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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-04-18 15:53:25 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-04-18 15:53:25 +0200 |
| commit | d7d0d9ea513ea146d42bd5f6397abcd5943ca73b (patch) | |
| tree | ac236ab58364e9b1846f4925830f5467b3c0bd65 /ROMFS/scripts/rc.PX4IO | |
| parent | f562a279765a7d90bad7b07963995148de4b2af2 (diff) | |
| download | px4-firmware-d7d0d9ea513ea146d42bd5f6397abcd5943ca73b.tar.gz px4-firmware-d7d0d9ea513ea146d42bd5f6397abcd5943ca73b.tar.bz2 px4-firmware-d7d0d9ea513ea146d42bd5f6397abcd5943ca73b.zip | |
Fixed startup scripts for default platforms, needs integration with wiki to avoid similar issues
Diffstat (limited to 'ROMFS/scripts/rc.PX4IO')
| -rw-r--r-- | ROMFS/scripts/rc.PX4IO | 57 |
1 files changed, 42 insertions, 15 deletions
diff --git a/ROMFS/scripts/rc.PX4IO b/ROMFS/scripts/rc.PX4IO index 1e3963b9a..625f23bdd 100644 --- a/ROMFS/scripts/rc.PX4IO +++ b/ROMFS/scripts/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 # -# Start the attitude estimator +# Allow PX4IO to recover from midair restarts. +# this is very unlikely, but quite safe and robust. +px4io recovery + # -kalman_demo start +# Start the sensors (depends on orb, px4io) +# +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 # @@ -77,4 +104,4 @@ then blinkm systemstate else echo "no BlinkM found, OK." -fi +fi
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