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author | Anton Babushkin <anton.babushkin@me.com> | 2014-01-11 17:52:29 +0100 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-01-11 17:52:29 +0100 |
commit | 4dd5c13b98f57e490274d7b3fb6d297e18e79853 (patch) | |
tree | cf88c42caffbe4fc9ad38077bde2f44612d21f8c /ROMFS/px4fmu_common/init.d/rcS | |
parent | 41add86164e15d553a5b1d2d2f9d55d964ca4ebe (diff) | |
download | px4-firmware-4dd5c13b98f57e490274d7b3fb6d297e18e79853.tar.gz px4-firmware-4dd5c13b98f57e490274d7b3fb6d297e18e79853.tar.bz2 px4-firmware-4dd5c13b98f57e490274d7b3fb6d297e18e79853.zip |
Autostart: fixes
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/rcS')
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rcS | 238 |
1 files changed, 145 insertions, 93 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index f8796bb08..5e13e4fa2 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -97,81 +97,19 @@ then fi # - # Check if PX4IO present and update firmware if needed - # - if [ -f /etc/extras/px4io-v2_default.bin ] - then - set IO_FILE /etc/extras/px4io-v2_default.bin - else - set IO_FILE /etc/extras/px4io-v1_default.bin - fi - - set IO_PRESENT no - - if px4io checkcrc $IO_FILE - then - echo "[init] PX4IO CRC OK" - echo "PX4IO CRC OK" >> $LOG_FILE - - set IO_PRESENT yes - else - echo "[init] PX4IO CRC failure" - echo "PX4IO CRC failure" >> $LOG_FILE - tone_alarm MBABGP - if px4io forceupdate 14662 $IO_FILE - then - usleep 500000 - if px4io start - then - echo "[init] PX4IO restart OK" - echo "PX4IO restart OK" >> $LOG_FILE - tone_alarm MSPAA - - set IO_PRESENT yes - else - echo "[init] PX4IO restart failed" - echo "PX4IO restart failed" >> $LOG_FILE - if hw_ver compare PX4FMU_V2 - then - tone_alarm MNGGG - sleep 10 - reboot - fi - fi - else - echo "[init] PX4IO update failed" - echo "PX4IO update failed" >> $LOG_FILE - if hw_ver compare PX4FMU_V2 - then - tone_alarm MNGGG - fi - fi - fi - - # # Set default values # set HIL no set VEHICLE_TYPE none set FRAME_GEOMETRY none + set USE_IO yes + set OUTPUT_MODE none set PWM_RATE none set PWM_DISARMED none set PWM_MIN none set PWM_MAX none - - # - # Set default output - # - if [ $IO_PRESENT == yes ] - then - # If PX4IO present, use it as primary PWM output by default - set OUTPUT_MODE io_pwm - else - # Else use PX4FMU PWM output - set OUTPUT_MODE fmu_pwm - fi - - set EXIT_ON_END no + set MKBLCTRL_MODE none + set FMU_MODE pwm # # Set DO_AUTOCONFIG flag to use it in AUTOSTART scripts @@ -182,7 +120,7 @@ then else set DO_AUTOCONFIG no fi - + # # Set parameters and env variables for selected AUTOSTART # @@ -204,14 +142,6 @@ then echo "[init] Config file not found: $CONFIG_FILE" fi - if [ $HIL == yes ] - then - set OUTPUT_MODE hil - else - # Try to get an USB console if not in HIL mode - nshterm /dev/ttyACM0 & - fi - # # If autoconfig parameter was set, reset it and save parameters # @@ -220,7 +150,82 @@ then param set SYS_AUTOCONFIG 0 param save fi + + set IO_PRESENT no + + if [ $USE_IO == yes ] + then + # + # Check if PX4IO present and update firmware if needed + # + if [ -f /etc/extras/px4io-v2_default.bin ] + then + set IO_FILE /etc/extras/px4io-v2_default.bin + else + set IO_FILE /etc/extras/px4io-v1_default.bin + fi + + if px4io checkcrc $IO_FILE + then + echo "[init] PX4IO CRC OK" + echo "PX4IO CRC OK" >> $LOG_FILE + + set IO_PRESENT yes + else + echo "[init] PX4IO CRC failure" + echo "PX4IO CRC failure" >> $LOG_FILE + tone_alarm MBABGP + if px4io forceupdate 14662 $IO_FILE + then + usleep 500000 + if px4io checkcrc $IO_FILE + then + echo "[init] PX4IO CRC OK after updating" + echo "PX4IO CRC OK after updating" >> $LOG_FILE + tone_alarm MSPAA + + set IO_PRESENT yes + else + echo "[init] PX4IO update failed" + echo "PX4IO update failed" >> $LOG_FILE + fi + else + echo "[init] PX4IO update failed" + echo "PX4IO update failed" >> $LOG_FILE + fi + fi + + if [ $IO_PRESENT == no ] + then + echo "[init] ERROR: PX4IO not found, set vehicle type to NONE" + tone_alarm MNGGG + set VEHICLE_TYPE none + fi + fi + + # + # Set default output if not set + # + if [ $OUTPUT_MODE == none ] + then + if [ $IO_PRESENT == yes ] + then + # If PX4IO present, use it as primary PWM output by default + set OUTPUT_MODE io + else + # Else use PX4FMU PWM output + set OUTPUT_MODE fmu + fi + fi + if [ $HIL == yes ] + then + set OUTPUT_MODE hil + else + # Try to get an USB console if not in HIL mode + nshterm /dev/ttyACM0 & + fi + # # Start the Commander (needs to be this early for in-air-restarts) # @@ -229,7 +234,9 @@ then # # Start primary output # - if [ $OUTPUT_MODE == io_pwm ] + set TTYS1_BUSY no + + if [ $OUTPUT_MODE == io ] then echo "[init] Use PX4IO PWM as primary output" if px4io start @@ -241,21 +248,43 @@ then tone_alarm MNGGG fi fi - if [ $OUTPUT_MODE == fmu_pwm ] + if [ $OUTPUT_MODE == fmu ] then - echo "[init] Use PX4FMU PWM as primary output" - if fmu mode_pwm + echo "[init] Use FMU PWM as primary output" + if fmu mode_$FMU_MODE then - echo "[init] PX4FMU PWM output started" + echo "[init] FMU mode_$FMU_MODE started" else - echo "[init] PX4FMU PWM output start error" + echo "[init] FMU mode_$FMU_MODE start error" tone_alarm MNGGG fi + + if hw_ver compare PX4FMU_V1 + then + if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ] + then + set TTYS1_BUSY yes + fi + if [ $FMU_MODE == pwm_gpio ] + then + set TTYS1_BUSY yes + fi + fi fi if [ $OUTPUT_MODE == mkblctrl ] then echo "[init] Use MKBLCTRL as primary output" - if mkblctrl + set MKBLCTRL_ARG "" + if [ $MKBLCTRL_MODE == x ] + then + set MKBLCTRL_ARG "-mkmode x" + fi + if [ $MKBLCTRL_MODE == + ] + then + set MKBLCTRL_ARG "-mkmode +" + fi + + if mkblctrl $MKBLCTRL_ARG then echo "[init] MKBLCTRL started" else @@ -277,32 +306,55 @@ then fi # - # Start PX4IO as secondary output if needed + # Start IO or FMU for RC PPM input if needed # - if [ $IO_PRESENT == yes -a $OUTPUT_MODE != io_pwm ] + if [ $IO_PRESENT == yes ] then - echo "[init] Use PX4IO PWM as secondary output" - if px4io start + if [ $OUTPUT_MODE != io ] then - echo "[init] PX4IO started" - sh /etc/init.d/rc.io - else - echo "[init] PX4IO start error" - tone_alarm MNGGG + if px4io start + then + echo "[init] PX4IO started" + sh /etc/init.d/rc.io + else + echo "[init] PX4IO start error" + tone_alarm MNGGG + fi + fi + else + if [ $OUTPUT_MODE != fmu ] + then + if fmu mode_$FMU_MODE + then + echo "[init] FMU mode_$FMU_MODE started" + else + echo "[init] FMU mode_$FMU_MODE start error" + tone_alarm MNGGG + fi + + if hw_ver compare PX4FMU_V1 + then + if [ $FMU_MODE == pwm -o $FMU_MODE == gpio -o $FMU_MODE == pwm_gpio ] + then + set TTYS1_BUSY yes + fi + fi fi fi # # MAVLink # + set EXIT_ON_END no + if [ $HIL == yes ] then mavlink start -b 230400 -d /dev/ttyACM0 usleep 5000 else - if [ $OUTPUT_MODE == fmu_pwm -a hw_ver compare PX4FMU_V1 ] + if [ $TTYS1_BUSY == yes ] then - # Start MAVLink on ttyS0, because FMU ttyS1 pins configured as PWM output + # Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else mavlink start -d /dev/ttyS0 usleep 5000 |