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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-09-08 20:40:55 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-09-08 20:40:55 +0200 |
| commit | 2e8b675c6c5ddc3fd2db22a8e22a664b50ef18a9 (patch) | |
| tree | 3f9f6b684c1c37329f2f0420dd5b68be86ad2b4d /ROMFS | |
| parent | 2d6dfe2a9e1fc04a9cadc3e4defa3e9cd615db1f (diff) | |
| download | px4-firmware-2e8b675c6c5ddc3fd2db22a8e22a664b50ef18a9.tar.gz px4-firmware-2e8b675c6c5ddc3fd2db22a8e22a664b50ef18a9.tar.bz2 px4-firmware-2e8b675c6c5ddc3fd2db22a8e22a664b50ef18a9.zip | |
Fixed (temporarily) HIL by allowing index 1000 to start a matching setup
Diffstat (limited to 'ROMFS')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.hil | 8 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.usb | 8 | ||||
| -rwxr-xr-x | ROMFS/px4fmu_common/init.d/rcS | 11 |
3 files changed, 12 insertions, 15 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.hil b/ROMFS/px4fmu_common/init.d/rc.hil index eccb2b767..b924d62bc 100644 --- a/ROMFS/px4fmu_common/init.d/rc.hil +++ b/ROMFS/px4fmu_common/init.d/rc.hil @@ -5,10 +5,9 @@ echo "[HIL] starting.." -uorb start - # Tell MAVLink that this link is "fast" -mavlink start -b 230400 -d /dev/ttyS1 +sleep 2 +mavlink start -b 230400 -d /dev/ttyACM0 # Create a fake HIL /dev/pwm_output interface hil mode_pwm @@ -50,7 +49,8 @@ att_pos_estimator_ekf start # Load mixer and start controllers (depends on px4io) # mixer load /dev/pwm_output /etc/mixers/FMU_AET.mix -fw_pos_control_l1 start +#fw_pos_control_l1 start fw_att_control start echo "[HIL] setup done, running" + diff --git a/ROMFS/px4fmu_common/init.d/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb index 9264985d6..ccf2cd47e 100644 --- a/ROMFS/px4fmu_common/init.d/rc.usb +++ b/ROMFS/px4fmu_common/init.d/rc.usb @@ -21,7 +21,6 @@ if mavlink stop then echo "stopped other MAVLink instance" fi -sleep 2 mavlink start -b 230400 -d /dev/ttyACM0 # Stop commander @@ -37,13 +36,6 @@ then echo "Commander started" fi -# Stop px4io -if px4io stop -then - echo "PX4IO stopped" -fi -sleep 1 - # Start px4io if present if px4io start then diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index c2ef37526..1f466e49f 100755 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -101,8 +101,14 @@ then fi fi - # Try to get an USB console - nshterm /dev/ttyACM0 & + if param compare SYS_AUTOSTART 1000 + then + sh /etc/init.d/rc.hil + set MODE custom + else + # Try to get an USB console + nshterm /dev/ttyACM0 & + fi # # Upgrade PX4IO firmware @@ -202,7 +208,6 @@ then then # Telemetry port is on both FMU boards ttyS1 mavlink start -b 57600 -d /dev/ttyS1 - usleep 5000 # Start commander commander start |