diff options
| author | Lorenz Meier <lm@inf.ethz.ch> | 2015-02-09 13:57:04 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-02-09 22:56:25 +0100 |
| commit | 8b5e54f7650b15cf0dd868f3d4acf76fdeefe2b8 (patch) | |
| tree | d215eb9349830a2614448ab6227dc34ae3fb89cf /ROMFS | |
| parent | d3dd4a21e2d4b3a25e4ab577574c1b0a72a9df9e (diff) | |
| download | px4-firmware-8b5e54f7650b15cf0dd868f3d4acf76fdeefe2b8.tar.gz px4-firmware-8b5e54f7650b15cf0dd868f3d4acf76fdeefe2b8.tar.bz2 px4-firmware-8b5e54f7650b15cf0dd868f3d4acf76fdeefe2b8.zip | |
Fix sensor startup and rotations
Diffstat (limited to 'ROMFS')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.sensors | 91 |
1 files changed, 60 insertions, 31 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors index ad84f44f5..d204052b0 100644 --- a/ROMFS/px4fmu_common/init.d/rc.sensors +++ b/ROMFS/px4fmu_common/init.d/rc.sensors @@ -1,60 +1,89 @@ #!nsh # -# Standard startup script for PX4FMU onboard sensor drivers. +# Standard startup script for PX4FMU v1, v2, v3 onboard sensor drivers. # ms5611 start adc start -if mpu6000 -X start -then -fi - -if mpu6000 start -then -fi - -if l3gd20 -X start +if ver hwcmp PX4FMU_V2 then -fi + if hmc5883 -C -X start + then + fi -if l3gd20 start -then -fi + if hmc5883 -C -I -R 4 start + then + fi -# MAG selection -if param compare SENS_EXT_MAG 2 -then - if hmc5883 -I start + # external MPU6K is rotated 180 degrees yaw + if mpu6000 -X -R 4 start then + set BOARD_FMUV3 true + else + set BOARD_FMUV3 false fi -else - # Use only external as primary - if param compare SENS_EXT_MAG 1 + + if [ $BOARD_FMUV3 == true ] then - if hmc5883 -X start + # external L3GD20H is rotated 180 degrees yaw + if l3gd20 -X -R 4 start + then + fi + + # external LSM303D is rotated 270 degrees yaw + if lsm303d -X -R 6 start then fi + + # internal MPU6000 is rotated 180 deg roll, 270 deg yaw + if mpu6000 -R 14 start + then + fi + else - # auto-detect the primary, prefer external - if hmc5883 start + # FMUv2 + if mpu6000 start then fi - fi -fi -if ver hwcmp PX4FMU_V2 -then - if lsm303d -X start + if l3gd20 start + then + fi + + if lsm303d start + then + fi + fi +else + # FMUv1 + if mpu6000 start then fi - if lsm303d start + if l3gd20 start then fi - if ms5611 -X start + # MAG selection + if param compare SENS_EXT_MAG 2 then + if hmc5883 -C -I start + then + fi + else + # Use only external as primary + if param compare SENS_EXT_MAG 1 + then + if hmc5883 -C -X start + then + fi + else + # auto-detect the primary, prefer external + if hmc5883 start + then + fi + fi fi fi |