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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-11-17 14:58:29 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-11-17 14:58:29 +0100 |
commit | 489b4c4839a3796c520629850bc703c42bef636c (patch) | |
tree | 047c9d1cf57ed041fb863fa9c62b270bccaa7c0d /ROMFS | |
parent | b06f7f4f2e47dbaf33b255c9ecdffaa51f35f4a4 (diff) | |
download | px4-firmware-489b4c4839a3796c520629850bc703c42bef636c.tar.gz px4-firmware-489b4c4839a3796c520629850bc703c42bef636c.tar.bz2 px4-firmware-489b4c4839a3796c520629850bc703c42bef636c.zip |
Reduce too chatty content, de-allocate non-needed string buffers
Diffstat (limited to 'ROMFS')
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.interface | 14 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rcS | 150 |
2 files changed, 82 insertions, 82 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface index 10c6d7511..0f703c3b3 100644 --- a/ROMFS/px4fmu_common/init.d/rc.interface +++ b/ROMFS/px4fmu_common/init.d/rc.interface @@ -31,9 +31,9 @@ then if mixer load $OUTPUT_DEV $MIXER_FILE then - echo "[init] Mixer loaded: $MIXER_FILE" + echo "[i] Mixer: $MIXER_FILE" else - echo "[init] Error loading mixer: $MIXER_FILE" + echo "[i] Error loading mixer: $MIXER_FILE" tone_alarm $TUNE_ERR fi @@ -41,7 +41,7 @@ then else if [ $MIXER != skip ] then - echo "[init] Mixer not defined" + echo "[i] Mixer not defined" tone_alarm $TUNE_ERR fi fi @@ -55,7 +55,7 @@ then # if [ $PWM_RATE != none ] then - echo "[init] Set PWM rate: $PWM_RATE" + echo "[i] PWM rate: $PWM_RATE" pwm rate -c $PWM_OUT -r $PWM_RATE fi @@ -64,17 +64,17 @@ then # if [ $PWM_DISARMED != none ] then - echo "[init] Set PWM disarmed: $PWM_DISARMED" + echo "[i] PWM disarmed: $PWM_DISARMED" pwm disarmed -c $PWM_OUT -p $PWM_DISARMED fi if [ $PWM_MIN != none ] then - echo "[init] Set PWM min: $PWM_MIN" + echo "[i] PWM min: $PWM_MIN" pwm min -c $PWM_OUT -p $PWM_MIN fi if [ $PWM_MAX != none ] then - echo "[init] Set PWM max: $PWM_MAX" + echo "[i] PWM max: $PWM_MAX" pwm max -c $PWM_OUT -p $PWM_MAX fi fi diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index f9c822635..7532d3811 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -7,25 +7,25 @@ # set MODE autostart -set RC_FILE /fs/microsd/etc/rc.txt -set CONFIG_FILE /fs/microsd/etc/config.txt -set EXTRAS_FILE /fs/microsd/etc/extras.txt +set FRC /fs/microsd/etc/rc.txt +set FCONFIG /fs/microsd/etc/config.txt +set FEXTRAS /fs/microsd/etc/extras.txt -set TUNE_OUT_ERROR ML<<CP4CP4CP4CP4CP4 +set TUNE_ERR ML<<CP4CP4CP4CP4CP4 # # Try to mount the microSD card. # -echo "[init] Looking for microSD..." +echo "[i] Looking for microSD..." if mount -t vfat /dev/mmcsd0 /fs/microsd then set LOG_FILE /fs/microsd/bootlog.txt - echo "[init] microSD mounted: /fs/microsd" + echo "[i] microSD mounted: /fs/microsd" # Start playing the startup tune tone_alarm start else set LOG_FILE /dev/null - echo "[init] No microSD card found" + echo "[i] No microSD card found" # Play SOS tone_alarm error fi @@ -34,13 +34,13 @@ fi # Look for an init script on the microSD card. # Disable autostart if the script found. # -if [ -f $RC_FILE ] +if [ -f $FRC ] then - echo "[init] Executing init script: $RC_FILE" - sh $RC_FILE + echo "[i] Executing init script: $FRC" + sh $FRC set MODE custom else - echo "[init] Init script not found: $RC_FILE" + echo "[i] Init script not found: $FRC" fi # if this is an APM build then there will be a rc.APM script @@ -49,17 +49,17 @@ if [ -f /etc/init.d/rc.APM ] then if sercon then - echo "[init] USB interface connected" + echo "[i] USB interface connected" fi - echo "[init] Running rc.APM" + echo "[i] Running rc.APM" # if APM startup is successful then nsh will exit sh /etc/init.d/rc.APM fi if [ $MODE == autostart ] then - echo "[init] AUTOSTART mode" + echo "[i] AUTOSTART mode" # # Start CDC/ACM serial driver @@ -117,31 +117,31 @@ then set VEHICLE_TYPE none set MIXER none set OUTPUT_MODE none - set PWM_OUTPUTS none + set PWM_OUT none set PWM_RATE none set PWM_DISARMED none set PWM_MIN none set PWM_MAX none - set MKBLCTRL_MODE none + set MK_MODE none set FMU_MODE pwm - set MAVLINK_FLAGS default + set MAVLINK_F default set EXIT_ON_END no set MAV_TYPE none - set LOAD_DEFAULT_APPS yes + set LOAD_DAPPS yes set GPS yes set GPS_FAKE no set FAILSAFE none # - # Set DO_AUTOCONFIG flag to use it in AUTOSTART scripts + # Set AUTOCNF flag to use it in AUTOSTART scripts # if param compare SYS_AUTOCONFIG 1 then # Wipe out params param reset_nostart - set DO_AUTOCONFIG yes + set AUTOCNF yes else - set DO_AUTOCONFIG no + set AUTOCNF no fi # @@ -159,7 +159,7 @@ then # if param compare SYS_AUTOSTART 0 then - echo "[init] No autostart" + echo "[i] No autostart" else sh /etc/init.d/rc.autostart fi @@ -167,18 +167,19 @@ then # # Override parameters from user configuration file # - if [ -f $CONFIG_FILE ] + if [ -f $FCONFIG ] then - echo "[init] Config: $CONFIG_FILE" - sh $CONFIG_FILE + echo "[i] Config: $FCONFIG" + sh $FCONFIG else - echo "[init] Config not found: $CONFIG_FILE" + echo "[i] Config not found: $FCONFIG" fi + unset FCONFIG # # If autoconfig parameter was set, reset it and save parameters # - if [ $DO_AUTOCONFIG == yes ] + if [ $AUTOCNF == yes ] then param set SYS_AUTOCONFIG 0 param save @@ -219,18 +220,18 @@ then set IO_PRESENT yes else echo "PX4IO update failed" >> $LOG_FILE - tone_alarm $TUNE_OUT_ERROR + tone_alarm $TUNE_ERR fi else echo "PX4IO update failed" >> $LOG_FILE - tone_alarm $TUNE_OUT_ERROR + tone_alarm $TUNE_ERR fi fi if [ $IO_PRESENT == no ] then - echo "[init] ERROR: PX4IO not found" - tone_alarm $TUNE_OUT_ERROR + echo "[i] ERROR: PX4IO not found" + tone_alarm $TUNE_ERR fi fi @@ -251,7 +252,7 @@ then then # Need IO for output but it not present, disable output set OUTPUT_MODE none - echo "[init] ERROR: PX4IO not found, disabling output" + echo "[i] ERROR: PX4IO not found, disabling output" # Avoid using ttyS0 for MAVLink on FMUv1 if ver hwcmp PX4FMU_V1 @@ -294,33 +295,31 @@ then then if param compare UAVCAN_ENABLE 0 then - echo "[init] OVERRIDING UAVCAN_ENABLE = 1" + echo "[i] OVERRIDING UAVCAN_ENABLE = 1" param set UAVCAN_ENABLE 1 fi fi if [ $OUTPUT_MODE == io -o $OUTPUT_MODE == uavcan_esc ] then - echo "[init] Use PX4IO PWM as primary output" if px4io start then - echo "[init] PX4IO started" + echo "[i] PX4IO started" sh /etc/init.d/rc.io else - echo "[init] ERROR: PX4IO start failed" - tone_alarm $TUNE_OUT_ERROR + echo "[i] ERROR: PX4IO start failed" + tone_alarm $TUNE_ERR fi fi if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == ardrone ] then - echo "[init] Use FMU as primary output" if fmu mode_$FMU_MODE then - echo "[init] FMU mode_$FMU_MODE started" + echo "[i] FMU mode_$FMU_MODE started" else - echo "[init] ERROR: FMU mode_$FMU_MODE start failed" - tone_alarm $TUNE_OUT_ERROR + echo "[i] ERROR: FMU mode_$FMU_MODE start failed" + tone_alarm $TUNE_ERR fi if ver hwcmp PX4FMU_V1 @@ -338,36 +337,34 @@ then if [ $OUTPUT_MODE == mkblctrl ] then - echo "[init] Use MKBLCTRL as primary output" set MKBLCTRL_ARG "" - if [ $MKBLCTRL_MODE == x ] + if [ $MK_MODE == x ] then set MKBLCTRL_ARG "-mkmode x" fi - if [ $MKBLCTRL_MODE == + ] + if [ $MK_MODE == + ] then set MKBLCTRL_ARG "-mkmode +" fi if mkblctrl $MKBLCTRL_ARG then - echo "[init] MKBLCTRL started" + echo "[i] MK started" else - echo "[init] ERROR: MKBLCTRL start failed" - tone_alarm $TUNE_OUT_ERROR + echo "[i] ERROR: MK start failed" + tone_alarm $TUNE_ERR fi fi if [ $OUTPUT_MODE == hil ] then - echo "[init] Use HIL as primary output" if hil mode_port2_pwm8 then - echo "[init] HIL output started" + echo "[i] HIL output started" else - echo "[init] ERROR: HIL output start failed" - tone_alarm $TUNE_OUT_ERROR + echo "[i] ERROR: HIL output start failed" + tone_alarm $TUNE_ERR fi fi @@ -380,11 +377,11 @@ then then if px4io start then - echo "[init] PX4IO started" + echo "[i] PX4IO started" sh /etc/init.d/rc.io else - echo "[init] ERROR: PX4IO start failed" - tone_alarm $TUNE_OUT_ERROR + echo "[i] ERROR: PX4IO start failed" + tone_alarm $TUNE_ERR fi fi else @@ -392,10 +389,10 @@ then then if fmu mode_$FMU_MODE then - echo "[init] FMU mode_$FMU_MODE started" + echo "[i] FMU mode_$FMU_MODE started" else - echo "[init] ERROR: FMU mode_$FMU_MODE start failed" - tone_alarm $TUNE_OUT_ERROR + echo "[i] ERROR: FMU mode_$FMU_MODE start failed" + tone_alarm $TUNE_ERR fi if ver hwcmp PX4FMU_V1 @@ -413,23 +410,24 @@ then fi fi - if [ $MAVLINK_FLAGS == default ] + if [ $MAVLINK_F == default ] then # Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s if [ $TTYS1_BUSY == yes ] then # Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else - set MAVLINK_FLAGS "-r 1000 -d /dev/ttyS0" + set MAVLINK_F "-r 1000 -d /dev/ttyS0" # Exit from nsh to free port for mavlink set EXIT_ON_END yes else # Start MAVLink on default port: ttyS1 - set MAVLINK_FLAGS "-r 1000" + set MAVLINK_F "-r 1000" fi fi - mavlink start $MAVLINK_FLAGS + mavlink start $MAVLINK_F + unset MAVLINK_F # # UAVCAN @@ -444,15 +442,16 @@ then if [ $GPS == yes ] then - echo "[init] Start GPS" + echo "[i] Start GPS" if [ $GPS_FAKE == yes ] then - echo "[init] Faking GPS" + echo "[i] Faking GPS" gps start -f else gps start fi fi + unset GPS_FAKE # # Start up ARDrone Motor interface @@ -467,7 +466,7 @@ then # if [ $VEHICLE_TYPE == fw ] then - echo "[init] Vehicle type: FIXED WING" + echo "[i] FIXED WING" if [ $MIXER == none ] then @@ -481,13 +480,13 @@ then set MAV_TYPE 1 fi - param set MAV_TYPE $MAV_TYPE + #param set MAV_TYPE $MAV_TYPE # Load mixer and configure outputs sh /etc/init.d/rc.interface # Start standard fixedwing apps - if [ $LOAD_DEFAULT_APPS == yes ] + if [ $LOAD_DAPPS == yes ] then sh /etc/init.d/rc.fw_apps fi @@ -498,11 +497,11 @@ then # if [ $VEHICLE_TYPE == mc ] then - echo "[init] Vehicle type: MULTICOPTER" + echo "[i] MULTICOPTER" if [ $MIXER == none ] then - echo "Default mixer for multicopter not defined" + echo "Mixer undefined" fi if [ $MAV_TYPE == none ] @@ -546,7 +545,7 @@ then sh /etc/init.d/rc.interface # Start standard multicopter apps - if [ $LOAD_DEFAULT_APPS == yes ] + if [ $LOAD_DAPPS == yes ] then sh /etc/init.d/rc.mc_apps fi @@ -562,22 +561,23 @@ then # if [ $VEHICLE_TYPE == none ] then - echo "[init] Vehicle type: No autostart ID found" + echo "[i] No autostart ID found" fi # Start any custom addons - if [ -f $EXTRAS_FILE ] + if [ -f $FEXTRAS ] then - echo "[init] Starting addons script: $EXTRAS_FILE" - sh $EXTRAS_FILE + echo "[i] Addons script: $FEXTRAS" + sh $FEXTRAS else - echo "[init] No addons script: $EXTRAS_FILE" + echo "[i] No addons script: $FEXTRAS" fi + unset FEXTRAS if [ $EXIT_ON_END == yes ] then - echo "[init] Exit from nsh" + echo "Exit from nsh" exit fi |