diff options
author | px4dev <px4@purgatory.org> | 2013-04-26 19:16:55 -0700 |
---|---|---|
committer | px4dev <px4@purgatory.org> | 2013-04-26 19:16:55 -0700 |
commit | 53f6bac327f6a799b9b0dfee368406cce4151a03 (patch) | |
tree | 88db3be11f9198a9d8970644fc447c3e2b7429e7 /ROMFS | |
parent | 01e427b17c161d8adaa38d6bdb91aecb434451f2 (diff) | |
parent | 72aaa0f7f2dee98a572ad812157fd6781a52cc90 (diff) | |
download | px4-firmware-53f6bac327f6a799b9b0dfee368406cce4151a03.tar.gz px4-firmware-53f6bac327f6a799b9b0dfee368406cce4151a03.tar.bz2 px4-firmware-53f6bac327f6a799b9b0dfee368406cce4151a03.zip |
Merge branch 'master' into export-build
Clean up some script trash and update scripts.
Diffstat (limited to 'ROMFS')
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.PX4IO | 55 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.PX4IOAR | 29 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.hil (renamed from ROMFS/scripts/rc.hil) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.usb (renamed from ROMFS/scripts/rc.usb) | 0 | ||||
-rwxr-xr-x | ROMFS/px4fmu_common/init.d/rcS | 8 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_quad_v.mix | 7 | ||||
-rw-r--r-- | ROMFS/scripts/rc.PX4IO | 107 | ||||
-rw-r--r-- | ROMFS/scripts/rc.PX4IOAR | 99 | ||||
-rwxr-xr-x | ROMFS/scripts/rcS | 83 |
9 files changed, 69 insertions, 319 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.PX4IO b/ROMFS/px4fmu_common/init.d/rc.PX4IO index 1e3963b9a..7ae4a5586 100644 --- a/ROMFS/px4fmu_common/init.d/rc.PX4IO +++ b/ROMFS/px4fmu_common/init.d/rc.PX4IO @@ -5,7 +5,7 @@ set USB no set MODE camflyer # -# Start the ORB +# Start the ORB (first app to start) # uorb start @@ -27,38 +27,65 @@ fi param set MAV_TYPE 1 # -# Start the sensors. +# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell) # -sh /etc/init.d/rc.sensors +if [ -f /fs/microsd/px4io.bin ] +then + echo "PX4IO Firmware found. Checking Upgrade.." + if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current + then + echo "No newer version, skipping upgrade." + else + echo "Loading /fs/microsd/px4io.bin" + if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log + then + cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current + echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log + else + echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log + echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode" + fi + fi +fi # -# Start MAVLink +# Start MAVLink (depends on orb) # mavlink start -d /dev/ttyS1 -b 57600 usleep 5000 # -# Start the commander. +# Start the commander (depends on orb, mavlink) # commander start # -# Start GPS interface +# Start PX4IO interface (depends on orb, commander) # -gps start +px4io start + +# +# Allow PX4IO to recover from midair restarts. +# this is very unlikely, but quite safe and robust. +px4io recovery # -# Start the attitude estimator +# Start the sensors (depends on orb, px4io) # -kalman_demo start +sh /etc/init.d/rc.sensors # -# Start PX4IO interface +# Start GPS interface (depends on orb) # -px4io start +gps start + +# +# Start the attitude estimator (depends on orb) +# +kalman_demo start # -# Load mixer and start controllers +# Load mixer and start controllers (depends on px4io) # mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix control_demo start @@ -66,8 +93,8 @@ control_demo start # # Start logging # -sdlog start -s 10 - +#sdlog start -s 4 + # # Start system state # diff --git a/ROMFS/px4fmu_common/init.d/rc.PX4IOAR b/ROMFS/px4fmu_common/init.d/rc.PX4IOAR index 72df68e35..ab29e21c7 100644 --- a/ROMFS/px4fmu_common/init.d/rc.PX4IOAR +++ b/ROMFS/px4fmu_common/init.d/rc.PX4IOAR @@ -2,10 +2,10 @@ # # Flight startup script for PX4FMU on PX4IOAR carrier board. # - + # Disable the USB interface set USB no - + # Disable autostarting other apps set MODE ardrone @@ -25,13 +25,18 @@ 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 2 + +# +# Configure PX4FMU for operation with PX4IOAR +# +fmu mode_gpio_serial # # Start the sensors. @@ -55,11 +60,6 @@ commander start attitude_estimator_ekf start # -# Configure PX4FMU for operation with PX4IOAR -# -fmu mode_gpio_serial - -# # Fire up the multi rotor attitude controller # multirotor_att_control start @@ -68,11 +68,6 @@ multirotor_att_control start # Fire up the AR.Drone interface. # ardrone_interface start -d /dev/ttyS1 - -# -# Start GPS capture -# -gps start # # Start logging @@ -80,6 +75,11 @@ gps start sdlog start -s 10 # +# Start GPS capture +# +gps start + +# # Start system state # if blinkm start @@ -95,4 +95,5 @@ fi # use the same UART for telemetry # echo "[init] startup done" -exit
