diff options
| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-03-21 10:14:34 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-03-21 10:14:34 +0100 |
| commit | 70a85739ccf2df6f032093ee9b0f03666d5a241c (patch) | |
| tree | b792e6d0af1f0031af3ba3255552c66a4f76b429 /ROMFS | |
| parent | bee896786a3236d7dac3f5460c56ff6e335f1e23 (diff) | |
| download | px4-firmware-70a85739ccf2df6f032093ee9b0f03666d5a241c.tar.gz px4-firmware-70a85739ccf2df6f032093ee9b0f03666d5a241c.tar.bz2 px4-firmware-70a85739ccf2df6f032093ee9b0f03666d5a241c.zip | |
Added startup scripts useful when running USB consoles, made MAVLink aware that /dev/console is a hint for running on USB (magic strings, magic strings)
Diffstat (limited to 'ROMFS')
| -rw-r--r-- | ROMFS/Makefile | 2 | ||||
| -rw-r--r-- | ROMFS/scripts/rc.hil | 57 | ||||
| -rw-r--r-- | ROMFS/scripts/rc.usb | 14 |
3 files changed, 73 insertions, 0 deletions
diff --git a/ROMFS/Makefile b/ROMFS/Makefile index 15167bf47..ed39ab825 100644 --- a/ROMFS/Makefile +++ b/ROMFS/Makefile @@ -22,6 +22,8 @@ ROMFS_FSSPEC := $(SRCROOT)/scripts/rcS~init.d/rcS \ $(SRCROOT)/scripts/rc.PX4IO~init.d/rc.PX4IO \ $(SRCROOT)/scripts/rc.PX4IOAR~init.d/rc.PX4IOAR \ $(SRCROOT)/scripts/rc.FMU_quad_x~init.d/rc.FMU_quad_x \ + $(SRCROOT)/scripts/rc.usb~init.d/rc.usb \ + $(SRCROOT)/scripts/rc.hil~init.d/rc.hil \ $(SRCROOT)/mixers/FMU_pass.mix~mixers/FMU_pass.mix \ $(SRCROOT)/mixers/FMU_Q.mix~mixers/FMU_Q.mix \ $(SRCROOT)/mixers/FMU_X5.mix~mixers/FMU_X5.mix \ 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..9031b38a2 --- /dev/null +++ b/ROMFS/scripts/rc.usb @@ -0,0 +1,14 @@ +#!nsh +# +# USB MAVLink start +# + +echo "[testing] doing production test.." + +# Tell MAVLink that this link is "fast" +mavlink start -b 230400 -d /dev/console + +# Exit shell to make it available to MAVLink +exit + +echo "[testing] testing done" |