diff options
| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-01-20 13:19:49 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-01-20 13:19:49 +0100 |
| commit | f8c5a6cc50cb848a60fd8d359ab4695f18b7d761 (patch) | |
| tree | abe5f202816e37ffb8ce8a9868725cf0c0f9b631 /ROMFS/px4fmu_common/init.d | |
| parent | 13822b35e75cb6a76798159a3f7210d297528243 (diff) | |
| parent | d96e63960c9f951dac02f122ac1e067f7dd3316f (diff) | |
| download | px4-firmware-f8c5a6cc50cb848a60fd8d359ab4695f18b7d761.tar.gz px4-firmware-f8c5a6cc50cb848a60fd8d359ab4695f18b7d761.tar.bz2 px4-firmware-f8c5a6cc50cb848a60fd8d359ab4695f18b7d761.zip | |
Merged master into logging
Diffstat (limited to 'ROMFS/px4fmu_common/init.d')
37 files changed, 1054 insertions, 1976 deletions
diff --git a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery index 81d4b5d57..63798bb3c 100644 --- a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery +++ b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery @@ -1,74 +1,31 @@ #!nsh - -echo "[init] Team Blacksheep Discovery Quad" - # -# Load default params for this platform +# Team Blacksheep Discovery Quadcopter +# +# Maintainers: Simon Wilks <sjwilks@gmail.com> # -if param compare SYS_AUTOCONFIG 1 -then - # Set all params here, then disable autoconfig - param set SYS_AUTOCONFIG 0 - param set MC_ATTRATE_D 0.006 - param set MC_ATTRATE_I 0.0 - param set MC_ATTRATE_P 0.17 - param set MC_ATT_D 0.0 - param set MC_ATT_I 0.0 +if [ $DO_AUTOCONFIG == yes ] +then + # + # Default parameters for this platform + # param set MC_ATT_P 5.0 - param set MC_YAWPOS_D 0.0 - param set MC_YAWPOS_I 0.15 + param set MC_ATT_I 0.0 + param set MC_ATT_D 0.0 + param set MC_ATTRATE_P 0.17 + param set MC_ATTRATE_I 0.0 + param set MC_ATTRATE_D 0.006 param set MC_YAWPOS_P 0.5 - param set MC_YAWRATE_D 0.0 - param set MC_YAWRATE_I 0.0 + param set MC_YAWPOS_I 0.15 + param set MC_YAWPOS_D 0.0 param set MC_YAWRATE_P 0.2 - - param save + param set MC_YAWRATE_I 0.0 + param set MC_YAWRATE_D 0.0 fi -# -# Force some key parameters to sane values -# MAV_TYPE 2 = quadrotor -# -param set MAV_TYPE 2 +set VEHICLE_TYPE mc +set MIXER FMU_quad_w -# -# Start and configure PX4IO or FMU interface -# -if px4io detect -then - # Start MAVLink (depends on orb) - mavlink start - usleep 5000 - - sh /etc/init.d/rc.io -else - # Start MAVLink (on UART1 / ttyS0) - mavlink start -d /dev/ttyS0 - usleep 5000 - fmu mode_pwm - param set BAT_V_SCALING 0.004593 - set EXIT_ON_END yes -fi - -# -# Load the mixer for a quad with wide arms -# -mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix - -# -# Set PWM output frequency -# -pwm rate -c 1234 -r 400 - -# -# Set disarmed, min and max PWM signals -# -pwm disarmed -c 1234 -p 900 -pwm min -c 1234 -p 1100 -pwm max -c 1234 -p 1900 - -# -# Start common for all multirotors apps -# -sh /etc/init.d/rc.multirotor +set PWM_OUTPUTS 1234 +set PWM_RATE 400 diff --git a/ROMFS/px4fmu_common/init.d/10016_3dr_iris b/ROMFS/px4fmu_common/init.d/10016_3dr_iris index b0f4eda79..67c24fab3 100644 --- a/ROMFS/px4fmu_common/init.d/10016_3dr_iris +++ b/ROMFS/px4fmu_common/init.d/10016_3dr_iris @@ -1,73 +1,53 @@ #!nsh - -echo "[init] 3DR Iris Quad" - # -# Load default params for this platform +# 3DR Iris Quadcopter +# +# Maintainers: Anton Babushkin <anton.babushkin@me.com> # -if param compare SYS_AUTOCONFIG 1 -then - # Set all params here, then disable autoconfig - param set SYS_AUTOCONFIG 0 - param set MC_ATTRATE_D 0.004 - param set MC_ATTRATE_I 0.0 - param set MC_ATTRATE_P 0.13 - param set MC_ATT_D 0.0 - param set MC_ATT_I 0.0 +if [ $DO_AUTOCONFIG == yes ] +then + # + # Default parameters for this platform + # param set MC_ATT_P 9.0 - param set MC_YAWPOS_D 0.0 - param set MC_YAWPOS_I 0.15 + param set MC_ATT_I 0.0 + param set MC_ATT_D 0.0 + param set MC_ATTRATE_P 0.13 + param set MC_ATTRATE_I 0.0 + param set MC_ATTRATE_D 0.004 param set MC_YAWPOS_P 0.5 - param set MC_YAWRATE_D 0.0 - param set MC_YAWRATE_I 0.0 + param set MC_YAWPOS_I 0.15 + param set MC_YAWPOS_D 0.0 param set MC_YAWRATE_P 0.2 - - param save + param set MC_YAWRATE_I 0.0 + param set MC_YAWRATE_D 0.0 + + param set MPC_TILT_MAX 0.5 + param set MPC_THR_MAX 0.8 + param set MPC_THR_MIN 0.2 + param set MPC_XY_D 0 + param set MPC_XY_P 0.5 + param set MPC_XY_VEL_D 0 + param set MPC_XY_VEL_I 0 + param set MPC_XY_VEL_MAX 3 + param set MPC_XY_VEL_P 0.2 + param set MPC_Z_D 0 + param set MPC_Z_P 1 + param set MPC_Z_VEL_D 0 + param set MPC_Z_VEL_I 0.1 + param set MPC_Z_VEL_MAX 2 + param set MPC_Z_VEL_P 0.20 + + param set BAT_V_SCALING 0.00989 + param set BAT_C_SCALING 0.0124 fi -# -# Force some key parameters to sane values -# MAV_TYPE 2 = quadrotor -# -param set MAV_TYPE 2 +set VEHICLE_TYPE mc +set MIXER FMU_quad_w -# -# Start and configure PX4IO or FMU interface -# -if px4io detect -then - # Start MAVLink (depends on orb) - mavlink start - usleep 5000 - - sh /etc/init.d/rc.io -else - # Start MAVLink (on UART1 / ttyS0) - mavlink start -d /dev/ttyS0 - usleep 5000 - fmu mode_pwm - param set BAT_V_SCALING 0.0098 - set EXIT_ON_END yes -fi - -# -# Load the mixer for a quad with wide arms -# -mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix - -# -# Set PWM output frequency -# -pwm rate -c 1234 -r 400 - -# -# Set disarmed, min and max PWM signals -# -pwm disarmed -c 1234 -p 900 -pwm min -c 1234 -p 1050 - -# -# Start common for all multirotors apps -# -sh /etc/init.d/rc.multirotor +set PWM_OUTPUTS 1234 +set PWM_RATE 400 +set PWM_DISARMED 900 +set PWM_MIN 1000 +set PWM_MAX 2000 diff --git a/ROMFS/px4fmu_common/init.d/1001_rc_quad.hil b/ROMFS/px4fmu_common/init.d/1001_rc_quad.hil deleted file mode 100644 index 9b664d63e..000000000 --- a/ROMFS/px4fmu_common/init.d/1001_rc_quad.hil +++ /dev/null @@ -1,105 +0,0 @@ -#!nsh -# -# USB HIL start -# - -echo "[HIL] HILS quadrotor starting.." - -# -# Load default params for this platform -# -if param compare SYS_AUTOCONFIG 1 -then - # Set all params here, then disable autoconfig - param set SYS_AUTOCONFIG 0 - - param set MC_ATTRATE_D 0.0 - param set MC_ATTRATE_I 0.0 - param set MC_ATTRATE_P 0.05 - param set MC_ATT_D 0.0 - param set MC_ATT_I 0.0 - param set MC_ATT_P 3.0 - param set MC_YAWPOS_D 0.0 - param set MC_YAWPOS_I 0.0 - param set MC_YAWPOS_P 2.1 - param set MC_YAWRATE_D 0.0 - param set MC_YAWRATE_I 0.0 - param set MC_YAWRATE_P 0.05 - param set NAV_TAKEOFF_ALT 3.0 - param set MPC_TILT_MAX 0.5 - param set MPC_THR_MAX 0.5 - param set MPC_THR_MIN 0.1 - param set MPC_XY_D 0 - param set MPC_XY_P 0.5 - param set MPC_XY_VEL_D 0 - param set MPC_XY_VEL_I 0 - param set MPC_XY_VEL_MAX 3 - param set MPC_XY_VEL_P 0.2 - param set MPC_Z_D 0 - param set MPC_Z_P 1 - param set MPC_Z_VEL_D 0 - param set MPC_Z_VEL_I 0.1 - param set MPC_Z_VEL_MAX 2 - param set MPC_Z_VEL_P 0.20 - - param save -fi - -# Allow USB some time to come up -sleep 1 -# Tell MAVLink that this link is "fast" -mavlink start -b 230400 -d /dev/ttyACM0 - -# Create a fake HIL /dev/pwm_output interface -hil mode_pwm - -# -# Force some key parameters to sane values -# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor -# see https://pixhawk.ethz.ch/mavlink/ -# -param set MAV_TYPE 2 - -# -# Check if we got an IO -# -if px4io start -then - echo "IO started" -else - fmu mode_serial - echo "FMU started" -fi - -# -# Start the sensors (depends on orb, px4io) -# -sh /etc/init.d/rc.sensors - -# -# Start the attitude estimator (depends on orb) -# -att_pos_estimator_ekf start - -# -# Load mixer and start controllers (depends on px4io) -# -mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix - -# -# Start position estimator -# -position_estimator_inav start - -# -# Start attitude control -# -multirotor_att_control start - -# -# Start position control -# -multirotor_pos_control start - -echo "[HIL] setup done, running" - diff --git a/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil b/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil new file mode 100644 index 000000000..8c0797d7c --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil @@ -0,0 +1,46 @@ +#!nsh +# +# HIL Quadcopter X +# +# Maintainers: Anton Babushkin <anton.babushkin@me.com> +# + +if [ $DO_AUTOCONFIG == yes ] +then + # + # Default parameters for this platform + # + param set MC_ATTRATE_P 0.12 + param set MC_ATTRATE_I 0.0 + param set MC_ATTRATE_D 0.004 + param set MC_ATT_P 7.0 + param set MC_ATT_I 0.0 + param set MC_ATT_D 0.0 + param set MC_YAWPOS_P 2.0 + param set MC_YAWPOS_I 0.0 + param set MC_YAWPOS_D 0.0 + param set MC_YAWRATE_P 0.3 + param set MC_YAWRATE_I 0.2 + param set MC_YAWRATE_D 0.005 + + param set MPC_TILT_MAX 0.5 + param set MPC_THR_MAX 0.8 + param set MPC_THR_MIN 0.2 + param set MPC_XY_D 0 + param set MPC_XY_P 0.5 + param set MPC_XY_VEL_D 0 + param set MPC_XY_VEL_I 0 + param set MPC_XY_VEL_MAX 3 + param set MPC_XY_VEL_P 0.2 + param set MPC_Z_D 0 + param set MPC_Z_P 1 + param set MPC_Z_VEL_D 0 + param set MPC_Z_VEL_I 0.1 + param set MPC_Z_VEL_MAX 2 + param set MPC_Z_VEL_P 0.20 +fi + +set HIL yes + +set VEHICLE_TYPE mc +set MIXER FMU_quad_x diff --git a/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil b/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil