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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-28 14:58:29 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-28 14:58:29 +0200 |
| commit | 49ef30b834888b91e7238662b23d651addf3b4b4 (patch) | |
| tree | 455b6d9aae5c3c95ae742fd9312aee58ace06fe5 /ROMFS/px4fmu_common/init.d/10_io_f330 | |
| parent | b7ee1d34294b536c6a92c8e72455f24684a5db4f (diff) | |
| download | px4-firmware-49ef30b834888b91e7238662b23d651addf3b4b4.tar.gz px4-firmware-49ef30b834888b91e7238662b23d651addf3b4b4.tar.bz2 px4-firmware-49ef30b834888b91e7238662b23d651addf3b4b4.zip | |
Reworked how start scripts work, relying on io detect now
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/10_io_f330')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/10_io_f330 | 43 |
1 files changed, 27 insertions, 16 deletions
diff --git a/ROMFS/px4fmu_common/init.d/10_io_f330 b/ROMFS/px4fmu_common/init.d/10_io_f330 index 7b6509bf8..5af4f97b5 100644 --- a/ROMFS/px4fmu_common/init.d/10_io_f330 +++ b/ROMFS/px4fmu_common/init.d/10_io_f330 @@ -1,6 +1,6 @@ #!nsh -echo "[init] 10_io_f330: PX4FMU+PX4IO on a DJI F330 quad frame" +echo "[init] PX4FMU v1, v2 with or without IO on DJI F330" # # Load default params for this platform @@ -24,7 +24,7 @@ then param set MC_YAWRATE_I 0.2 param set MC_YAWRATE_P 0.3 - param save /fs/microsd/params + param save fi # @@ -32,24 +32,30 @@ fi # MAV_TYPE 2 = quadrotor # param set MAV_TYPE 2 - -# -# Start MAVLink (depends on orb) -# -mavlink start -usleep 5000 -# -# Start and configure PX4IO interface -# -sh /etc/init.d/rc.io +set EXIT_ON_END no # -# Set PWM values for DJI ESCs +# Start and configure PX4IO or FMU interface # -px4io idle 900 900 900 900 -px4io min 1200 1200 1200 1200 -px4io max 1800 1800 1800 1800 +if px4io detect +then + # Start MAVLink (depends on orb) + mavlink start + usleep 5000 + + sh /etc/init.d/rc.io + # Set PWM values for DJI ESCs + px4io idle 900 900 900 900 + px4io min 1200 1200 1200 1200 + px4io max 1800 1800 1800 1800 +else + # Start MAVLink (on UART1 / ttyS0) + mavlink start -d /dev/ttyS0 + usleep 5000 + fmu mode_pwm + set EXIT_ON_END yes +fi # # Load mixer @@ -65,3 +71,8 @@ pwm -u 400 -m 0xff # Start common for all multirotors apps # sh /etc/init.d/rc.multirotor + +if [ $EXIT_ON_END == yes ] +then + exit +fi |