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author | px4dev <px4@purgatory.org> | 2013-04-26 19:16:55 -0700 |
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committer | px4dev <px4@purgatory.org> | 2013-04-26 19:16:55 -0700 |
commit | 53f6bac327f6a799b9b0dfee368406cce4151a03 (patch) | |
tree | 88db3be11f9198a9d8970644fc447c3e2b7429e7 /ROMFS/px4fmu_common/init.d | |
parent | 01e427b17c161d8adaa38d6bdb91aecb434451f2 (diff) | |
parent | 72aaa0f7f2dee98a572ad812157fd6781a52cc90 (diff) | |
download | px4-firmware-53f6bac327f6a799b9b0dfee368406cce4151a03.tar.gz px4-firmware-53f6bac327f6a799b9b0dfee368406cce4151a03.tar.bz2 px4-firmware-53f6bac327f6a799b9b0dfee368406cce4151a03.zip |
Merge branch 'master' into export-build
Clean up some script trash and update scripts.
Diffstat (limited to 'ROMFS/px4fmu_common/init.d')
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.PX4IO | 55 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.PX4IOAR | 29 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.hil | 68 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.usb | 14 | ||||
-rwxr-xr-x | ROMFS/px4fmu_common/init.d/rcS | 8 |
5 files changed, 144 insertions, 30 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.PX4IO b/ROMFS/px4fmu_common/init.d/rc.PX4IO index 1e3963b9a..7ae4a5586 100644 --- a/ROMFS/px4fmu_common/init.d/rc.PX4IO +++ b/ROMFS/px4fmu_common/init.d/rc.PX4IO @@ -5,7 +5,7 @@ set USB no set MODE camflyer # -# Start the ORB +# Start the ORB (first app to start) # uorb start @@ -27,38 +27,65 @@ fi param set MAV_TYPE 1 # -# Start the sensors. +# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell) # -sh /etc/init.d/rc.sensors +if [ -f /fs/microsd/px4io.bin ] +then + echo "PX4IO Firmware found. Checking Upgrade.." + if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current + then + echo "No newer version, skipping upgrade." + else + echo "Loading /fs/microsd/px4io.bin" + if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log + then + cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current + echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log + else + echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log + echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode" + fi + fi +fi # -# Start MAVLink +# Start MAVLink (depends on orb) # mavlink start -d /dev/ttyS1 -b 57600 usleep 5000 # -# Start the commander. +# Start the commander (depends on orb, mavlink) # commander start # -# Start GPS interface +# Start PX4IO interface (depends on orb, commander) # -gps start +px4io start + +# +# Allow PX4IO to recover from midair restarts. +# this is very unlikely, but quite safe and robust. +px4io recovery # -# Start the attitude estimator +# Start the sensors (depends on orb, px4io) # -kalman_demo start +sh /etc/init.d/rc.sensors # -# Start PX4IO interface +# Start GPS interface (depends on orb) # -px4io start +gps start + +# +# Start the attitude estimator (depends on orb) +# +kalman_demo start # -# Load mixer and start controllers +# Load mixer and start controllers (depends on px4io) # mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix control_demo start @@ -66,8 +93,8 @@ control_demo start # # Start logging # -sdlog start -s 10 - +#sdlog start -s 4 + # # Start system state # diff --git a/ROMFS/px4fmu_common/init.d/rc.PX4IOAR b/ROMFS/px4fmu_common/init.d/rc.PX4IOAR index 72df68e35..ab29e21c7 100644 --- a/ROMFS/px4fmu_common/init.d/rc.PX4IOAR +++ b/ROMFS/px4fmu_common/init.d/rc.PX4IOAR @@ -2,10 +2,10 @@ # # Flight startup script for PX4FMU on PX4IOAR carrier board. # - + # Disable the USB interface set USB no - + # Disable autostarting other apps set MODE ardrone @@ -25,13 +25,18 @@ if [ -f /fs/microsd/parameters ] then param load /fs/microsd/parameters fi - + # # 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 + +# +# Configure PX4FMU for operation with PX4IOAR +# +fmu mode_gpio_serial # # Start the sensors. @@ -55,11 +60,6 @@ commander start attitude_estimator_ekf start # -# Configure PX4FMU for operation with PX4IOAR -# -fmu mode_gpio_serial - -# # Fire up the multi rotor attitude controller # multirotor_att_control start @@ -68,11 +68,6 @@ multirotor_att_control start # Fire up the AR.Drone interface. # ardrone_interface start -d /dev/ttyS1 - -# -# Start GPS capture -# -gps start # # Start logging @@ -80,6 +75,11 @@ gps start sdlog start -s 10 # +# Start GPS capture +# +gps start + +# # Start system state # if blinkm start @@ -95,4 +95,5 @@ fi # use the same UART for telemetry # echo "[init] startup done" -exit
\ No newline at end of file + +exit diff --git a/ROMFS/px4fmu_common/init.d/rc.hil b/ROMFS/px4fmu_common/init.d/rc.hil new file mode 100644 index 000000000..980b78edd --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.hil @@ -0,0 +1,68 @@ +#!nsh +# +# USB HIL start +# + +echo "[HIL] starting.." + +uorb start + +# Tell MAVLink that this link is "fast" +mavlink start -b 230400 -d /dev/console + +# Create a fake HIL /dev/pwm_output interface +hil mode_pwm + +# +# Load microSD params +# +echo "[init] loading microSD params" +param select /fs/microsd/parameters +if [ -f /fs/microsd/parameters ] +then + param load /fs/microsd/parameters +fi + +# +# 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 + +# +# Start the commander (depends on orb, mavlink) +# +commander start + +# +# Check if we got an IO +# +if [ px4io start ] +then + echo "IO started" +else + fmu mode_serial + echo "FMU started" +end + +# +# Start the sensors (depends on orb, px4io) +# +sh /etc/init.d/rc.sensors + +# +# Start the attitude estimator (depends on orb) +# +kalman_demo start + +# +# Load mixer and start controllers (depends on px4io) +# +mixer load /dev/pwm_output /etc/mixers/FMU_AET.mix +control_demo start + +echo "[HIL] setup done, running" + +# Exit shell to make it available to MAVLink +exit diff --git a/ROMFS/px4fmu_common/init.d/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb new file mode 100644 index 000000000..31af3991a --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.usb @@ -0,0 +1,14 @@ +#!nsh +# +# USB MAVLink start +# + +echo "Starting MAVLink on this USB console" + +# Tell MAVLink that this link is "fast" +mavlink start -b 230400 -d /dev/console + +echo "MAVLink started, exiting shell.." + +# Exit shell to make it available to MAVLink +exit diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 89a767879..c0a70f7dd 100755 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -21,9 +21,9 @@ set MODE autostart set USB autoconnect # -# Start playing the startup tune + # -tone_alarm start + # # Try to mount the microSD card. @@ -32,8 +32,12 @@ echo "[init] looking for microSD..." if mount -t vfat /dev/mmcsd0 /fs/microsd then echo "[init] card mounted at /fs/microsd" + # Start playing the startup tune + tone_alarm start else echo "[init] no microSD card found" + # Play SOS + tone_alarm 2 fi # |