diff options
| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-03-07 08:03:57 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-03-07 08:03:57 +0100 |
| commit | 16dd054fa6bfc305d3a66f17d295ceaf1f554c12 (patch) | |
| tree | 7a1be2efea0c24a292682e9823e013d959013c9b /ROMFS/px4fmu_common/init.d/rcS | |
| parent | 40deb405c1e9232475c4b5e7bda8080f85fec19a (diff) | |
| parent | cf9fa61a39f83e6fe4611ecf9336c1fcd1faaa78 (diff) | |
| download | px4-firmware-16dd054fa6bfc305d3a66f17d295ceaf1f554c12.tar.gz px4-firmware-16dd054fa6bfc305d3a66f17d295ceaf1f554c12.tar.bz2 px4-firmware-16dd054fa6bfc305d3a66f17d295ceaf1f554c12.zip | |
Merge branch 'master' of github.com:PX4/Firmware into paul_estimator
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/rcS')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rcS | 23 |
1 files changed, 18 insertions, 5 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 2356dba54..8ca14b320 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -240,6 +240,11 @@ then fi fi + if [ $OUTPUT_MODE == ardrone ] + then + set FMU_MODE gpio_serial + fi + if [ $HIL == yes ] then set OUTPUT_MODE hil @@ -277,9 +282,9 @@ then tone_alarm $TUNE_OUT_ERROR fi fi - if [ $OUTPUT_MODE == fmu ] + if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == ardrone ] then - echo "[init] Use FMU PWM as primary output" + echo "[init] Use FMU as primary output" if fmu mode_$FMU_MODE then echo "[init] FMU mode_$FMU_MODE started" @@ -294,7 +299,7 @@ then then set TTYS1_BUSY yes fi - if [ $FMU_MODE == pwm_gpio ] + if [ $FMU_MODE == pwm_gpio -o $OUTPUT_MODE == ardrone ] then set TTYS1_BUSY yes fi @@ -351,7 +356,7 @@ then fi fi else - if [ $OUTPUT_MODE != fmu ] + if [ $OUTPUT_MODE != fmu -a $OUTPUT_MODE != ardrone ] then if fmu mode_$FMU_MODE then @@ -367,7 +372,7 @@ then then set TTYS1_BUSY yes fi - if [ $FMU_MODE == pwm_gpio ] + if [ $FMU_MODE == pwm_gpio -o $OUTPUT_MODE == ardrone ] then set TTYS1_BUSY yes fi @@ -429,6 +434,14 @@ then fi # + # Start up ARDrone Motor interface + # + if [ $OUTPUT_MODE == ardrone ] + then + ardrone_interface start -d /dev/ttyS1 + fi + + # # Fixed wing setup # if [ $VEHICLE_TYPE == fw ] |