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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-01-19 12:43:32 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-01-19 12:43:32 +0100 |
| commit | 302632e7c45d455072dd89c6ecdf1637d1cf1977 (patch) | |
| tree | e8196415821aca1c4db767f0d5466296060192cd /ROMFS | |
| parent | bda44a35cc99fe95abb30fb301fee1b8bd5aa1c9 (diff) | |
| parent | d96e63960c9f951dac02f122ac1e067f7dd3316f (diff) | |
| download | px4-firmware-302632e7c45d455072dd89c6ecdf1637d1cf1977.tar.gz px4-firmware-302632e7c45d455072dd89c6ecdf1637d1cf1977.tar.bz2 px4-firmware-302632e7c45d455072dd89c6ecdf1637d1cf1977.zip | |
Merge remote-tracking branch 'upstream/autostart_cleanup' into beta
Diffstat (limited to 'ROMFS')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil | 68 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.autostart | 4 |
2 files changed, 10 insertions, 62 deletions
diff --git a/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil b/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil index 344d78422..75a00a675 100644 --- a/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil +++ b/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil @@ -1,14 +1,13 @@ #!nsh # -# USB HIL start +# HIL Rascal 110 (Flightgear) +# +# Maintainers: Thomas Gubler <thomasgubler@gmail.com> # -echo "[HIL] HILStar starting.." +echo "HIL Rascal 110 starting.." -# -# Load default params for this platform -# -if param compare SYS_AUTOCONFIG 1 +if [ $DO_AUTOCONFIG == yes ] then # Set all params here, then disable autoconfig @@ -40,59 +39,8 @@ then param save fi -# Allow USB some time to come up -sleep 1 -# Tell MAVLink that this link is "fast" -mavlink start -b 230400 -d /dev/ttyACM0 - -# Create a fake HIL /dev/pwm_output interface -hil mode_pwm - -# -# 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 - -# -# Check if we got an IO -# -if px4io start -then - echo "IO started" -else - fmu mode_serial - echo "FMU started" -fi - -# -# Start the sensors (depends on orb, px4io) -# -sh /etc/init.d/rc.sensors - -# -# Start the attitude estimator (depends on orb) -# -att_pos_estimator_ekf start - -# -# Load mixer and start controllers (depends on px4io) -# -set MODE autostart -mixer load /dev/pwm_output /etc/mixers/FMU_AERT.mix -if [ -f /fs/microsd/etc/mixers/FMU_AERT.mix ] -then - echo "Using /fs/microsd/etc/mixers/FMU_AERT.mix" - mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_AERT.mix -else - echo "Using /etc/mixers/FMU_AERT.mix" - mixer load /dev/pwm_output /etc/mixers/FMU_AERT.mix -fi - - -fw_pos_control_l1 start -fw_att_control start +set HIL yes -echo "[HIL] setup done, running" +set VEHICLE_TYPE fw +set MIXER FMU_AERT diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart index 69e88fcd0..325520dd0 100644 --- a/ROMFS/px4fmu_common/init.d/rc.autostart +++ b/ROMFS/px4fmu_common/init.d/rc.autostart @@ -43,7 +43,7 @@ fi if param compare SYS_AUTOSTART 1004 then - #sh /etc/init.d/1004_rc_fw_Rascal110.hil + sh /etc/init.d/1004_rc_fw_Rascal110.hil fi # @@ -84,7 +84,7 @@ fi if param compare SYS_AUTOSTART 3032 then - #sh /etc/init.d/3032_skywalker_x5 + sh /etc/init.d/3032_skywalker_x5 fi if param compare SYS_AUTOSTART 3033 |