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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-26 09:29:55 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-26 09:29:55 +0200 |
| commit | 943463391241cdad88cc169d9cedbb5cb4cddf47 (patch) | |
| tree | c56579fe413d9743397acf3e253a962b59ecd8f5 /ROMFS/px4fmu_common/init.d | |
| parent | 8f2fa6da25ffcb83b27e732e4d22b845a652500f (diff) | |
| parent | 19fa79dcb1b3b34176341b3edb7187b6bb117aff (diff) | |
| download | px4-firmware-943463391241cdad88cc169d9cedbb5cb4cddf47.tar.gz px4-firmware-943463391241cdad88cc169d9cedbb5cb4cddf47.tar.bz2 px4-firmware-943463391241cdad88cc169d9cedbb5cb4cddf47.zip | |
Merged upstream/master
Diffstat (limited to 'ROMFS/px4fmu_common/init.d')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.uavcan | 18 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rcS | 12 |
2 files changed, 26 insertions, 4 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.uavcan b/ROMFS/px4fmu_common/init.d/rc.uavcan new file mode 100644 index 000000000..9a470a6b8 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.uavcan @@ -0,0 +1,18 @@ +#!nsh +# +# UAVCAN initialization script. +# + +if param compare UAVCAN_ENABLE 1 +then + if uavcan start + then + # First sensor publisher to initialize takes lowest instance ID + # This delay ensures that UAVCAN-interfaced sensors would be allocated on lowest instance IDs + sleep 1 + echo "[init] UAVCAN started" + else + echo "[init] ERROR: Could not start UAVCAN" + tone_alarm $TUNE_OUT_ERROR + fi +fi diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index c9e6a27ca..195771905 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -304,11 +304,10 @@ then then if [ $OUTPUT_MODE == uavcan_esc ] then - if uavcan start 1 + if param compare UAVCAN_ENABLE 0 then - echo "CAN UP" - else - echo "CAN ERR" + echo "[init] OVERRIDING UAVCAN_ENABLE = 1" + param set UAVCAN_ENABLE 1 fi fi @@ -448,6 +447,11 @@ then mavlink start $MAVLINK_FLAGS # + # UAVCAN + # + sh /etc/init.d/rc.uavcan + + # # Sensors, Logging, GPS # sh /etc/init.d/rc.sensors |