index 0cc07ad34..bce3015fc 100644 --- a/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil +++ b/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil @@ -1,105 +1,46 @@ #!nsh # -# USB HIL start +# HIL Quadcopter + # - -echo "[HIL] HILS quadrotor + starting.." - -# -# Load default params for this platform -# -if param compare SYS_AUTOCONFIG 1 -then - # Set all params here, then disable autoconfig - param set SYS_AUTOCONFIG 0 - - param set MC_ATTRATE_D 0.0 - param set MC_ATTRATE_I 0.0 - param set MC_ATTRATE_P 0.05 - param set MC_ATT_D 0.0 - param set MC_ATT_I 0.0 - param set MC_ATT_P 3.0 - param set MC_YAWPOS_D 0.0 - param set MC_YAWPOS_I 0.0 - param set MC_YAWPOS_P 2.1 - param set MC_YAWRATE_D 0.0 - param set MC_YAWRATE_I 0.0 - param set MC_YAWRATE_P 0.05 - param set NAV_TAKEOFF_ALT 3.0 - param set MPC_TILT_MAX 0.5 - param set MPC_THR_MAX 0.5 - param set MPC_THR_MIN 0.1 - param set MPC_XY_D 0 - param set MPC_XY_P 0.5 - param set MPC_XY_VEL_D 0 - param set MPC_XY_VEL_I 0 - param set MPC_XY_VEL_MAX 3 - param set MPC_XY_VEL_P 0.2 - param set MPC_Z_D 0 - param set MPC_Z_P 1 - param set MPC_Z_VEL_D 0 - param set MPC_Z_VEL_I 0.1 - param set MPC_Z_VEL_MAX 2 - param set MPC_Z_VEL_P 0.20 - - param save -fi - -# Allow USB some time to come up -sleep 1 -# Tell MAVLink that this link is "fast" -mavlink start -b 230400 -d /dev/ttyACM0 - -# Create a fake HIL /dev/pwm_output interface -hil mode_pwm - -# -# Force some key parameters to sane values -# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor -# see https://pixhawk.ethz.ch/mavlink/ +# Maintainers: Anton Babushkin <anton.babushkin@me.com> # -param set MAV_TYPE 2 -# -# Check if we got an IO -# -if px4io start +if [ $DO_AUTOCONFIG == yes ] then - echo "IO started" -else - fmu mode_serial - echo "FMU started" + # + # Default parameters for this platform + # + param set MC_ATTRATE_P 0.12 + param set MC_ATTRATE_I 0.0 + param set MC_ATTRATE_D 0.004 + param set MC_ATT_P 7.0 + param set MC_ATT_I 0.0 + param set MC_ATT_D 0.0 + param set MC_YAWPOS_P 2.0 + param set MC_YAWPOS_I 0.0 + param set MC_YAWPOS_D 0.0 + param set MC_YAWRATE_P 0.3 + param set MC_YAWRATE_I 0.2 + param set MC_YAWRATE_D 0.005 + + param set MPC_TILT_MAX 0.5 + param set MPC_THR_MAX 0.8 + param set MPC_THR_MIN 0.2 + param set MPC_XY_D 0 + param set MPC_XY_P 0.5 + param set MPC_XY_VEL_D 0 + param set MPC_XY_VEL_I 0 + param set MPC_XY_VEL_MAX 3 + param set MPC_XY_VEL_P 0.2 + param set MPC_Z_D 0 + param set MPC_Z_P 1 + param set MPC_Z_VEL_D 0 + param set MPC_Z_VEL_I 0.1 + param set MPC_Z_VEL_MAX 2 + param set MPC_Z_VEL_P 0.20 fi -# -# Start the sensors (depends on orb, px4io) -# -sh /etc/init.d/rc.sensors - -# -# Start the attitude estimator (depends on orb) -# -att_pos_estimator_ekf start - -# -# Load mixer and start controllers (depends on px4io) -# -mixer load /dev/pwm_output /etc/mixers/FMU_quad_+.mix - -# -# Start position estimator -# -position_estimator_inav start - -# -# Start attitude control -# -multirotor_att_control start - -# -# Start position control -# -multirotor_pos_control start - -echo "[HIL] setup done, running" +set HIL yes +set VEHICLE_TYPE mc +set MIXER FMU_quad_+ diff --git a/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil b/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil index 344d78422..75a00a675 100644 --- a/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil +++ b/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil @@ -1,14 +1,13 @@ #!nsh # -# USB HIL start +# HIL Rascal 110 (Flightgear) +# +# Maintainers: Thomas Gubler <thomasgubler@gmail.com> # -echo "[HIL] HILStar starting.." +echo "HIL Rascal 110 starting.." -# -# Load default params for this platform -# -if param compare SYS_AUTOCONFIG 1 +if [ $DO_AUTOCONFIG == yes ] then # Set all params here, then disable autoconfig @@ -40,59 +39,8 @@ then param save fi -# Allow USB some time to come up -sleep 1 -# Tell MAVLink that this link is "fast" -mavlink start -b 230400 -d /dev/ttyACM0 - -# Create a fake HIL /dev/pwm_output interface -hil mode_pwm - -# -# Force some key parameters to sane values -# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor -# see https://pixhawk.ethz.ch/mavlink/ -# -param set MAV_TYPE 1 - -# -# Check if we got an IO -# -if px4io start -then - echo "IO started" -else - fmu mode_serial - echo "FMU started" -fi - -# -# Start the sensors (depends on orb, px4io) -# -sh /etc/init.d/rc.sensors - -# -# Start the attitude estimator (depends on orb) -# -att_pos_estimator_ekf start - -# -# Load mixer and start controllers (depends on px4io) -# -set MODE autostart -mixer load /dev/pwm_output /etc/mixers/FMU_AERT.mix -if [ -f /fs/microsd/etc/mixers/FMU_AERT.mix ] -then - echo "Using /fs/microsd/etc/mixers/FMU_AERT.mix" - mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_AERT.mix -else - echo "Using /etc/mixers/FMU_AERT.mix" - mixer load /dev/pwm_output /etc/mixers/FMU_AERT.mix -fi - - -fw_pos_control_l1 start -fw_att_control start +set HIL yes -echo "[HIL] setup done, running" +set VEHICLE_TYPE fw +set MIXER FMU_AERT diff --git a/ROMFS/px4fmu_common/init.d/2100_mpx_easystar b/ROMFS/px4fmu_common/init.d/2100_mpx_easystar index 97c2d7c90..0e5bf60d6 100644 --- a/ROMFS/px4fmu_common/init.d/2100_mpx_easystar +++ b/ROMFS/px4fmu_common/init.d/2100_mpx_easystar @@ -1,13 +1,15 @@ #!nsh - -echo "[init] PX4FMU v1, v2 with or without IO on EasyStar" - # -# Load default params for this platform +# MPX EasyStar Plane +# +# Maintainers: ??? # -if param compare SYS_AUTOCONFIG 1 + +if [ $DO_AUTOCONFIG == yes ] then - # Set all params here, then disable autoconfig + # + # Default parameters for this platform + # param set FW_P_D 0 param set FW_P_I 0 param set FW_P_IMAX 15 @@ -31,50 +33,7 @@ then param set FW_L1_PERIOD 16 param set RC_SCALE_ROLL 1.0 param set RC_SCALE_PITCH 1.0 - - param set SYS_AUTOCONFIG 0 - param save fi -# -# Force some key parameters to sane values -# MAV_TYPE 1 = fixed wing -# -param set MAV_TYPE 1 - -# -# Start and configure PX4IO or FMU interface -# -if px4io detect -then - # Start MAVLink (depends on orb) - mavlink start - - sh /etc/init.d/rc.io - # Limit to 100 Hz updates and (implicit) 50 Hz PWM - px4io limit 100 -else - # Start MAVLink (on UART1 / ttyS0) - mavlink start -d /dev/ttyS0 - - fmu mode_pwm - param set BAT_V_SCALING 0.004593 - set EXIT_ON_END yes -fi - -# -# Load mixer and start controllers (depends on px4io) -# -if [ -f /fs/microsd/etc/mixers/FMU_RET.mix ] -then - echo "Using /fs/microsd/etc/mixers/FMU_RET.mix" - mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_RET.mix -else - echo "Using /etc/mixers/FMU_RET.mix" - mixer load /dev/pwm_output /etc/mixers/FMU_RET.mix -fi - -# -# Start common fixedwing apps -# -sh /etc/init.d/rc.fixedwing +set VEHICLE_TYPE fw +set MIXER FMU_RET diff --git a/ROMFS/px4fmu_common/init.d/3031_io_phantom b/ROMFS/px4fmu_common/init.d/3031_io_phantom deleted file mode 100644 index 0cf6ee39a..000000000 --- a/ROMFS/px4fmu_common/init.d/3031_io_phantom +++ /dev/null @@ -1,85 +0,0 @@ -#!nsh - -echo "[init] PX4FMU v1, v2 with or without IO on Phantom FPV" - -# -# Load default params for this platform -# -if param compare SYS_AUTOCONFIG 1 -then - # Set all params here, then disable autoconfig - param set FW_AIRSPD_MIN 11.4 - param set FW_AIRSPD_TRIM 14 - param set FW_AIRSPD_MAX 22 - param set FW_L1_PERIOD 15 - param set FW_P_D 0 - param set FW_P_I 0 - param set FW_P_IMAX 15 - param set FW_P_LIM_MAX 45 - param set FW_P_LIM_MIN -45 - param set FW_P_P 60 - param set FW_P_RMAX_NEG 0 - param set FW_P_RMAX_POS 0 - param set FW_P_ROLLFF 2 - param set FW_R_D 0 - param set FW_R_I 5 - param set FW_R_IMAX 15 - param set FW_R_P 80 - param set FW_R_RMAX 60 - param set FW_THR_CRUISE 0.8 - param set FW_THR_LND_MAX 0 - param set FW_THR_MAX 1 - param set FW_THR_MIN 0.5 - param set FW_T_SINK_MAX 5.0 - param set FW_T_SINK_MIN 2.0 - param set FW_Y_ROLLFF 1.0 - param set RC_SCALE_ROLL 0.6 - param set RC_SCALE_PITCH 0.6 - param set TRIM_PITCH 0.1 - - param set SYS_AUTOCONFIG 0 - param save -fi - -# -# Force some key parameters to sane values -# MAV_TYPE 1 = fixed wing -# -param set MAV_TYPE 1 - -# -# Start and configure PX4IO or FMU interface -# -if px4io detect -then - # Start MAVLink (depends on orb) - mavlink start - - sh /etc/init.d/rc.io - # Limit to 100 Hz updates and (implicit) 50 Hz PWM - px4io limit 100 -else - # Start MAVLink (on UART1 / ttyS0) - mavlink start -d /dev/ttyS0 - - fmu mode_pwm - param set BAT_V_SCALING 0.004593 - set EXIT_ON_END yes -fi - -# -# Load mixer and start controllers (depends on px4io) -# -if [ -f /fs/microsd/etc/mixers/FMU_Q.mix ] -then - echo "Using /fs/microsd/etc/mixers/FMU_Q.mix" - mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_Q.mix -else - echo "Using /etc/mixers/FMU_Q.mix" - mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix -fi - -# -# Start common fixedwing apps -# -sh /etc/init.d/rc.fixedwing diff --git a/ROMFS/px4fmu_common/init.d/3031_phantom b/ROMFS/px4fmu_common/init.d/3031_phantom new file mode 100644 index 000000000..4ebbe9c61 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/3031_phantom @@ -0,0 +1,44 @@ +#!nsh +# +# Phantom FPV Flying Wing +# +# Maintainers: Simon Wilks <sjwilks@gmail.com> +# + +if [ $DO_AUTOCONFIG == yes ] +then + # + # Default parameters for this platform + # + param set FW_AIRSPD_MIN 11.4 + param set FW_AIRSPD_TRIM 14 + param set FW_AIRSPD_MAX 22 + param set FW_L1_PERIOD 15 + param set FW_P_D 0 + param set FW_P_I 0 + param set FW_P_IMAX 15 + param set FW_P_LIM_MAX 45 + param set FW_P_LIM_MIN -45 + param set FW_P_P 60 + param set FW_P_RMAX_NEG 0 + param set FW_P_RMAX_POS 0 + param set FW_P_ROLLFF 2 + param set FW_R_D 0 + param set FW_R_I 5 + param set FW_R_IMAX 15 + param set FW_R_P 80 + param set FW_R_RMAX 60 + param set FW_THR_CRUISE 0.8 + param set FW_THR_LND_MAX 0 + param set FW_THR_MAX 1 + param set FW_THR_MIN 0.5 + param set FW_T_SINK_MAX 5.0 + param set FW_T_SINK_MIN 2.0 + param set FW_Y_ROLLFF 1.0 + param set RC_SCALE_ROLL 0.6 + param set RC_SCALE_PITCH 0.6 + param set TRIM_PITCH 0.1 +fi + +set VEHICLE_TYPE fw +set MIXER FMU_Q diff --git a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 index 41e041654..03f282237 100644 --- a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 +++ b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 @@ -1,58 +1,14 @@ #!nsh - -echo "[init] PX4FMU v1, v2 with or without IO on Skywalker X5" - -# -# Load default params for this platform # -if param compare SYS_AUTOCONFIG 1 -then - # Set all params here, then disable autoconfig - # TODO - - param set SYS_AUTOCONFIG 0 - param save -fi - -# -# Force some key parameters to sane values -# MAV_TYPE 1 = fixed wing -# -param set MAV_TYPE 1 - +# Skywalker X5 Flying Wing # -# Start and configure PX4IO or FMU interface +# Maintainers: Thomas Gubler <thomasgubler@gmail.com>, Julian Oes <joes@student.ethz.ch> # -if px4io detect -then - # Start MAVLink (depends on orb) - mavlink start - - sh /etc/init.d/rc.io - # Limit to 100 Hz updates and (implicit) 50 Hz PWM - px4io limit 100 -else - # Start MAVLink (on UART1 / ttyS0) - mavlink start -d /dev/ttyS0 - fmu mode_pwm - param set BAT_V_SCALING 0.004593 - set EXIT_ON_END yes -fi - -# -# Load mixer and start controllers (depends on px4io) -# -if [ -f /fs/microsd/etc/mixers/FMU_Q.mix ] +if [ $DO_AUTOCONFIG == yes ] then - echo "Using /fs/microsd/etc/mixers/FMU_Q.mix" - mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_Q.mix -else - echo "Using /etc/mixers/FMU_Q.mix" - mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix + # TODO fi -# -# Start common fixedwing apps -# -sh /etc/init.d/rc.fixedwing +set VEHICLE_TYPE fw +set MIXER FMU_Q diff --git a/ROMFS/px4fmu_common/init.d/3033_io_wingwing b/ROMFS/px4fmu_common/init.d/3033_io_wingwing deleted file mode 100644 index 82ff425e6..000000000 --- a/ROMFS/px4fmu_common/init.d/3033_io_wingwing +++ /dev/null @@ -1,84 +0,0 @@ -#!nsh - -echo "[init] PX4FMU v1, v2 with or without IO on the Wing Wing (aka Z-84)" - -# -# Load default params for this platform -# -if param compare SYS_AUTOCONFIG 1 -then - # Set all params here, then disable autoconfig - param set FW_AIRSPD_MIN 7 - param set FW_AIRSPD_TRIM 9 - param set FW_AIRSPD_MAX 14 - param set FW_L1_PERIOD 10 - param set FW_P_D 0 - param set FW_P_I 0 - param set FW_P_IMAX 20 - param set FW_P_LIM_MAX 30 - param set FW_P_LIM_MIN -20 - param set FW_P_P 30 - param set FW_P_RMAX_NEG 0 - param set FW_P_RMAX_POS 0 - param set FW_P_ROLLFF 2 - param set FW_R_D 0 - param set FW_R_I 5 - param set FW_R_IMAX 20 - param set FW_R_P 60 - param set FW_R_RMAX 60 - param set FW_THR_CRUISE 0.65 - param set FW_THR_MAX 0.7 - param set FW_THR_MIN 0 - param set FW_T_SINK_MAX 5 - param set FW_T_SINK_MIN 2 - param set FW_T_TIME_CONST 9 - param set FW_Y_ROLLFF 2.0 - param set RC_SCALE_ROLL 1.0 - param set RC_SCALE_PITCH 1.0 - - param set SYS_AUTOCONFIG 0 - param save -fi - -# -# Force some key parameters to sane values -# MAV_TYPE 1 = fixed wing -# -param set MAV_TYPE 1 - -# -# Start and configure PX4IO or FMU interface -# -if px4io detect -then - # Start MAVLink (depends on orb) - mavlink start - - sh /etc/init.d/rc.io - # Limit to 100 Hz updates and (implicit) 50 Hz PWM - px4io limit 100 -else - # Start MAVLink (on UART1 / ttyS0) - mavlink start -d /dev/ttyS0 - - fmu mode_pwm - param set BAT_V_SCALING 0.004593 - set EXIT_ON_END yes -fi - -# -# Load mixer and start controllers (depends on px4io) -# -if [ -f /fs/microsd/etc/mixers/FMU_Q.mix ] -then - echo "Using /fs/microsd/etc/mixers/FMU_Q.mix" - mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_Q.mix -else - echo "Using /etc/mixers/FMU_Q.mix" - mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix -fi - -# -# Start common fixedwing apps -# -sh /etc/init.d/rc.fixedwing diff --git a/ROMFS/px4fmu_common/init.d/3033_wingwing b/ROMFS/px4fmu_common/init.d/3033_wingwing new file mode 100644 index 000000000..e53763278 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/3033_wingwing @@ -0,0 +1,43 @@ +#!nsh +# +# Wing Wing (aka Z-84) Flying Wing +# +# Maintainers: Simon Wilks <sjwilks@gmail.com> +# + +if [ $DO_AUTOCONFIG == yes ] +then + # + # Default parameters for this platform + # + param set FW_AIRSPD_MIN 7 + param set FW_AIRSPD_TRIM 9 + param set FW_AIRSPD_MAX 14 + param set FW_L1_PERIOD 10 + param set FW_P_D 0 + param set FW_P_I 0 + param set FW_P_IMAX 20 + param set FW_P_LIM_MAX 30 + param set FW_P_LIM_MIN -20 + param set FW_P_P 30 + param set FW_P_RMAX_NEG 0 + param set FW_P_RMAX_POS 0 + param set FW_P_ROLLFF 2 + param set FW_R_D 0 + param set FW_R_I 5 + param set FW_R_IMAX 20 + param set FW_R_P 60 + param set FW_R_RMAX 60 + param set FW_THR_CRUISE 0.65 + param set FW_THR_MAX 0.7 + param set FW_THR_MIN 0 + param set FW_T_SINK_MAX 5 + param set FW_T_SINK_MIN 2 + param set FW_T_TIME_CONST 9 + param set FW_Y_ROLLFF 2.0 + param set RC_SCALE_ROLL 1.0 + param set RC_SCALE_PITCH 1.0 +fi + +set VEHICLE_TYPE fw +set MIXER FMU_Q diff --git a/ROMFS/px4fmu_common/init.d/3034_fx79 b/ROMFS/px4fmu_common/init.d/3034_fx79 new file mode 100644 index 000000000..8d179d1fd --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/3034_fx79 @@ -0,0 +1,43 @@ +#!nsh +# +# FX-79 Buffalo Flying Wing +# +# Maintainers: Simon Wilks <sjwilks@gmail.com> +# + +if [ $DO_AUTOCONFIG == yes ] +then + # + # Default parameters for this platform + # + param set FW_AIRSPD_MAX 20 + param set FW_AIRSPD_TRIM 12 + param set FW_AIRSPD_MIN 15 + param set FW_L1_PERIOD 12 + param set FW_P_D 0 + param set FW_P_I 0 + param set FW_P_IMAX 15 + param set FW_P_LIM_MAX 50 + param set FW_P_LIM_MIN -50 + param set FW_P_P 60 + param set FW_P_RMAX_NEG 0 + param set FW_P_RMAX_POS 0 + param set FW_P_ROLLFF 1.1 + param set FW_R_D 0 + param set FW_R_I 5 + param set FW_R_IMAX 20 + param set FW_R_P 80 + param set FW_R_RMAX 100 + param set FW_THR_CRUISE 0.75 + param set FW_THR_MAX 1 + param set FW_THR_MIN 0 + param set FW_T_SINK_MAX 5.0 + param set FW_T_SINK_MIN 4.0 + param set FW_T_TIME_CONST 9 + param set FW_Y_ROLLFF 1.1 + param set RC_SCALE_ROLL 1.0 + param set RC_SCALE_PITCH 1.0 +fi + +set VEHICLE_TYPE fw +set MIXER FMU_FX79 diff --git a/ROMFS/px4fmu_common/init.d/3034_io_fx79 b/ROMFS/px4fmu_common/init.d/3034_io_fx79 deleted file mode 100644 index 759c17bb4..000000000 --- a/ROMFS/px4fmu_common/init.d/3034_io_fx79 +++ /dev/null @@ -1,84 +0,0 @@ -#!nsh - -echo "[init] PX4FMU v1, v2 with or without IO on FX-79 Buffalo" - -# -# Load default params for this platform -# -if param compare SYS_AUTOCONFIG 1 -then - # Set all params here, then disable autoconfig - param set FW_AIRSPD_MAX 20 - param set FW_AIRSPD_TRIM 12 - param set FW_AIRSPD_MIN 15 - param set FW_L1_PERIOD 12 - param set FW_P_D 0 - param set FW_P_I 0 - param set FW_P_IMAX 15 - param set FW_P_LIM_MAX 50 - param set FW_P_LIM_MIN -50 - param set FW_P_P 60 - param set FW_P_RMAX_NEG 0 - param set FW_P_RMAX_POS 0 - param set FW_P_ROLLFF 1.1 - param set FW_R_D 0 - param set FW_R_I 5 - param set FW_R_IMAX 20 - param set FW_R_P 80 - param set FW_R_RMAX 100 - param set FW_THR_CRUISE 0.75 - param set FW_THR_MAX 1 - param set FW_THR_MIN 0 - param set FW_T_SINK_MAX 5.0 - param set FW_T_SINK_MIN 4.0 - param set FW_T_TIME_CONST 9 - param set FW_Y_ROLLFF 1.1 - param set RC_SCALE_ROLL 1.0 - param set RC_SCALE_PITCH 1.0 - - param set SYS_AUTOCONFIG 0 - param save -fi - -# -# Force some key parameters to sane values -# MAV_TYPE 1 = fixed wing -# -param set MAV_TYPE 1 - -# -# Start and configure PX4IO or FMU interface -# -if px4io detect -then - # Start MAVLink (depends on orb) - mavlink start - - sh /etc/init.d/rc.io - # Limit to 100 Hz updates and (implicit) 50 Hz PWM - px4io limit 100 -else - # Start MAVLink (on UART1 / ttyS0) - mavlink start -d /dev/ttyS0 - - fmu mode_pwm - param set BAT_V_SCALING 0.004593 - set EXIT_ON_END yes -fi - -# -# Load mixer and start controllers (depends on px4io) -# -if [ -f /fs/microsd/etc/mixers/FMU_FX79.mix ] -then - echo "Using /fs/microsd/etc/mixers/FMU_FX79.mix" - mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_FX79.mix -else - echo "Using /etc/mixers/FMU_FX79.mix" - mixer load /dev/pwm_output /etc/mixers/FMU_FX79.mix -fi - -# -# Start common fixedwing apps -# -sh /etc/init.d/rc.fixedwing diff --git a/ROMFS/px4fmu_common/init.d/4010_dji_f330 