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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/09_ardrone_flow | |
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/09_ardrone_flow')
-rw-r--r-- | ROMFS/px4fmu_common/init.d/09_ardrone_flow | 67 |
1 files changed, 23 insertions, 44 deletions
diff --git a/ROMFS/px4fmu_common/init.d/09_ardrone_flow b/ROMFS/px4fmu_common/init.d/09_ardrone_flow index a223ef7aa..44fbb79b7 100644 --- a/ROMFS/px4fmu_common/init.d/09_ardrone_flow +++ b/ROMFS/px4fmu_common/init.d/09_ardrone_flow @@ -1,36 +1,41 @@ #!nsh + +echo "[init] 09_ardrone_flow: PX4FMU on PX4IOAR carrier board with PX4FLOW" + # -# Flight startup script for PX4FMU on PX4IOAR carrier board. -# - -echo "[init] doing PX4IOAR startup..." - -# -# Start the ORB -# -uorb start - -# -# Load microSD params +# Load default params for this platform # -echo "[init] loading microSD params" -param select /fs/microsd/params -if [ -f /fs/microsd/params ] +if param compare SYS_AUTOCONFIG 1 then - param load /fs/microsd/params + # 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 and MAVLink Onboard (PX4FLOW Sensor) +# +mavlink start -d /dev/ttyS0 -b 57600 +mavlink_onboard start -d /dev/ttyS3 -b 115200 +usleep 5000 + +# # Configure PX4FMU for operation with PX4IOAR # fmu mode_gpio_serial + +# +# Fire up the AR.Drone interface. +# +ardrone_interface start -d /dev/ttyS1 # # Start the sensors. @@ -38,13 +43,6 @@ fmu mode_gpio_serial sh /etc/init.d/rc.sensors # -# Start MAVLink and MAVLink Onboard (Flow Sensor) -# -mavlink start -d /dev/ttyS0 -b 57600 -mavlink_onboard start -d /dev/ttyS3 -b 115200 -usleep 5000 - -# # Start the commander. # commander start @@ -73,25 +71,6 @@ flow_position_control start # Fire up the flow speed controller # flow_speed_control start - -# -# Fire up the AR.Drone interface. -# -ardrone_interface start -d /dev/ttyS1 - -# -# Start logging once armed -# -sdlog2 start -r 50 -a -b 14 -# -# startup is done; we don't want the shell because we -# use the same UART for telemetry -# -echo "[init] startup done" - -# Try to get an USB console -nshterm /dev/ttyACM0 & - # Exit, because /dev/ttyS0 is needed for MAVLink exit |