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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-28 15:50:06 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-28 15:50:06 +0200 |
| commit | 0731d331bfbee88f91fa4737ec77c0a66ce171f6 (patch) | |
| tree | b6a25a74edcd3bc81ba5a64444bff1dfbd3aad89 /ROMFS/px4fmu_common/init.d/100_mpx_easystar | |
| parent | feb4dad9e1c8e766cac93b55437c8234493ed71b (diff) | |
| download | px4-firmware-0731d331bfbee88f91fa4737ec77c0a66ce171f6.tar.gz px4-firmware-0731d331bfbee88f91fa4737ec77c0a66ce171f6.tar.bz2 px4-firmware-0731d331bfbee88f91fa4737ec77c0a66ce171f6.zip | |
ROMFS reshuffling / cleanup, in sync with QGC
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/100_mpx_easystar')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/100_mpx_easystar | 68 |
1 files changed, 68 insertions, 0 deletions
diff --git a/ROMFS/px4fmu_common/init.d/100_mpx_easystar b/ROMFS/px4fmu_common/init.d/100_mpx_easystar new file mode 100644 index 000000000..e1cefdb99 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/100_mpx_easystar @@ -0,0 +1,68 @@ +#!nsh + +echo "[init] Multiplex Easystar" + +# +# Load default params for this platform +# +if param compare SYS_AUTOCONFIG 1 +then + # Set all params here, then disable autoconfig + # TODO + + param set SYS_AUTOCONFIG 0 + param save +fi + +# +# Force some key parameters to sane values +# MAV_TYPE 1 = fixed wing +# +param set MAV_TYPE 1 + +# +# Start MAVLink (depends on orb) +# +mavlink start -d /dev/ttyS1 -b 57600 +usleep 5000 + +# +# Start and configure PX4IO interface +# +sh /etc/init.d/rc.io + +# +# Set actuator limit to 100 Hz update (50 Hz PWM) +px4io limit 100 + +# +# Start the commander +# +commander start + +# +# Start the sensors +# +sh /etc/init.d/rc.sensors + +# +# Start logging (depends on sensors) +# +sh /etc/init.d/rc.logging + +# +# Start GPS interface +# +gps start + +# +# Start the attitude and position estimator +# +att_pos_estimator_ekf start + +# +# Load mixer and start controllers (depends on px4io) +# +mixer load /dev/pwm_output /etc/mixers/FMU_RET.mix +fw_att_control start +fw_pos_control_l1 start |