b/ROMFS/px4fmu_common/init.d/4010_dji_f330 index 7054210e2..ab1db94d0 100644 --- a/ROMFS/px4fmu_common/init.d/4010_dji_f330 +++ b/ROMFS/px4fmu_common/init.d/4010_dji_f330 @@ -1,31 +1,31 @@ #!nsh - -echo "[init] PX4FMU v1, v2 with or without IO on DJI F330" - # -# Load default params for this platform +# DJI Flame Wheel F330 Quadcopter +# +# Maintainers: Anton Babushkin <anton.babushkin@me.com> # -if param compare SYS_AUTOCONFIG 1 -then - # Set all params here, then disable autoconfig - param set SYS_AUTOCONFIG 0 - param set MC_ATTRATE_D 0.004 - param set MC_ATTRATE_I 0.0 - param set MC_ATTRATE_P 0.12 - param set MC_ATT_D 0.0 - param set MC_ATT_I 0.0 +if [ $DO_AUTOCONFIG == yes ] +then + # + # Default parameters for this platform + # param set MC_ATT_P 7.0 - param set MC_YAWPOS_D 0.0 + param set MC_ATT_I 0.0 + param set MC_ATT_D 0.0 + param set MC_ATTRATE_P 0.12 + param set MC_ATTRATE_I 0.0 + param set MC_ATTRATE_D 0.004 + param set MC_YAWPOS_P 2.8 param set MC_YAWPOS_I 0.0 - param set MC_YAWPOS_P 2.0 - param set MC_YAWRATE_D 0.005 - param set MC_YAWRATE_I 0.2 - param set MC_YAWRATE_P 0.3 - param set NAV_TAKEOFF_ALT 3.0 + param set MC_YAWPOS_D 0.0 + param set MC_YAWRATE_P 0.2 + param set MC_YAWRATE_I 0.05 + param set MC_YAWRATE_D 0.0 + param set MPC_TILT_MAX 0.5 - param set MPC_THR_MAX 0.7 - param set MPC_THR_MIN 0.3 + param set MPC_THR_MAX 0.8 + param set MPC_THR_MIN 0.2 param set MPC_XY_D 0 param set MPC_XY_P 0.5 param set MPC_XY_VEL_D 0 @@ -38,32 +38,14 @@ then param set MPC_Z_VEL_I 0.1 param set MPC_Z_VEL_MAX 2 param set MPC_Z_VEL_P 0.20 - - param save fi -# -# Start and configure PX4IO or FMU interface -# -if px4io detect -then - # Start MAVLink (depends on orb) - mavlink start - usleep 5000 - - sh /etc/init.d/rc.io -else - # Start MAVLink (on UART1 / ttyS0) - mavlink start -d /dev/ttyS0 - usleep 5000 - fmu mode_pwm - param set BAT_V_SCALING 0.004593 - set EXIT_ON_END yes -fi +set VEHICLE_TYPE mc +set MIXER FMU_quad_x -sh /etc/init.d/rc.mc_interface - -# -# Start common for all multirotors apps -# -sh /etc/init.d/rc.multirotor +set PWM_OUTPUTS 1234 +set PWM_RATE 400 +# DJI ESC range +set PWM_DISARMED 900 +set PWM_MIN 1200 +set PWM_MAX 1900 diff --git a/ROMFS/px4fmu_common/init.d/4011_dji_f450 b/ROMFS/px4fmu_common/init.d/4011_dji_f450 index a1d253191..299771c1d 100644 --- a/ROMFS/px4fmu_common/init.d/4011_dji_f450 +++ b/ROMFS/px4fmu_common/init.d/4011_dji_f450 @@ -1,74 +1,37 @@ #!nsh - -echo "[init] PX4FMU v1, v2 with or without IO on DJI F450" - # -# Load default params for this platform +# DJI Flame Wheel F450 Quadcopter +# +# Maintainers: Lorenz Meier <lm@inf.ethz.ch> # -if param compare SYS_AUTOCONFIG 1 -then - # Set all params here, then disable autoconfig - param set SYS_AUTOCONFIG 0 - param set MC_ATTRATE_D 0.004 - param set MC_ATTRATE_I 0.0 - param set MC_ATTRATE_P 0.12 - param set MC_ATT_D 0.0 - param set MC_ATT_I 0.0 +if [ $DO_AUTOCONFIG == yes ] +then + # + # Default parameters for this platform + # param set MC_ATT_P 7.0 - param set MC_YAWPOS_D 0.0 - param set MC_YAWPOS_I 0.0 + param set MC_ATT_I 0.0 + param set MC_ATT_D 0.0 + param set MC_ATTRATE_P 0.12 + param set MC_ATTRATE_I 0.0 + param set MC_ATTRATE_D 0.004 param set MC_YAWPOS_P 2.0 - param set MC_YAWRATE_D 0.005 - param set MC_YAWRATE_I 0.2 + param set MC_YAWPOS_I 0.0 + param set MC_YAWPOS_D 0.0 param set MC_YAWRATE_P 0.3 - - param save + param set MC_YAWRATE_I 0.2 + param set MC_YAWRATE_D 0.005 + + # TODO add default MPC parameters fi - -# -# Force some key parameters to sane values -# MAV_TYPE 2 = quadrotor -# -param set MAV_TYPE 2 -# -# Start and configure PX4IO or FMU interface -# -if px4io detect -then - # Start MAVLink (depends on orb) - mavlink start - usleep 5000 +set VEHICLE_TYPE mc +set MIXER FMU_quad_x - sh /etc/init.d/rc.io -else - # Start MAVLink (on UART1 / ttyS0) - mavlink start -d /dev/ttyS0 - usleep 5000 - fmu mode_pwm - param set BAT_V_SCALING 0.004593 - set EXIT_ON_END yes -fi - -# -# Load mixer -# -mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix - -# -# Set PWM output frequency -# -pwm rate -c 1234 -r 400 - -# -# Set disarmed, min and max PWM signals (for DJI ESCs) -# -pwm disarmed -c 1234 -p 900 -pwm min -c 1234 -p 1200 -pwm max -c 1234 -p 1800 - -# -# Start common multirotor apps -# -sh /etc/init.d/rc.multirotor +set PWM_OUTPUTS 1234 +set PWM_RATE 400 +# DJI ESC range +set PWM_DISARMED 900 +set PWM_MIN 1200 +set PWM_MAX 1900 diff --git a/ROMFS/px4fmu_common/init.d/4012_hk_x550 b/ROMFS/px4fmu_common/init.d/4012_hk_x550 new file mode 100644 index 000000000..7e020cf59 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/4012_hk_x550 @@ -0,0 +1,33 @@ +#!nsh +# +# HobbyKing X550 Quadcopter +# +# Maintainers: Todd Stellanova <tstellanova@gmail.com> +# + +if [ $DO_AUTOCONFIG == yes ] +then + # + # Default parameters for this platform + # + param set MC_ATT_P 5.5 + param set MC_ATT_I 0 + param set MC_ATT_D 0 + param set MC_ATTRATE_P 0.14 + param set MC_ATTRATE_I 0 + param set MC_ATTRATE_D 0.006 + param set MC_YAWPOS_P 0.6 + param set MC_YAWPOS_I 0 + param set MC_YAWPOS_D 0 + param set MC_YAWRATE_P 0.08 + param set MC_YAWRATE_I 0 + param set MC_YAWRATE_D 0 + + # TODO add default MPC parameters +fi + +set VEHICLE_TYPE mc +set MIXER FMU_quad_x + +set PWM_OUTPUTS 1234 +set PWM_RATE 400 diff --git a/ROMFS/px4fmu_common/init.d/40_io_segway b/ROMFS/px4fmu_common/init.d/40_io_segway deleted file mode 100644 index ad455b440..000000000 --- a/ROMFS/px4fmu_common/init.d/40_io_segway +++ /dev/null @@ -1,51 +0,0 @@ -#!nsh - -# -# Load default params for this platform -# -if param compare SYS_AUTOCONFIG 1 -then - # Set all params here, then disable autoconfig - # TODO - - param set SYS_AUTOCONFIG 0 - param save -fi - -# -# Force some key parameters to sane values -# MAV_TYPE 10 = ground rover -# -param set MAV_TYPE 10 - -# -# Start MAVLink (depends on orb) -# -mavlink start -d /dev/ttyS1 -b 57600 -usleep 5000 - -# -# Start and configure PX4IO interface -# -sh /etc/init.d/rc.io - -# -# Start the sensors (depends on orb, px4io) -# -sh /etc/init.d/rc.sensors - -# -# Start GPS interface (depends on orb) -# -gps start - -# -# Start the attitude estimator (depends on orb) -# -attitude_estimator_ekf start - -# -# Load mixer and start controllers (depends on px4io) -# -roboclaw start /dev/ttyS2 128 1200 -segway start diff --git a/ROMFS/px4fmu_common/init.d/666_fmu_q_x550 b/ROMFS/px4fmu_common/init.d/666_fmu_q_x550 deleted file mode 100644 index acd8027fb..000000000 --- a/ROMFS/px4fmu_common/init.d/666_fmu_q_x550 +++ /dev/null @@ -1,76 +0,0 @@ -#!nsh - -echo "[init] 666_fmu_q_x550: PX4FMU Quad X550 with or without IO" - -# -# Load default params for this platform -# -if param compare SYS_AUTOCONFIG 1 -then - # Set all params here, then disable autoconfig - param set MC_ATTRATE_P 0.14 - param set MC_ATTRATE_I 0 - param set MC_ATTRATE_D 0.006 - param set MC_ATT_P 5.5 - param set MC_ATT_I 0 - param set MC_ATT_D 0 - param set MC_YAWPOS_D 0 - param set MC_YAWPOS_I 0 - param set MC_YAWPOS_P 0.6 - param set MC_YAWRATE_D 0 - param set MC_YAWRATE_I 0 - param set MC_YAWRATE_P 0.08 - param set RC_SCALE_PITCH 1 - param set RC_SCALE_ROLL 1 - param set RC_SCALE_YAW 3 - - param set SYS_AUTOCONFIG 0 - param save -fi - -# -# Force some key parameters to sane values -# MAV_TYPE 2 = quadrotor -# -param set MAV_TYPE 2 - -# -# Start and configure PX4IO or FMU interface -# -if px4io detect -then - # Start MAVLink (depends on orb) - mavlink start - usleep 5000 - - sh /etc/init.d/rc.io -else - # Start MAVLink (on UART1 / ttyS0) - mavlink start -d /dev/ttyS0 - usleep 5000 - fmu mode_pwm - param set BAT_V_SCALING 0.004593 - set EXIT_ON_END yes -fi - -# -# Load mixer -# -mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix - -# -# Set PWM output frequency -# -pwm rate -c 1234 -r 400 - -# -# Set disarmed, min and max PWM signals -# -pwm disarmed -c 1234 -p 900 -pwm min -c 1234 -p 1100 -pwm max -c 1234 -p 1900 - -# -# Start common for all multirotors apps -# -sh /etc/init.d/rc.multirotor diff --git a/ROMFS/px4fmu_common/init.d/800_sdlogger b/ROMFS/px4fmu_common/init.d/800_sdlogger deleted file mode 100644 index 9b90cbdd0..000000000 --- a/ROMFS/px4fmu_common/init.d/800_sdlogger +++ /dev/null @@ -1,51 +0,0 @@ -#!nsh - -echo "[init] PX4FMU v1, v2 init to log only - -# -# Load default params for this platform -# -if param compare SYS_AUTOCONFIG 1 -then - # Set all params here, then disable autoconfig - param set SYS_AUTOCONFIG 0 - - param save -fi - -# -# Start and configure PX4IO or FMU interface -# -if px4io detect -then - # Start MAVLink (depends on orb) - mavlink start - usleep 5000 - - sh /etc/init.d/rc.io - # Set PWM values for DJI ESCs -else - # Start MAVLink (on UART1 / ttyS0) - mavlink start -d /dev/ttyS0 - usleep 5000 - param set BAT_V_SCALING 0.004593 - set EXIT_ON_END yes -fi - -sh /etc/init.d/rc.sensors - -gps start - -attitude_estimator_ekf start - -position_estimator_inav start - -if [ -d /fs/microsd ] -then - if [ $BOARD == fmuv1 ] - then - sdlog2 start -r 50 -e -b 16 - else - sdlog2 start -r 200 -e -b 16 - fi -fi diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart new file mode 100644 index 000000000..325520dd0 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.autostart @@ -0,0 +1,141 @@ +# +# Check if auto-setup from one of the standard scripts is wanted +# SYS_AUTOSTART = 0 means no autostart (default) +# +# AUTOSTART PARTITION: +# 0 .. 