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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-03-08 11:38:00 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-03-08 11:38:00 +0400 |
| commit | 320624e995d46d80db0d219d9c61af08e1b8cadf (patch) | |
| tree | 6c41aa76675cab6c8ef6a668ee4505f913bff44e /ROMFS/px4fmu_common/init.d/rcS | |
| parent | 39b1f7244ce06ff89492ad6843c5fc74a30dfe67 (diff) | |
| parent | cf9fa61a39f83e6fe4611ecf9336c1fcd1faaa78 (diff) | |
| download | px4-firmware-320624e995d46d80db0d219d9c61af08e1b8cadf.tar.gz px4-firmware-320624e995d46d80db0d219d9c61af08e1b8cadf.tar.bz2 px4-firmware-320624e995d46d80db0d219d9c61af08e1b8cadf.zip | |
Merge branch 'master' into beta_mavlink2
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 48532e7af..eba18ddb1 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -242,6 +242,11 @@ then fi fi + if [ $OUTPUT_MODE == ardrone ] + then + set FMU_MODE gpio_serial + fi + if [ $HIL == yes ] then set OUTPUT_MODE hil @@ -279,9 +284,9 @@ 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" @@ -296,7 +301,7 @@ 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 @@ -353,7 +358,7 @@ then fi fi else - if [ $OUTPUT_MODE != fmu ] + if [ $OUTPUT_MODE != fmu -a $OUTPUT_MODE != ardrone ] then if fmu mode_$FMU_MODE then @@ -369,7 +374,7 @@ 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 @@ -436,6 +441,14 @@ 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 ] |