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author | James Goppert <james.goppert@gmail.com> | 2013-07-28 22:28:04 -0400 |
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committer | James Goppert <james.goppert@gmail.com> | 2013-07-28 22:28:04 -0400 |
commit | a569cd834c13052ef3210ab9b8c1afd03b81fef6 (patch) | |
tree | 20b1f93fbd8cf4184f2119d4890e31c95372db2a | |
parent | dc542b2a4818bfc1c3c1cd24c5ee513d5b5ea0c4 (diff) | |
download | px4-firmware-a569cd834c13052ef3210ab9b8c1afd03b81fef6.tar.gz px4-firmware-a569cd834c13052ef3210ab9b8c1afd03b81fef6.tar.bz2 px4-firmware-a569cd834c13052ef3210ab9b8c1afd03b81fef6.zip |
Added segway rc script.
-rw-r--r-- | ROMFS/px4fmu_common/init.d/40_io_segway | 122 |
1 files changed, 122 insertions, 0 deletions
diff --git a/ROMFS/px4fmu_common/init.d/40_io_segway b/ROMFS/px4fmu_common/init.d/40_io_segway new file mode 100644 index 000000000..5742d685a --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/40_io_segway @@ -0,0 +1,122 @@ +#!nsh +# +# Flight startup script for PX4FMU+PX4IO +# + +# disable USB and autostart +set USB no +set MODE custom + +# +# Start the ORB (first app to start) +# +uorb start + +# +# Load microSD params +# +echo "[init] loading microSD params" +param select /fs/microsd/params +if [ -f /fs/microsd/params ] +then + param load /fs/microsd/params +fi + +# +# Load default params for this platform +# +if param compare SYS_AUTOCONFIG 1 +then + # Set all params here, then disable autoconfig + param set SYS_AUTOCONFIG 0 + param save /fs/microsd/params +fi + +# +# Force some key parameters to sane values +# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor +# see https://pixhawk.ethz.ch/mavlink/ +# +param set MAV_TYPE 10 + +# +# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell) +# +if [ -f /fs/microsd/px4io.bin ] +then + echo "PX4IO Firmware found. Checking Upgrade.." + if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current + then + echo "No newer version, skipping upgrade." + else + echo "Loading /fs/microsd/px4io.bin" + if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log + then + cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current + echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log + else + echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log + echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode" + fi + fi +fi + +# +# Start MAVLink (depends on orb) +# +mavlink start -d /dev/ttyS1 -b 57600 +usleep 5000 + +# +# Start the commander (depends on orb, mavlink) +# +commander start + +# +# Start PX4IO interface (depends on orb, commander) +# +px4io start + +# +# Allow PX4IO to recover from midair restarts. +# this is very unlikely, but quite safe and robust. +px4io recovery + +# +# Disable px4io topic limiting +# +px4io limit 200 + +# +# Start the sensors (depends on orb, px4io) +# +sh /etc/init.d/rc.sensors + +# +# Start GPS interface (depends on orb) +# +gps start + +# +# Start the attitude estimator (depends on orb) +# +attitude_estimator_ekf start + +# +# Load mixer and start controllers (depends on px4io) +# +md25 start 3 0x58 +segway start + +# +# Start logging +# +sdlog2 start -r 50 -a -b 14 + +# +# Start system state +# +if blinkm start +then + blinkm systemstate +fi |