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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-08-25 19:27:11 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-08-25 19:27:11 +0200 |
| commit | 557d3f22de25a392995f2803363f32fdbc6ce843 (patch) | |
| tree | b7e2e353e46b69280cd2b23e4cd284fc31d9f411 /ROMFS/px4fmu_common/init.d/10_io_f330 | |
| 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/10_io_f330')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/10_io_f330 | 80 |
1 files changed, 15 insertions, 65 deletions
diff --git a/ROMFS/px4fmu_common/init.d/10_io_f330 b/ROMFS/px4fmu_common/init.d/10_io_f330 index 50842764a..7b6509bf8 100644 --- a/ROMFS/px4fmu_common/init.d/10_io_f330 +++ b/ROMFS/px4fmu_common/init.d/10_io_f330 @@ -1,12 +1,6 @@ #!nsh -# -# Flight startup script for PX4FMU+PX4IO on an F330 quad. -# -# -# Start the ORB (first app to start) -# -uorb start +echo "[init] 10_io_f330: PX4FMU+PX4IO on a DJI F330 quad frame" # # Load default params for this platform @@ -35,8 +29,7 @@ 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 @@ -47,71 +40,28 @@ mavlink start usleep 5000 # -# Start the commander (depends on orb, mavlink) +# Start and configure PX4IO interface # -commander start +sh /etc/init.d/rc.io # -# Start PX4IO interface (depends on orb, commander) +# Set PWM values for DJI ESCs # -if px4io start -then - # - # This sets a PWM right after startup (regardless of safety button) - # - px4io idle 900 900 900 900 - - pwm -u 400 -m 0xff - - # - # Allow PX4IO to recover from midair restarts. - # this is very unlikely, but quite safe and robust. - px4io recovery - - - - # - # The values are for spinning motors when armed using DJI ESCs - # - px4io min 1200 1200 1200 1200 - - # - # Upper limits could be higher, this is on the safe side - # - px4io max 1800 1800 1800 1800 +px4io idle 900 900 900 900 +px4io min 1200 1200 1200 1200 +px4io max 1800 1800 1800 1800 - mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix - -else - # SOS - tone_alarm 6 -fi - -# -# Start the sensors (depends on orb, px4io) -# -sh /etc/init.d/rc.sensors - # -# Start GPS interface (depends on orb) +# Load mixer # -gps start - +mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix + # -# Start the attitude estimator (depends on orb) +# Set PWM output frequency # -attitude_estimator_ekf start - -multirotor_att_control start +pwm -u 400 -m 0xff # -# Disable px4io topic limiting and start logging +# Start common for all multirotors apps # -if [ $BOARD == fmuv1 ] -then - px4io limit 200 - sdlog2 start -r 50 -a -b 16 -else - px4io limit 400 - sdlog2 start -r 200 -a -b 16 -fi +sh /etc/init.d/rc.multirotor |