Merge branch 'master' into export-build

1 files changed, 99 insertions, 0 deletions

diff --git a/ROMFS/scripts/rc.PX4IOAR b/ROMFS/scripts/rc.PX4IOAR
new file mode 100644
index 000000000..6af91992e
--- /dev/null
+++ b/ROMFS/scripts/rc.PX4IOAR
@@ -0,0 +1,99 @@
+#!nsh
+#
+# Flight startup script for PX4FMU on PX4IOAR carrier board.
+#
+
+# Disable the USB interface
+set USB no
+
+# Disable autostarting other apps
+set MODE ardrone
+ 
+echo "[init] doing PX4IOAR startup..."
+ 
+#
+# Start the ORB
+#
+uorb start
+ 
+#
+# Init the parameter storage
+#
+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 2
+
+#
+# Configure PX4FMU for operation with PX4IOAR
+#
+fmu mode_gpio_serial
+ 
+#
+# Start the sensors.
+#
+sh /etc/init.d/rc.sensors
+ 
+#
+# Start MAVLink
+#
+mavlink start -d /dev/ttyS0 -b 57600
+usleep 5000
+ 
+#
+# Start the commander.
+#
+commander start
+ 
+#
+# Start the attitude estimator
+#
+attitude_estimator_ekf start
+ 
+#
+# Fire up the multi rotor attitude controller
+#
+multirotor_att_control start
+ 
+#
+# Fire up the AR.Drone interface.
+#
+ardrone_interface start -d /dev/ttyS1
+
+#
+# Start logging
+#
+sdlog start -s 10
+
+#
+# Start GPS capture
+#
+gps start
+
+#
+# Start system state
+#
+if blinkm start
+then
+	echo "using BlinkM for state indication"
+	blinkm systemstate
+else
+	echo "no BlinkM found, OK."
+fi
+ 
+#
+# startup is done; we don't want the shell because we
+# use the same UART for telemetry
+#
+echo "[init] startup done"
+
+exit
\ No newline at end of file