999 Reserved (historical) +# 1000 .. 1999 Simulation setups +# 2000 .. 2999 Standard planes +# 3000 .. 3999 Flying wing +# 4000 .. 4999 Quad X +# 5000 .. 5999 Quad + +# 6000 .. 6999 Hexa X +# 7000 .. 7999 Hexa + +# 8000 .. 8999 Octo X +# 9000 .. 9999 Octo + +# 10000 .. 10999 Wide arm / H frame +# 11000 .. 11999 Hexa Cox +# 12000 .. 12999 Octo Cox + +# +# Simulation setups +# + +if param compare SYS_AUTOSTART 1000 +then + #sh /etc/init.d/1000_rc_fw_easystar.hil +fi + +if param compare SYS_AUTOSTART 1001 +then + sh /etc/init.d/1001_rc_quad_x.hil +fi + +if param compare SYS_AUTOSTART 1002 +then + #sh /etc/init.d/1002_rc_fw_state.hil +fi + +if param compare SYS_AUTOSTART 1003 +then + sh /etc/init.d/1003_rc_quad_+.hil +fi + +if param compare SYS_AUTOSTART 1004 +then + sh /etc/init.d/1004_rc_fw_Rascal110.hil +fi + +# +# Standard plane +# + +if param compare SYS_AUTOSTART 2100 100 +then + #sh /etc/init.d/2100_mpx_easystar + #set MODE custom +fi + +if param compare SYS_AUTOSTART 2101 101 +then + #sh /etc/init.d/2101_hk_bixler + #set MODE custom +fi + +if param compare SYS_AUTOSTART 2102 102 +then + #sh /etc/init.d/2102_3dr_skywalker + #set MODE custom +fi + +# +# Flying wing +# + +if param compare SYS_AUTOSTART 3030 +then + #sh /etc/init.d/3030_io_camflyer +fi + +if param compare SYS_AUTOSTART 3031 +then + sh /etc/init.d/3031_phantom +fi + +if param compare SYS_AUTOSTART 3032 +then + sh /etc/init.d/3032_skywalker_x5 +fi + +if param compare SYS_AUTOSTART 3033 +then + sh /etc/init.d/3033_wingwing +fi + +if param compare SYS_AUTOSTART 3034 +then + sh /etc/init.d/3034_fx79 +fi + +# +# Quad X +# + +if param compare SYS_AUTOSTART 4008 +then + #sh /etc/init.d/4008_ardrone +fi + +if param compare SYS_AUTOSTART 4009 +then + #sh /etc/init.d/4009_ardrone_flow +fi + +if param compare SYS_AUTOSTART 4010 +then + sh /etc/init.d/4010_dji_f330 +fi + +if param compare SYS_AUTOSTART 4011 +then + sh /etc/init.d/4011_dji_f450 +fi + +if param compare SYS_AUTOSTART 4012 +then + sh /etc/init.d/4012_hk_x550 +fi + +# +# Wide arm / H frame +# + +if param compare SYS_AUTOSTART 10015 +then + sh /etc/init.d/10015_tbs_discovery +fi + +if param compare SYS_AUTOSTART 10016 +then + sh /etc/init.d/10016_3dr_iris +fi diff --git a/ROMFS/px4fmu_common/init.d/rc.custom_dji_f330_mkblctrl b/ROMFS/px4fmu_common/init.d/rc.custom_dji_f330_mkblctrl deleted file mode 100644 index 40b2ee68b..000000000 --- a/ROMFS/px4fmu_common/init.d/rc.custom_dji_f330_mkblctrl +++ /dev/null @@ -1,113 +0,0 @@ -#!nsh - -# -# Load default params for this platform -# -if param compare SYS_AUTOCONFIG 1 -then - # Set all params here, then disable autoconfig - param set SYS_AUTOCONFIG 0 - - param set MC_ATTRATE_D 0.002 - param set MC_ATTRATE_I 0.0 - param set MC_ATTRATE_P 0.09 - param set MC_ATT_D 0.0 - param set MC_ATT_I 0.0 - param set MC_ATT_P 6.8 - param set MC_YAWPOS_D 0.0 - param set MC_YAWPOS_I 0.0 - param set MC_YAWPOS_P 2.0 - param set MC_YAWRATE_D 0.005 - param set MC_YAWRATE_I 0.2 - param set MC_YAWRATE_P 0.3 - param set NAV_TAKEOFF_ALT 3.0 - param set MPC_TILT_MAX 0.5 - param set MPC_THR_MAX 0.7 - param set MPC_THR_MIN 0.3 - param set MPC_XY_D 0 - param set MPC_XY_P 0.5 - param set MPC_XY_VEL_D 0 - param set MPC_XY_VEL_I 0 - param set MPC_XY_VEL_MAX 3 - param set MPC_XY_VEL_P 0.2 - param set MPC_Z_D 0 - param set MPC_Z_P 1 - param set MPC_Z_VEL_D 0 - param set MPC_Z_VEL_I 0.1 - param set MPC_Z_VEL_MAX 2 - param set MPC_Z_VEL_P 0.20 - - param save -fi - -# -# Force some key parameters to sane values -# MAV_TYPE 2 = quadrotor -# -param set MAV_TYPE 2 - -set EXIT_ON_END no - -# -# Start the Mikrokopter ESC driver -# -if [ $MKBLCTRL_MODE == yes ] -then - if [ $MKBLCTRL_FRAME == x ] - then - echo "[init] PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 X Frame Mikrokopter-Addressing" - mkblctrl -mkmode x - else - echo "[init] PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 + Frame Mikrokopter-Addressing" - mkblctrl -mkmode + - fi -else - if [ $MKBLCTRL_FRAME == x ] - then - echo "[init] PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 X Frame" - else - echo "[init] PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 + Frame" - fi - mkblctrl -fi - -usleep 10000 - -# -# Start and configure PX4IO or FMU interface -# -if px4io detect -then - # Start MAVLink (depends on orb) - mavlink start - usleep 5000 - - sh /etc/init.d/rc.io -else - # Start MAVLink (on UART1 / ttyS0) - mavlink start -d /dev/ttyS0 - usleep 5000 - fmu mode_pwm - param set BAT_V_SCALING 0.004593 - set EXIT_ON_END yes -fi - -# -# Load mixer -# -if [ $MKBLCTRL_FRAME == x ] -then - mixer load /dev/mkblctrl /etc/mixers/FMU_quad_x.mix -else - mixer load /dev/mkblctrl /etc/mixers/FMU_quad_+.mix -fi - -# -# Start common for all multirotors apps -# -sh /etc/init.d/rc.multirotor - -if [ $EXIT_ON_END == yes ] -then - exit -fi diff --git a/ROMFS/px4fmu_common/init.d/rc.custom_io_esc b/ROMFS/px4fmu_common/init.d/rc.custom_io_esc deleted file mode 100644 index 045e41e52..000000000 --- a/ROMFS/px4fmu_common/init.d/rc.custom_io_esc +++ /dev/null @@ -1,120 +0,0 @@ -#!nsh - -# -# Load default params for this platform -# -if param compare SYS_AUTOCONFIG 1 -then - # Set all params here, then disable autoconfig - param set SYS_AUTOCONFIG 0 - - param set MC_ATTRATE_D 0.002 - param set MC_ATTRATE_I 0.0 - param set MC_ATTRATE_P 0.09 - param set MC_ATT_D 0.0 - param set MC_ATT_I 0.0 - param set MC_ATT_P 6.8 - param set MC_YAWPOS_D 0.0 - param set MC_YAWPOS_I 0.0 - param set MC_YAWPOS_P 2.0 - param set MC_YAWRATE_D 0.005 - param set MC_YAWRATE_I 0.2 - param set MC_YAWRATE_P 0.3 - param set NAV_TAKEOFF_ALT 3.0 - param set MPC_TILT_MAX 0.5 - param set MPC_THR_MAX 0.7 - param set MPC_THR_MIN 0.3 - param set MPC_XY_D 0 - param set MPC_XY_P 0.5 - param set MPC_XY_VEL_D 0 - param set MPC_XY_VEL_I 0 - param set MPC_XY_VEL_MAX 3 - param set MPC_XY_VEL_P 0.2 - param set MPC_Z_D 0 - param set MPC_Z_P 1 - param set MPC_Z_VEL_D 0 - param set MPC_Z_VEL_I 0.1 - param set MPC_Z_VEL_MAX 2 - param set MPC_Z_VEL_P 0.20 - - param save -fi - -echo "RC script for PX4FMU + PX4IO + PPM-ESCs running" - -# -# Force some key parameters to sane values -# MAV_TYPE 2 = quadrotor -# -param set MAV_TYPE 2 - -set EXIT_ON_END no - -usleep 10000 - -# -# Start and configure PX4IO or FMU interface -# -if px4io detect -then - # Start MAVLink (depends on orb) - mavlink start -d /dev/ttyS1 -b 57600 - usleep 5000 - - sh /etc/init.d/rc.io -else - fmu mode_pwm - # Start MAVLink (on UART1 / ttyS0) - mavlink start -d /dev/ttyS1 -b 57600 - usleep 5000 - param set BAT_V_SCALING 0.004593 - set EXIT_ON_END yes -fi - -if [ $ESC_MAKER = afro ] -then - # Set PWM values for Afro ESCs - pwm disarmed -c 1234 -p 1050 - pwm min -c 1234 -p 1080 - pwm max -c 1234 -p 1860 -else - # Set PWM values for typical ESCs - pwm disarmed -c 1234 -p 900 - pwm min -c 1234 -p 980 - pwm max -c 1234 -p 1800 -fi - -# -# Load mixer -# -if [ $FRAME_GEOMETRY == x ] -then - echo "Frame geometry X" - mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix -else - if [ $FRAME_GEOMETRY == w ] - then - echo "Frame geometry W" - mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix - else - echo "Frame geometry +" - mixer load /dev/pwm_output /etc/mixers/FMU_quad_+.mix - fi -fi - -# -# Set PWM output frequency -# -pwm rate -r 400 -c 1234 - -# -# Start common for all multirotors apps -# -sh /etc/init.d/rc.multirotor - -if [ $EXIT_ON_END == yes ] -then - exit -fi - -echo "Script end" diff --git a/ROMFS/px4fmu_common/init.d/rc.fixedwing b/ROMFS/px4fmu_common/init.d/rc.fixedwing deleted file mode 100644 index f02851006..000000000 --- a/ROMFS/px4fmu_common/init.d/rc.fixedwing +++ /dev/null @@ -1,34 +0,0 @@ -#!nsh -# -# Standard everything needed for fixedwing except mixer, actuator output and mavlink -# - -# -# Start the sensors and test them. -# -sh /etc/init.d/rc.sensors - -# -# Start logging (depends on sensors) -# -sh /etc/init.d/rc.logging - -# -# Start GPS interface (depends on orb) -# -gps start - -# -# Start the attitude and position estimator -# -att_pos_estimator_ekf start - -# -# Start attitude controller -# -fw_att_control start - -# -# Start the position controller -# -fw_pos_control_l1 start diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_apps b/ROMFS/px4fmu_common/init.d/rc.fw_apps new file mode 100644 index 000000000..d354fb06f --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.fw_apps @@ -0,0 +1,19 @@ +#!nsh +# +# Standard apps for fixed wing +# + +# +# Start the attitude and position estimator +# +att_pos_estimator_ekf start + +# +# Start attitude controller +# +fw_att_control start + +# +# Start the position controller +# +fw_pos_control_l1 start diff --git a/ROMFS/px4fmu_common/init.d/rc.hexa b/ROMFS/px4fmu_common/init.d/rc.hexa deleted file mode 100644 index 097db28e4..000000000 --- a/ROMFS/px4fmu_common/init.d/rc.hexa +++ /dev/null @@ -1,94 +0,0 @@ -#!nsh - -echo "[init] PX4FMU v1, v2 with or without IO on Hex" - -# -# Load default params for this platform -# -if param compare SYS_AUTOCONFIG 1 -then - # Set all params here, then disable autoconfig - param set SYS_AUTOCONFIG 0 - - param set MC_ATTRATE_D 0.004 - param set MC_ATTRATE_I 0.0 - param set MC_ATTRATE_P 0.12 - param set MC_ATT_D 0.0 - param set MC_ATT_I 0.0 - param set MC_ATT_P 7.0 - param set MC_YAWPOS_D 0.0 - param set MC_YAWPOS_I 0.0 - param set MC_YAWPOS_P 2.0 - param set MC_YAWRATE_D 0.005 - param set MC_YAWRATE_I 0.2 - param set MC_YAWRATE_P 0.3 - param set NAV_TAKEOFF_ALT 3.0 - param set MPC_TILT_MAX 0.5 - param set MPC_THR_MAX 0.7 - param set MPC_THR_MIN 0.3 - param set MPC_XY_D 0 - param set MPC_XY_P 0.5 - param set MPC_XY_VEL_D 0 - param set MPC_XY_VEL_I 0 - param set MPC_XY_VEL_MAX 3 - param set MPC_XY_VEL_P 0.2 - param set MPC_Z_D 0 - param set MPC_Z_P 1 - param set MPC_Z_VEL_D 0 - param set MPC_Z_VEL_I 0.1 - param set MPC_Z_VEL_MAX 2 - param set MPC_Z_VEL_P 0.20 - - param save -fi - -# -# Force some key parameters to sane values -# MAV_TYPE list: https://pixhawk.ethz.ch/mavlink/ -# 13 = hexarotor -# -param set MAV_TYPE 13 - -set EXIT_ON_END no - -# -# Start and configure PX4IO interface -# -if px4io detect -then - # Start MAVLink (depends on orb) - mavlink start - usleep 5000 - - sh /etc/init.d/rc.io -else - # This is not possible on a hexa - tone_alarm error -fi - -# -# Load mixer -# -mixer load /dev/pwm_output $MIXER - -# -# Set PWM output frequency to 400 Hz -# -pwm rate -a -r 400 - -# -# Set disarmed, min and max PWM signals -# -pwm disarmed -c 123456 -p 900 -pwm min -c 123456 -p 1100 -pwm max -c 123456 -p 1900 - -# -# Start common for all multirotors apps -# -sh /etc/init.d/rc.multirotor - -if [ $EXIT_ON_END == yes ] -then - exit -fi diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface new file mode 100644 index 000000000..d25f01dde --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.interface @@ -0,0 +1,72 @@ +#!nsh +# +# Script to configure control interface +# + +if [ $MIXER != none ] +then + # + # Load mixer + # + set MIXERSD /fs/microsd/etc/mixers/$MIXER.mix + + #Use the mixer file from the SD-card if it exists + if [ -f $MIXERSD ] + then + set MIXER_FILE $MIXERSD + else + set MIXER_FILE /etc/mixers/$MIXER.mix + fi + + if [ $OUTPUT_MODE == mkblctrl ] + then + set OUTPUT_DEV /dev/mkblctrl + else + set OUTPUT_DEV /dev/pwm_output + fi + + if mixer load $OUTPUT_DEV $MIXER_FILE + then + echo "[init] Mixer loaded: $MIXER_FILE" + else + echo "[init] Error loading mixer: $MIXER_FILE" + tone_alarm $TUNE_OUT_ERROR + fi +else + echo "[init] Mixer not defined" + tone_alarm $TUNE_OUT_ERROR +fi + +if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == io ] +then + if [ $PWM_OUTPUTS != none ] + then + # + # Set PWM output frequency + # + if [ $PWM_RATE != none ] + then + echo "[init] Set PWM rate: $PWM_RATE" + pwm rate -c $PWM_OUTPUTS -r $PWM_RATE + fi + + # + # Set disarmed, min and max PWM values + # + if [ $PWM_DISARMED != none ] + then + echo "[init] Set PWM disarmed: $PWM_DISARMED" + pwm disarmed -c $PWM_OUTPUTS -p $PWM_DISARMED + fi + if [ $PWM_MIN != none ] + then + echo "[init] Set PWM min: $PWM_MIN" + pwm min -c $PWM_OUTPUTS -p $PWM_MIN + fi + if [ $PWM_MAX != none ] + then + echo "[init] Set PWM max: $PWM_MAX" + pwm max -c $PWM_OUTPUTS -p $PWM_MAX + fi + fi +fi diff --git a/ROMFS/px4fmu_common/init.d/rc.io b/ROMFS/px4fmu_common/init.d/rc.io index aaf91b316..c9d964f8e 100644 --- a/ROMFS/px4fmu_common/init.d/rc.io +++ b/ROMFS/px4fmu_common/init.d/rc.io @@ -1,23 +1,21 @@ # -# Start PX4IO interface (depends on orb, commander) +# Init PX4IO interface # -if px4io start -then - # - # Allow PX4IO to recover from midair restarts. - # this is very unlikely, but quite safe and robust. - px4io recovery - # - # Disable px4io topic limiting - # - if [ $BOARD == fmuv1 ] - then - px4io limit 200 - else - px4io limit 400 - fi -else - # SOS - tone_alarm error +# +# Allow PX4IO to recover from midair restarts. +# this is very unlikely, but quite safe and robust. +# +px4io recovery + +# +# Adjust PX4IO update rate limit +# +set PX4IO_LIMIT 400 +if hw_ver compare PX4FMU_V1 +then + set PX4IO_LIMIT 200 fi + +echo "[init] Set PX4IO update rate limit: $PX4IO_LIMIT Hz" +px4io limit $PX4IO_LIMIT diff --git a/ROMFS/px4fmu_common/init.d/rc.logging b/ROMFS/px4fmu_common/init.d/rc.logging index 6c02bf227..ac620844c 100644 --- a/ROMFS/px4fmu_common/init.d/rc.logging +++ b/ROMFS/px4fmu_common/init.d/rc.logging @@ -1,11 +1,11 @@ #!nsh # -# Initialise logging services. +# Initialize logging services. # if [ -d /fs/microsd ] then - if [ $BOARD == fmuv1 ] + if hw_ver compare PX4FMU_V1 then sdlog2 start -r 50 -a -b 16 -t else diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_apps b/ROMFS/px4fmu_common/init.d/rc.mc_apps new file mode 100644 index 000000000..8b51d57e5 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.mc_apps @@ -0,0 +1,24 @@ +#!nsh +# +# Standard apps for multirotors +# + +# +# Start the attitude estimator +# +attitude_estimator_ekf start + +# +# Start position estimator +# +position_estimator_inav start + +# +# Start attitude control +# +multirotor_att_control start + +# +# Start position control +# +multirotor_pos_control start diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_interface b/ROMFS/px4fmu_common/init.d/rc.mc_interface deleted file mode 100644 index 6bb2e84ec..000000000 --- a/ROMFS/px4fmu_common/init.d/rc.mc_interface +++ /dev/null @@ -1,49 +0,0 @@ -#!nsh -# -# Script to set PWM min / max limits and mixer -# - -# -# Load mixer -# -if [ $FRAME_GEOMETRY == x ] -then - echo "Frame geometry X" - mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix -else - if [ $FRAME_GEOMETRY == w ] - then - echo "Frame geometry W" - mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix - else - echo "Frame geometry +" - mixer load /dev/pwm_output /etc/mixers/FMU_quad_+.mix - fi -fi - -if [ $FRAME_COUNT == 4 ] -then - set OUTPUTS 1234 - param set MAV_TYPE 2 -else - if [ $FRAME_COUNT == 6 ] - then - set OUTPUTS 123456 - param set MAV_TYPE 13 - else - set OUTPUTS 12345678 - fi -fi - - -# -# Set PWM output frequency -# -pwm rate -c $OUTPUTS -r $PWM_RATE - -# -# Set disarmed, min and max PWM signals (for DJI ESCs) -# -pwm disarmed -c $OUTPUTS -p $PWM_DISARMED -pwm min -c $OUTPUTS -p $PWM_MIN -pwm max -c $OUTPUTS -p $PWM_MAX diff --git a/ROMFS/px4fmu_common/init.d/rc.multirotor b/ROMFS/px4fmu_common/init.d/rc.multirotor deleted file mode 100644 index bc550ac5a..000000000 --- a/ROMFS/px4fmu_common/init.d/rc.multirotor +++ /dev/null @@ -1,39 +0,0 @@ -#!nsh -# -# Standard everything needed for multirotors except mixer, actuator output and mavlink -# - -# -# Start the sensors and test them. -# -sh /etc/init.d/rc.sensors - -# -# Start logging (depends on sensors) -# -sh /etc/init.d/rc.logging - -# -# Start GPS interface (depends on orb) -# -gps start - -# -# Start the attitude estimator -# -attitude_estimator_ekf start - -# -# Start position estimator -# -position_estimator_inav start - -# -# Start attitude control -# -multirotor_att_control start - -# -# Start position control -# -multirotor_pos_control start diff --git a/ROMFS/px4fmu_common/init.d/rc.octo b/ROMFS/px4fmu_common/init.d/rc.octo deleted file mode 100644 index ecb12e96e..000000000 --- a/ROMFS/px4fmu_common/init.d/rc.octo +++ /dev/null @@ -1,94 +0,0 @@ -#!nsh - -echo "[init] Octorotor startup" - -# -# Load default params for this platform -# -if param compare SYS_AUTOCONFIG 1 -then - # Set all params here, then disable autoconfig - param set SYS_AUTOCONFIG 0 - - param set MC_ATTRATE_D 0.004 - param set MC_ATTRATE_I 0.0 - param set MC_ATTRATE_P 0.12 - param set MC_ATT_D 0.0 - param set MC_ATT_I 0.0 - param set MC_ATT_P 7.0 - param set MC_YAWPOS_D 0.0 - param set MC_YAWPOS_I 0.0 - param set MC_YAWPOS_P 2.0 - param set MC_YAWRATE_D 0.005 - param set MC_YAWRATE_I 0.2 - param set MC_YAWRATE_P 0.3 - param set NAV_TAKEOFF_ALT 3.0 - param set MPC_TILT_MAX 0.5 - param set MPC_THR_MAX 0.7 - param set MPC_THR_MIN 0.3 - param set MPC_XY_D 0 - param set MPC_XY_P 0.5 - param set MPC_XY_VEL_D 0 - param set MPC_XY_VEL_I 0 - param set MPC_XY_VEL_MAX 3 - param set MPC_XY_VEL_P 0.2 - param set MPC_Z_D 0 - param set MPC_Z_P 1 - param set MPC_Z_VEL_D 0 - param set MPC_Z_VEL_I 0.1 - param set MPC_Z_VEL_MAX 2 - param set MPC_Z_VEL_P 0.20 - - param save -fi - -# -# Force some key parameters to sane values -# MAV_TYPE list: https://pixhawk.ethz.ch/mavlink/ -# 14 = octorotor -# -param set MAV_TYPE 14 - -set EXIT_ON_END no - -# -# Start and configure PX4IO interface -# -if px4io detect -then - # Start MAVLink (depends on orb) - mavlink start - usleep 5000 - - sh /etc/init.d/rc.io -else - # This is not possible on an octo - tone_alarm error -fi - -# -# Load mixer -# -mixer load /dev/pwm_output $MIXER - -# -# Set PWM output frequency to 400 Hz -# -pwm rate -a -r 400 - -# -# Set disarmed, min and max PWM signals -# -pwm disarmed -c 12345678 -p 900 -pwm min -c 12345678 -p 1100 -pwm max -c 12345678 -p 1900 - -# -# Start common for all multirotors apps -# -sh /etc/init.d/rc.multirotor - -if [ $EXIT_ON_END == yes ] -then - exit -fi diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors index 070a4e7e3..badbf92c3 100644 --- a/ROMFS/px4fmu_common/init.d/rc.sensors +++ b/ROMFS/px4fmu_common/init.d/rc.sensors @@ -10,41 +10,42 @@ ms5611 start adc start -# mag might be external +# Mag might be external if hmc5883 start then - echo "using HMC5883" + echo "[init] Using HMC5883" fi if mpu6000 start then - echo "using MPU6000" + echo "[init] Using MPU6000" fi if l3gd20 start then - echo "using L3GD20(H)" + echo "[init] Using L3GD20(H)" fi -if lsm303d start +if hw_ver compare PX4FMU_V2 then - set BOARD fmuv2 -else - set BOARD fmuv1 + if lsm303d start + then + echo "[init] Using LSM303D" + fi fi # Start airspeed sensors if meas_airspeed start then - echo "using MEAS airspeed sensor" + echo "[init] Using MEAS airspeed sensor" else if ets_airspeed start then - echo "using ETS airspeed sensor (bus 3)" + echo "[init] Using ETS airspeed sensor (bus 3)" else if ets_airspeed start -b 1 then - echo "Using ETS airspeed sensor (bus 1)" + echo "[init] Using ETS airspeed sensor (bus 1)" fi fi fi diff --git a/ROMFS/px4fmu_common/init.d/rc.standalone b/ROMFS/px4fmu_common/init.d/rc.standalone deleted file mode 100644 index 67e95215b..000000000 --- a/ROMFS/px4fmu_common/init.d/rc.standalone +++ /dev/null @@ -1,13 +0,0 @@ -#!nsh -# -# Flight startup script for PX4FMU standalone configuration. -# - -echo "[init] doing standalone PX4FMU startup..." - -# -# Start the ORB -# -uorb start - -echo "[init] startup done" diff --git a/ROMFS/px4fmu_common/init.d/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb index ccf2cd47e..0cd8a0e04 100644 --- a/ROMFS/px4fmu_common/init.d/rc.usb +++ b/ROMFS/px4fmu_common/init.d/rc.usb @@ -36,39 +36,6 @@ then echo "Commander started" fi -# Start px4io if present -if px4io start -then - echo "PX4IO driver started" -else - if fmu mode_serial - then - echo "FMU driver started" - fi -fi - -# Start sensors -sh /etc/init.d/rc.sensors - -# Start one of the estimators -if attitude_estimator_ekf status -then - echo "multicopter att filter running" -else - if att_pos_estimator_ekf status - then - echo "fixedwing att filter running" - else - attitude_estimator_ekf start - fi -fi - -# Start GPS -if gps start -then - echo "GPS started" -fi - echo "MAVLink started, exiting shell.." # Exit shell to make it available to MAVLink diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index ed034877f..a9c5c59ea 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -8,39 +8,39 @@ # set MODE autostart -set logfile /fs/microsd/bootlog.txt +set LOG_FILE /fs/microsd/bootlog.txt +set RC_FILE /fs/microsd/etc/rc.txt +set CONFIG_FILE /fs/microsd/etc/config.txt +set EXTRAS_FILE /fs/microsd/etc/extras.txt + +set TUNE_OUT_ERROR ML<<CP4CP4CP4CP4CP4 # # Try to mount the microSD card. # -echo "[init] looking for microSD..." +echo "[init] Looking for microSD..." if mount -t vfat /dev/mmcsd0 /fs/microsd then - echo "[init] card mounted at /fs/microsd" + echo "[init] microSD card mounted at /fs/microsd" # Start playing the startup tune tone_alarm start else - echo "[init] no microSD card found" + echo "[init] No microSD card found" # Play SOS tone_alarm error fi # # Look for an init script on the microSD card. +# Disable autostart if the script found. # -# To prevent automatic startup in the current flight mode, -# the script should set MODE to some other value. -# -if [ -f /fs/microsd/etc/rc ] -then - echo "[init] reading /fs/microsd/etc/rc" - sh /fs/microsd/etc/rc -fi -# Also consider rc.txt files -if [ -f /fs/microsd/etc/rc.txt ] +if [ -f $RC_FILE ] then - echo "[init] reading /fs/microsd/etc/rc.txt" - sh /fs/microsd/etc/rc.txt + echo "[init] Executing init script: $RC_FILE" + sh $RC_FILE + set MODE custom +else + echo "[init] Init script not found: $RC_FILE" fi # if this is an APM build then there will be a rc.APM script @@ -52,20 +52,19 @@ then echo "[init] USB interface connected" fi - echo "Running rc.APM" + echo "[init] Running rc.APM" # if APM startup is successful then nsh will exit sh /etc/init.d/rc.APM fi if [ $MODE == autostart ] then + echo "[init] AUTOSTART mode" + # - # Start terminal + # Start CDC/ACM serial driver # - if sercon - then - echo "USB connected" - fi + sercon # # Start the ORB (first app to start) @@ -73,27 +72,20 @@ then uorb start # - # Load microSD params + # Load parameters # + set PARAM_FILE /fs/microsd/params if mtd start then - param select /fs/mtd_params - if param load /fs/mtd_params - then - else - echo "FAILED LOADING PARAMS" - fi + set PARAM_FILE /fs/mtd_params + fi + + param select $PARAM_FILE + if param load + then + echo "[init] Parameters loaded: $PARAM_FILE" else - param select /fs/microsd/params - if [ -f /fs/microsd/params ] - then - if param load /fs/microsd/params - then - echo "Parameters loaded" - else - echo "Parameter file corrupt - ignoring" - fi - fi + echo "[init] ERROR: Parameters loading failed: $PARAM_FILE" fi # @@ -101,355 +93,416 @@ then # if rgbled start then - echo "Using external RGB Led" + echo "[init] Using external RGB Led" else if blinkm start then + echo "[init] Using blinkm" blinkm systemstate fi fi # - # Start the Commander (needs to be this early for in-air-restarts) + # Set default values # - commander start - - if param compare SYS_AUTOSTART 1000 - then - sh /etc/init.d/1000_rc_fw_easystar.hil - set MODE custom - fi + set HIL no + set VEHICLE_TYPE none + set MIXER none + set USE_IO yes + set OUTPUT_MODE none + set PWM_OUTPUTS none + set PWM_RATE none + set PWM_DISARMED none + set PWM_MIN none + set PWM_MAX none + set MKBLCTRL_MODE none + set FMU_MODE pwm + set MAV_TYPE none - if param compare SYS_AUTOSTART 1001 + # + # Set DO_AUTOCONFIG flag to use it in AUTOSTART scripts + # + if param compare SYS_AUTOCONFIG 1 then - sh /etc/init.d/1001_rc_quad.hil - set MODE custom + set DO_AUTOCONFIG yes + else + set DO_AUTOCONFIG no fi - - if param compare SYS_AUTOSTART 1002 + + # + # Set parameters and env variables for selected AUTOSTART + # + if param compare SYS_AUTOSTART 0 then - sh /etc/init.d/1002_rc_fw_state.hil - set MODE custom + echo "[init] Don't try to find autostart script" + else + sh /etc/init.d/rc.autostart fi - - if param compare SYS_AUTOSTART 1003 + + # + # Override parameters from user configuration file + # + if [ -f $CONFIG_FILE ] then - sh /etc/init.d/1003_rc_quad_+.hil - set MODE custom + echo "[init] Reading config: $CONFIG_FILE" + sh $CONFIG_FILE + else + echo "[init] Config file not found: $CONFIG_FILE" fi - if param compare SYS_AUTOSTART 1004 + # + # If autoconfig parameter was set, reset it and save parameters + # + if [ $DO_AUTOCONFIG == yes ] then - sh /etc/init.d/1004_rc_fw_Rascal110.hil - set MODE custom + param set SYS_AUTOCONFIG 0 + param save fi - if [ $MODE != custom ] + set IO_PRESENT no + + if [ $USE_IO == yes ] then - # Try to get an USB console - nshterm /dev/ttyACM0 & + # + # 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, trying to update" + echo "PX4IO CRC failure" >> $LOG_FILE + + tone_alarm MLL32CP8MB + + if px4io forceupdate 14662 $IO_FILE + then + usleep 500000 + if px4io checkcrc $IO_FILE + then + echo "[init] PX4IO CRC OK, update successful" + echo "PX4IO CRC OK after updating" >> $LOG_FILE + tone_alarm MLL8CDE + + set IO_PRESENT yes + else + echo "[init] ERROR: PX4IO update failed" + echo "PX4IO update failed" >> $LOG_FILE + fi + else + echo "[init] ERROR: PX4IO update failed" + echo "PX4IO update failed" >> $LOG_FILE + fi + fi + + if [ $IO_PRESENT == no ] + then + echo "[init] ERROR: PX4IO not found" + tone_alarm $TUNE_OUT_ERROR + fi fi - + # - # Upgrade PX4IO firmware + # Set default output if not set # + if [ $OUTPUT_MODE == none ] + then + if [ $USE_IO == yes ] + then + set OUTPUT_MODE io + else + set OUTPUT_MODE fmu + fi + fi - if [ -f /etc/extras/px4io-v2_default.bin ] + if [ $OUTPUT_MODE == io -a $IO_PRESENT != yes ] then - set io_file /etc/extras/px4io-v2_default.bin - else - set io_file /etc/extras/px4io-v1_default.bin + # Need IO for output but it not present, disable output + set OUTPUT_MODE none + echo "[init] ERROR: PX4IO not found, disabling output" + + # Avoid using ttyS0 for MAVLink on FMUv1 + if hw_ver compare PX4FMU_V1 + then + set FMU_MODE serial + fi fi - if px4io start + if [ $HIL == yes ] then - echo "PX4IO OK" - echo "PX4IO OK" >> $logfile + set OUTPUT_MODE hil + if hw_ver compare PX4FMU_V1 + then + set FMU_MODE serial + fi + else + # Try to get an USB console if not in HIL mode + nshterm /dev/ttyACM0 & fi - if px4io checkcrc $io_file + # + # Start the Commander (needs to be this early for in-air-restarts) + # + commander start + + # + # Start primary output + # + set TTYS1_BUSY no + + # If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output + if [ $OUTPUT_MODE != none ] then - echo "PX4IO CRC OK" - echo "PX4IO CRC OK" >> $logfile - else - echo "PX4IO CRC failure" - echo "PX4IO CRC failure" >> $logfile - tone_alarm MBABGP - if px4io forceupdate 14662 $io_file + if [ $OUTPUT_MODE == io ] then - usleep 500000 + echo "[init] Use PX4IO PWM as primary output" if px4io start then - echo "PX4IO restart