diff options
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/rcS')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rcS | 32 |
1 files changed, 18 insertions, 14 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 0a8774b30..1237d9bb1 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -24,7 +24,6 @@ set LOG_FILE /fs/microsd/bootlog.txt # Try to mount the microSD card. # # REBOOTWORK this needs to start after the flight control loop -echo "[i] Looking for microSD..." if mount -t vfat /dev/mmcsd0 /fs/microsd then echo "[i] microSD mounted: /fs/microsd" @@ -42,6 +41,8 @@ else tone_alarm MNBG set LOG_FILE /dev/null fi + else + set LOG_FILE /dev/null fi fi @@ -51,11 +52,9 @@ fi # if [ -f $FRC ] then - echo "[i] Executing init script: $FRC" + echo "[i] Executing script: $FRC" sh $FRC set MODE custom -else - echo "[i] Init script not found: $FRC" fi unset FRC @@ -124,6 +123,7 @@ then set PWM_AUX_DISARMED none set PWM_AUX_MIN none set PWM_AUX_MAX none + set FAILSAFE_AUX none set MK_MODE none set FMU_MODE pwm set MAVLINK_F default @@ -172,10 +172,8 @@ then # if [ -f $FCONFIG ] then - echo "[i] Config: $FCONFIG" + echo "[i] Custom config: $FCONFIG" sh $FCONFIG - else - echo "[i] Config not found: $FCONFIG" fi unset FCONFIG @@ -299,6 +297,11 @@ then then fi + # + # Sensors System (start before Commander so Preflight checks are properly run) + # + sh /etc/init.d/rc.sensors + # Needs to be this early for in-air-restarts commander start @@ -323,10 +326,8 @@ then then if px4io start then - echo "[i] PX4IO started" sh /etc/init.d/rc.io else - echo "[i] ERROR: PX4IO start failed" tone_alarm $TUNE_ERR fi fi @@ -454,10 +455,16 @@ then # if ver hwcmp PX4FMU_V2 then + # XXX We need a better way for runtime eval of shell variables, + # but this works for now if param compare SYS_COMPANION 921600 then mavlink start -d /dev/ttyS2 -b 921600 -m onboard -r 20000 fi + if param compare SYS_COMPANION 57600 + then + mavlink start -d /dev/ttyS2 -b 57600 -m onboard -r 1000 + fi fi # UAVCAN @@ -465,9 +472,8 @@ then sh /etc/init.d/rc.uavcan # - # Sensors, Logging, GPS + # Logging, GPS # - sh /etc/init.d/rc.sensors sh /etc/init.d/rc.logging if [ $GPS == yes ] @@ -603,7 +609,7 @@ then then set MAV_TYPE 19 fi - if [ $MIXER == firefly6_rotors ] + if [ $MIXER == firefly6 ] then set MAV_TYPE 21 fi @@ -669,8 +675,6 @@ then then echo "[i] Addons script: $FEXTRAS" sh $FEXTRAS - else - echo "[i] No addons script: $FEXTRAS" fi unset FEXTRAS |