AEROCORE2
|
|
then
|
|
# AEROCORE2 shouldn't have an sd card
|
|
else
|
|
|
|
# Run no SD alarm
|
|
if [ $LOG_FILE == /dev/null ]
|
|
then
|
|
# Play SOS
|
|
tone_alarm error
|
|
fi
|
|
|
|
fi
|
|
|
|
fi
|
|
|
|
#
|
|
# Check if we should start a thermal calibration
|
|
# TODO move further up and don't start unnecessary services if we are calibrating
|
|
#
|
|
set TEMP_CALIB_ARGS ""
|
|
if param compare SYS_CAL_GYRO 1
|
|
then
|
|
set TEMP_CALIB_ARGS "${TEMP_CALIB_ARGS} -g"
|
|
param set SYS_CAL_GYRO 0
|
|
fi
|
|
if param compare SYS_CAL_ACCEL 1
|
|
then
|
|
set TEMP_CALIB_ARGS "${TEMP_CALIB_ARGS} -a"
|
|
param set SYS_CAL_ACCEL 0
|
|
fi
|
|
if param compare SYS_CAL_BARO 1
|
|
then
|
|
set TEMP_CALIB_ARGS "${TEMP_CALIB_ARGS} -b"
|
|
param set SYS_CAL_BARO 0
|
|
fi
|
|
if [ "x$TEMP_CALIB_ARGS" != "x" ]
|
|
then
|
|
send_event temperature_calibration ${TEMP_CALIB_ARGS}
|
|
fi
|
|
unset TEMP_CALIB_ARGS
|
|
|
|
# vmount to control mounts such as gimbals, disabled by default.
|
|
if param compare MNT_MODE_IN -1
|
|
then
|
|
else
|
|
if vmount start
|
|
then
|
|
fi
|
|
fi
|
|
|
|
# End of autostart
|
|
fi
|
|
|
|
# There is no further script processing, so we can free some RAM
|
|
# XXX potentially unset all script variables.
|
|
unset TUNE_ERR
|
|
|
|
# Boot is complete, inform MAVLink app(s) that the system is now fully up and running
|
|
mavlink boot_complete
|