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author | px4dev <px4@purgatory.org> | 2013-03-31 15:16:07 -0700 |
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committer | px4dev <px4@purgatory.org> | 2013-03-31 15:16:07 -0700 |
commit | b1da85554805a449d5a0d25d984faf812031e20b (patch) | |
tree | 17b44ba4589775c17097adf1468c77f424b56455 /ROMFS | |
parent | 4c448a5be041eaa33c54e4bf1116c98fca487aff (diff) | |
parent | 9dbd2695d3b476e8ed0a2001b027329e8600bd29 (diff) | |
download | px4-firmware-b1da85554805a449d5a0d25d984faf812031e20b.tar.gz px4-firmware-b1da85554805a449d5a0d25d984faf812031e20b.tar.bz2 px4-firmware-b1da85554805a449d5a0d25d984faf812031e20b.zip |
Merge branch 'master' into export-build
Diffstat (limited to 'ROMFS')
-rw-r--r-- | ROMFS/scripts/rc.hil | 57 | ||||
-rw-r--r-- | ROMFS/scripts/rc.usb | 14 |
2 files changed, 71 insertions, 0 deletions
diff --git a/ROMFS/scripts/rc.hil b/ROMFS/scripts/rc.hil new file mode 100644 index 000000000..3b37ac26b --- /dev/null +++ b/ROMFS/scripts/rc.hil @@ -0,0 +1,57 @@ +#!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 + +# +# 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/scripts/rc.usb b/ROMFS/scripts/rc.usb new file mode 100644 index 000000000..31af3991a --- /dev/null +++ b/ROMFS/scripts/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 |