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| author | Pavel Kirienko <pavel.kirienko@gmail.com> | 2014-08-23 17:23:59 +0400 |
|---|---|---|
| committer | Pavel Kirienko <pavel.kirienko@gmail.com> | 2014-08-23 17:31:46 +0400 |
| commit | 6a8971e28f492073a951d96065df30034853bea7 (patch) | |
| tree | 66081062727f82c5a108367abd051cd24c8c588d /ROMFS | |
| parent | 7132141cc478e1b9cdde41207c03f2c622f7831a (diff) | |
| download | px4-firmware-6a8971e28f492073a951d96065df30034853bea7.tar.gz px4-firmware-6a8971e28f492073a951d96065df30034853bea7.tar.bz2 px4-firmware-6a8971e28f492073a951d96065df30034853bea7.zip | |
New UAVCAN initialization logic
Diffstat (limited to 'ROMFS')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.uavcan | 16 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rcS | 12 |
2 files changed, 24 insertions, 4 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.uavcan b/ROMFS/px4fmu_common/init.d/rc.uavcan new file mode 100644 index 000000000..abb76b400 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.uavcan @@ -0,0 +1,16 @@ +#!nsh +# +# UAVCAN initialization script. +# + +if param compare UAVCAN_ENABLE 1 +then + if uavcan start + then + sleep 1 # Sensor autodetection delay + echo "[init] UAVCAN started" + else + echo "[init] ERROR: Could not start UAVCAN" + tone_alarm $TUNE_OUT_ERROR + fi +fi diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index c9e6a27ca..195771905 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -304,11 +304,10 @@ then then if [ $OUTPUT_MODE == uavcan_esc ] then - if uavcan start 1 + if param compare UAVCAN_ENABLE 0 then - echo "CAN UP" - else - echo "CAN ERR" + echo "[init] OVERRIDING UAVCAN_ENABLE = 1" + param set UAVCAN_ENABLE 1 fi fi @@ -448,6 +447,11 @@ then mavlink start $MAVLINK_FLAGS # + # UAVCAN + # + sh /etc/init.d/rc.uavcan + + # # Sensors, Logging, GPS # sh /etc/init.d/rc.sensors |