diff options
| author | Roman Bapst <romanbapst@yahoo.de> | 2014-12-02 10:30:26 +0100 |
|---|---|---|
| committer | Roman Bapst <romanbapst@yahoo.de> | 2014-12-02 10:30:26 +0100 |
| commit | 48ba912f08b328d709965a4dd7acb878b598f961 (patch) | |
| tree | e8cb2077f21ca1c05f8f1811a7bfb4c6f896a9da /ROMFS/px4fmu_common/init.d/rcS | |
| parent | 39169c35fe00769016cef266ed491c6323fc8630 (diff) | |
| download | px4-firmware-48ba912f08b328d709965a4dd7acb878b598f961.tar.gz px4-firmware-48ba912f08b328d709965a4dd7acb878b598f961.tar.bz2 px4-firmware-48ba912f08b328d709965a4dd7acb878b598f961.zip | |
adapted and added ROMFS-scripts to support VTOL
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/rcS')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rcS | 39 |
1 files changed, 39 insertions, 0 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 353f44877..ffef598c4 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -545,7 +545,46 @@ then sh /etc/init.d/rc.mc_apps fi fi + + # + # VTOL setup + # + if [ $VEHICLE_TYPE == vtol ] + then + echo "[init] Vehicle type: VTOL" + + if [ $MIXER == none ] + then + echo "Default mixer for vtol not defined" + fi + if [ $MAV_TYPE == none ] + then + # Use mixer to detect vehicle type + if [ $MIXER == FMU_quadshot ] + then + set MAV_TYPE 20 + fi + fi + + # Still no MAV_TYPE found + if [ $MAV_TYPE == none ] + then + echo "Unknown MAV_TYPE" + else + param set MAV_TYPE $MAV_TYPE + fi + + # Load mixer and configure outputs + sh /etc/init.d/rc.interface + + # Start standard vtol apps + if [ $LOAD_DEFAULT_APPS == yes ] + then + sh /etc/init.d/rc.vtol_apps + fi + fi + # # Start the navigator # |