OK" - echo "PX4IO restart OK" >> $logfile - tone_alarm MSPAA + echo "[init] PX4IO started" + sh /etc/init.d/rc.io else - echo "PX4IO restart failed" - echo "PX4IO restart failed" >> $logfile - tone_alarm MNGGG - sleep 10 - reboot + echo "[init] ERROR: PX4IO start failed" + tone_alarm $TUNE_OUT_ERROR + fi + fi + if [ $OUTPUT_MODE == fmu ] + then + echo "[init] Use FMU PWM as primary output" + if fmu mode_$FMU_MODE + then + echo "[init] FMU mode_$FMU_MODE started" + else + echo "[init] ERROR: FMU mode_$FMU_MODE start failed" + tone_alarm $TUNE_OUT_ERROR + 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" + 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 + echo "[init] ERROR: MKBLCTRL start failed" + tone_alarm $TUNE_OUT_ERROR + fi + + fi + if [ $OUTPUT_MODE == hil ] + then + echo "[init] Use HIL as primary output" + if hil mode_pwm + then + echo "[init] HIL output started" + else + echo "[init] ERROR: HIL output start failed" + tone_alarm $TUNE_OUT_ERROR + fi + fi + + # + # Start IO or FMU for RC PPM input if needed + # + if [ $IO_PRESENT == yes ] + then + if [ $OUTPUT_MODE != io ] + then + if px4io start + then + echo "[init] PX4IO started" + sh /etc/init.d/rc.io + else + echo "[init] ERROR: PX4IO start failed" + tone_alarm $TUNE_OUT_ERROR + fi fi else - echo "PX4IO update failed" - echo "PX4IO update failed" >> $logfile - tone_alarm MNGGG + if [ $OUTPUT_MODE != fmu ] + then + if fmu mode_$FMU_MODE + then + echo "[init] FMU mode_$FMU_MODE started" + else + echo "[init] ERROR: FMU mode_$FMU_MODE start failed" + tone_alarm $TUNE_OUT_ERROR + 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 fi fi - - set EXIT_ON_END no # - # Check if auto-setup from one of the standard scripts is wanted - # SYS_AUTOSTART = 0 means no autostart (default) - # - # AUTOSTART PARTITION: - # 0 .. 999 Reserved (historical) - # 1000 .. 1999 Simulation setups - # 2000 .. 2999 Standard planes - # 3000 .. 3999 Flying wing - # 4000 .. 4999 Quad X - # 5000 .. 5999 Quad + - # 6000 .. 6999 Hexa X - # 7000 .. 7999 Hexa + - # 8000 .. 8999 Octo X - # 9000 .. 9999 Octo + - # 10000 .. 10999 Wide arm / H frame - # 11000 .. 11999 Hexa Cox - # 12000 .. 12999 Octo Cox - - if param compare SYS_AUTOSTART 4008 8 - then - sh /etc/init.d/4008_ardrone - set MODE custom - fi + # MAVLink + # + set EXIT_ON_END no - if param compare SYS_AUTOSTART 4009 9 + if [ $HIL == yes ] then - sh /etc/init.d/4009_ardrone_flow - set MODE custom + sleep 1 + mavlink start -b 230400 -d /dev/ttyACM0 + usleep 5000 + else + if [ $TTYS1_BUSY == yes ] + then + # Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else + mavlink start -d /dev/ttyS0 + usleep 5000 + + # Exit from nsh to free port for mavlink + set EXIT_ON_END yes + else + # Start MAVLink on default port: ttyS1 + mavlink start + usleep 5000 + fi fi - if param compare SYS_AUTOSTART 4010 10 - then - set FRAME_GEOMETRY x - set FRAME_COUNT 4 - set PWM_MIN 1200 - set PWM_MAX 1900 - set PWM_DISARMED 900 - sh /etc/init.d/4010_dji_f330 - set MODE custom - fi - - if param compare SYS_AUTOSTART 4011 11 - then - sh /etc/init.d/4011_dji_f450 - set MODE custom - fi - - if param compare SYS_AUTOSTART 4012 - then - sh /etc/init.d/666_fmu_q_x550 - set MODE custom - fi - - if param compare SYS_AUTOSTART 6012 12 - then - set MIXER /etc/mixers/FMU_hex_x.mix - sh /etc/init.d/rc.hexa - set MODE custom - fi - - if param compare SYS_AUTOSTART 7013 13 - then - set MIXER /etc/mixers/FMU_hex_+.mix - sh /etc/init.d/rc.hexa - set MODE custom - fi - - if param compare SYS_AUTOSTART 8001 - then - set MIXER /etc/mixers/FMU_octo_x.mix - sh /etc/init.d/rc.octo - set MODE custom - fi - - if param compare SYS_AUTOSTART 9001 - then - set MIXER /etc/mixers/FMU_octo_+.mix - sh /etc/init.d/rc.octo - set MODE custom - fi + # + # Sensors, Logging, GPS + # + echo "[init] Start sensors" + sh /etc/init.d/rc.sensors - if param compare SYS_AUTOSTART 12001 + if [ $HIL == no ] then - set MIXER /etc/mixers/FMU_octo_cox.mix - sh /etc/init.d/rc.octo - set MODE custom + echo "[init] Start logging" + sh /etc/init.d/rc.logging + + echo "[init] Start GPS" + gps start fi - if param compare SYS_AUTOSTART 10015 15 - then - sh /etc/init.d/10015_tbs_discovery - set MODE custom - fi - - if param compare SYS_AUTOSTART 10016 16 - then - sh /etc/init.d/10016_3dr_iris - set MODE custom - fi - - # PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 X Frame - if param compare SYS_AUTOSTART 4017 17 - then - set MKBLCTRL_MODE no - set MKBLCTRL_FRAME x - sh /etc/init.d/rc.custom_dji_f330_mkblctrl - set MODE custom - fi - - # PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 + Frame - if param compare SYS_AUTOSTART 5018 18 - then - set MKBLCTRL_MODE no - set MKBLCTRL_FRAME + - sh /etc/init.d/rc.custom_dji_f330_mkblctrl - set MODE custom - fi - - # PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 X Frame Mikrokopter-Addressing - if param compare SYS_AUTOSTART 4019 19 - then - set MKBLCTRL_MODE yes - set MKBLCTRL_FRAME x - sh /etc/init.d/rc.custom_dji_f330_mkblctrl - set MODE custom - fi - - # PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 + Frame Mikrokopter-Addressing - if param compare SYS_AUTOSTART 5020 20 + # + # Fixed wing setup + # + if [ $VEHICLE_TYPE == fw ] then - set MKBLCTRL_MODE yes - set MKBLCTRL_FRAME + - sh /etc/init.d/rc.custom_dji_f330_mkblctrl - set MODE custom + echo "[init] Vehicle type: FIXED WING" + + if [ $MIXER == none ] + then + # Set default mixer for fixed wing if not defined + set MIXER FMU_AERT + fi + + if [ $MAV_TYPE == none ] + then + # Use MAV_TYPE = 1 (fixed wing) if not defined + set MAV_TYPE 1 + fi + + param set MAV_TYPE $MAV_TYPE + + # Load mixer and configure outputs + sh /etc/init.d/rc.interface + + # Start standard fixedwing apps + sh /etc/init.d/rc.fw_apps fi - # PX4FMU v1 with IO + PPM-based ESCs on Quad X-shape frame - if param compare SYS_AUTOSTART 4021 21 + # + # Multicopters setup + # + if [ $VEHICLE_TYPE == mc ] then - set FRAME_GEOMETRY x - set ESC_MAKER afro - sh /etc/init.d/rc.custom_io_esc - set MODE custom - fi + echo "[init] Vehicle type: MULTICOPTER" - # PX4FMU v1 with IO + PPM-based ESCs on Quad X-shape frame - if param compare SYS_AUTOSTART 10022 22 - then - set FRAME_GEOMETRY w - sh /etc/init.d/rc.custom_io_esc - set MODE custom - fi - - if param compare SYS_AUTOSTART 3030 30 - then - sh /etc/init.d/3030_io_camflyer - set MODE custom - fi + if [ $MIXER == none ] + then + # Set default mixer for multicopter if not defined + set MIXER quad_x + fi - if param compare SYS_AUTOSTART 3031 31 - then - sh /etc/init.d/3031_io_phantom - set MODE custom - fi - - if param compare SYS_AUTOSTART 3032 32 - then - sh /etc/init.d/3032_skywalker_x5 - set MODE custom - fi + if [ $MAV_TYPE == none ] + then + # Use MAV_TYPE = 2 (quadcopter) if not defined + set MAV_TYPE 2 + + # Use mixer to detect vehicle type + if [ $MIXER == FMU_hex_x -o $MIXER == FMU_hex_+ ] + then + param set MAV_TYPE 13 + fi + if [ $MIXER == FMU_octo_x -o $MIXER == FMU_octo_+ ] + then + param set MAV_TYPE 14 + fi + if [ $MIXER == FMU_octo_cox ] + then + param set MAV_TYPE 14 + fi + fi - if param compare SYS_AUTOSTART 3033 33 - then - sh /etc/init.d/3033_io_wingwing - set MODE custom + param set MAV_TYPE $MAV_TYPE + + # Load mixer and configure outputs + sh /etc/init.d/rc.interface + + # Start standard multicopter apps + sh /etc/init.d/rc.mc_apps fi - if param compare SYS_AUTOSTART 3034 34 - then - sh /etc/init.d/3034_io_fx79 - set MODE custom - fi - - if param compare SYS_AUTOSTART 40 - then - sh /etc/init.d/40_io_segway - set MODE custom - fi - - if param compare SYS_AUTOSTART 2100 100 + # + # Generic setup (autostart ID not found) + # + if [ $VEHICLE_TYPE == none ] then - sh /etc/init.d/2100_mpx_easystar - set MODE custom - fi + echo "[init] Vehicle type: GENERIC" - if param compare SYS_AUTOSTART 2101 101 - then - sh /etc/init.d/2101_hk_bixler - set MODE custom + # Load mixer and configure outputs + sh /etc/init.d/rc.interface fi - if param compare SYS_AUTOSTART 2102 102 - then - sh /etc/init.d/2102_3dr_skywalker - set MODE custom - fi - - if param compare SYS_AUTOSTART 800 - then - sh /etc/init.d/800_sdlogger - set MODE custom - fi - - # Start any custom extensions that might be missing - if [ -f /fs/microsd/etc/rc.local ] - then - sh /fs/microsd/etc/rc.local - fi - - # If none of the autostart scripts triggered, get a minimal setup - if [ $MODE == autostart ] + # Start any custom addons + if [ -f $EXTRAS_FILE ] then - # Telemetry port is on both FMU boards ttyS1 - # but the AR.Drone motors can be get 'flashed' - # if starting MAVLink on them - so do not - # start it as default (default link: USB) - - # Start commander - commander start - - # Start px4io if present - if px4io detect - then - px4io start - else - if fmu mode_serial - then - echo "FMU driver (no PWM) started" - fi - fi - - # Start sensors - sh /etc/init.d/rc.sensors - - # Start one of the estimators - attitude_estimator_ekf start - - # Start GPS - gps start - + echo "[init] Starting addons script: $EXTRAS_FILE" + sh $EXTRAS_FILE + else + echo "[init] Addons script not found: $EXTRAS_FILE" fi if [ $EXIT_ON_END == yes ] |