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author | Anton Babushkin <anton.babushkin@me.com> | 2013-08-25 19:27:11 +0200 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2013-08-25 19:27:11 +0200 |
commit | 557d3f22de25a392995f2803363f32fdbc6ce843 (patch) | |
tree | b7e2e353e46b69280cd2b23e4cd284fc31d9f411 /ROMFS/px4fmu_common/init.d/02_io_quad_x | |
parent | 41dfdfb1a4b974b5d32788852768513d0dac7a67 (diff) | |
download | px4-firmware-557d3f22de25a392995f2803363f32fdbc6ce843.tar.gz px4-firmware-557d3f22de25a392995f2803363f32fdbc6ce843.tar.bz2 px4-firmware-557d3f22de25a392995f2803363f32fdbc6ce843.zip |
Startup scripts major cleanup
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/02_io_quad_x')
-rw-r--r-- | ROMFS/px4fmu_common/init.d/02_io_quad_x | 88 |
1 files changed, 17 insertions, 71 deletions
diff --git a/ROMFS/px4fmu_common/init.d/02_io_quad_x b/ROMFS/px4fmu_common/init.d/02_io_quad_x index 49483d14f..a37c26ad1 100644 --- a/ROMFS/px4fmu_common/init.d/02_io_quad_x +++ b/ROMFS/px4fmu_common/init.d/02_io_quad_x @@ -1,26 +1,6 @@ #!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 + +echo "[init] 02_io_quad_x: PX4FMU+PX4IO Quad X with PWM outputs" # # Load default params for this platform @@ -28,74 +8,40 @@ fi if param compare SYS_AUTOCONFIG 1 then # Set all params here, then disable autoconfig + # TODO + 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/ +# MAV_TYPE 2 = quadrotor # param set MAV_TYPE 2 # -# Start MAVLink (depends on orb) +# Start MAVLink # 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) +# Start and configure PX4IO interface # -attitude_estimator_ekf start - +sh /etc/init.d/rc.io + # -# Load mixer and start controllers (depends on px4io) +# Load mixer # mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix -pwm -u 400 -m 0xff -multirotor_att_control start - + # -# Start logging once armed +# Set PWM output frequency # -sdlog2 start -r 50 -a -b 14 - +pwm -u 400 -m 0xff + # -# Start system state +# Start common for all multirotors apps # -if blinkm start -then - blinkm systemstate -fi +sh /etc/init.d/rc.multirotor |