Cleanup of fixedwing startup code

1 files changed, 82 insertions, 0 deletions

diff --git a/ROMFS/px4fmu_common/init.d/101_hk_bixler b/ROMFS/px4fmu_common/init.d/101_hk_bixler
new file mode 100644
index 000000000..b4daa8f5a
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/101_hk_bixler
@@ -0,0 +1,82 @@
+#!nsh
+
+echo "[init] PX4FMU v1, v2 with or without IO on HK Bixler"
+
+#
+# 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
+
+set EXIT_ON_END no
+
+#
+# Start and configure PX4IO or FMU interface
+#
+if px4io detect
+then
+	# Start MAVLink (depends on orb)
+	mavlink start
+	usleep 5000
+
+	sh /etc/init.d/rc.io
+	# Limit to 100 Hz updates and (implicit) 50 Hz PWM
+	px4io limit 100
+else
+	# Start MAVLink (on UART1 / ttyS0)
+	mavlink start -d /dev/ttyS0
+	usleep 5000
+	fmu mode_pwm
+	param set BAT_V_SCALING 0.004593
+	set EXIT_ON_END yes
+fi
+ 
+#
+# Start the sensors and test them.
+#
+sh /etc/init.d/rc.sensors
+
+#
+# Start logging (depends on sensors)
+#
+sh /etc/init.d/rc.logging
+
+#
+# Start the commander.
+#
+commander start
+
+#
+# Start GPS interface (depends on orb)
+#
+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_AERT.mix
+fw_att_control start
+# Not ready yet for prime-time
+#fw_pos_control_l1 start
+
+if [ $EXIT_ON_END == yes ]
+then
+	exit
+fi