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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-28 08:14:13 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-28 08:14:13 +0200 |
commit | 5fe3c49ba0e7e3f64f5b6c9b64ced675c01b14fe (patch) | |
tree | 5f024477d370d92edacead7412f60f6757cbf082 /ROMFS/px4fmu_common/init.d/40_io_segway | |
parent | e44d134c6c64535f67e26f9633206aba50a10613 (diff) | |
parent | 66c61fbe96e11ee7099431a8370d84f862543810 (diff) | |
download | px4-firmware-5fe3c49ba0e7e3f64f5b6c9b64ced675c01b14fe.tar.gz px4-firmware-5fe3c49ba0e7e3f64f5b6c9b64ced675c01b14fe.tar.bz2 px4-firmware-5fe3c49ba0e7e3f64f5b6c9b64ced675c01b14fe.zip |
Merged multirotor branch
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/40_io_segway')
-rw-r--r-- | ROMFS/px4fmu_common/init.d/40_io_segway | 82 |
1 files changed, 8 insertions, 74 deletions
diff --git a/ROMFS/px4fmu_common/init.d/40_io_segway b/ROMFS/px4fmu_common/init.d/40_io_segway index 5742d685a..2890f43be 100644 --- a/ROMFS/px4fmu_common/init.d/40_io_segway +++ b/ROMFS/px4fmu_common/init.d/40_io_segway @@ -1,26 +1,4 @@ #!nsh -# -# Flight startup script for PX4FMU+PX4IO -# - -# disable USB and autostart -set USB no -set MODE custom - -# -# Start the ORB (first app to start) -# -uorb start - -# -# Load microSD params -# -echo "[init] loading microSD params" -param select /fs/microsd/params -if [ -f /fs/microsd/params ] -then - param load /fs/microsd/params -fi # # Load default params for this platform @@ -28,39 +6,18 @@ fi if param compare SYS_AUTOCONFIG 1 then # 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 10 = ground rover # param set MAV_TYPE 10 - -# -# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell) -# -if [ -f /fs/microsd/px4io.bin ] -then - echo "PX4IO Firmware found. Checking Upgrade.." - if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current - then - echo "No newer version, skipping upgrade." - else - echo "Loading /fs/microsd/px4io.bin" - if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log - then - cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current - echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log - else - echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log - echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode" - fi - fi -fi - + # # Start MAVLink (depends on orb) # @@ -68,26 +25,16 @@ mavlink start -d /dev/ttyS1 -b 57600 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) -# -px4io start - +# Start the commander (depends on orb, mavlink) # -# Allow PX4IO to recover from midair restarts. -# this is very unlikely, but quite safe and robust. -px4io recovery +commander start # -# Disable px4io topic limiting -# -px4io limit 200 - -# # Start the sensors (depends on orb, px4io) # sh /etc/init.d/rc.sensors @@ -107,16 +54,3 @@ attitude_estimator_ekf start # md25 start 3 0x58 segway start - -# -# Start logging -# -sdlog2 start -r 50 -a -b 14 - -# -# Start system state -# -if blinkm start -then - blinkm systemstate -fi |