\ No newline at end of file + +exit diff --git a/ROMFS/scripts/rc.hil b/ROMFS/px4fmu_common/init.d/rc.hil index 980b78edd..980b78edd 100644 --- a/ROMFS/scripts/rc.hil +++ b/ROMFS/px4fmu_common/init.d/rc.hil diff --git a/ROMFS/scripts/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb index 31af3991a..31af3991a 100644 --- a/ROMFS/scripts/rc.usb +++ b/ROMFS/px4fmu_common/init.d/rc.usb diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 89a767879..c0a70f7dd 100755 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -21,9 +21,9 @@ set MODE autostart set USB autoconnect # -# Start playing the startup tune + # -tone_alarm start + # # Try to mount the microSD card. @@ -32,8 +32,12 @@ echo "[init] looking for microSD..." if mount -t vfat /dev/mmcsd0 /fs/microsd then echo "[init] card mounted at /fs/microsd" + # Start playing the startup tune + tone_alarm start else echo "[init] no microSD card found" + # Play SOS + tone_alarm 2 fi # diff --git a/ROMFS/px4fmu_common/mixers/FMU_quad_v.mix b/ROMFS/px4fmu_common/mixers/FMU_quad_v.mix new file mode 100644 index 000000000..2a4a0f341 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_quad_v.mix @@ -0,0 +1,7 @@ +Multirotor mixer for PX4FMU +=========================== + +This file defines a single mixer for a quadrotor in the V configuration. All controls +are mixed 100%. + +R: 4v 10000 10000 10000 0 diff --git a/ROMFS/scripts/rc.PX4IO b/ROMFS/scripts/rc.PX4IO deleted file mode 100644 index 625f23bdd..000000000 --- a/ROMFS/scripts/rc.PX4IO +++ /dev/null @@ -1,107 +0,0 @@ -#!nsh - -# Disable USB and autostart -set USB no -set MODE camflyer - -# -# Start the ORB (first app to start) -# -uorb start - -# -# 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 - -# -# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell) -# -if [ -f /fs/microsd/px4io.bin ] -then - echo "PX4IO Firmware found. Checking Upgrade.." - if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current - then - echo "No newer version, skipping upgrade." - else - echo "Loading /fs/microsd/px4io.bin" - if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log - then - cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current - echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log - else - echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log - echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode" - fi - fi -fi - -# -# Start MAVLink (depends on orb) -# -mavlink start -d /dev/ttyS1 -b 57600 -usleep 5000 - -# -# Start the commander (depends on orb, mavlink) -# -commander start - -# -# Start PX4IO interface (depends on orb, commander) -# -px4io start - -# -# Allow PX4IO to recover from midair restarts. -# this is very unlikely, but quite safe and robust. -px4io recovery - -# -# Start the sensors (depends on orb, px4io) -# -sh /etc/init.d/rc.sensors - -# -# Start GPS interface (depends on orb) -# -gps start - -# -# 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_Q.mix -control_demo start - -# -# Start logging -# -#sdlog start -s 4 - -# -# Start system state -# -if blinkm start -then - echo "using BlinkM for state indication" - blinkm systemstate -else - echo "no BlinkM found, OK." -fi
\ No newline at end of file diff --git a/ROMFS/scripts/rc.PX4IOAR b/ROMFS/scripts/rc.PX4IOAR deleted file mode 100644 index 6af91992e..000000000 --- a/ROMFS/scripts/rc.PX4IOAR +++ /dev/null @@ -1,99 +0,0 @@ -#!nsh -# -# Flight startup script for PX4FMU on PX4IOAR carrier board. -# - -# Disable the USB interface -set USB no - -# Disable autostarting other apps -set MODE ardrone - -echo "[init] doing PX4IOAR startup..." - -# -# Start the ORB -# -uorb start - -# -# Init the parameter storage -# -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 2 - -# -# Configure PX4FMU for operation with PX4IOAR -# -fmu mode_gpio_serial - -# -# Start the sensors. -# -sh /etc/init.d/rc.sensors - -# -# Start MAVLink -# -mavlink start -d /dev/ttyS0 -b 57600 -usleep 5000 - -# -# Start the commander. -# -commander start - -# -# Start the attitude estimator -# -attitude_estimator_ekf start - -# -# Fire up the multi rotor attitude controller -# -multirotor_att_control start - -# -# Fire up the AR.Drone interface. -# -ardrone_interface start -d /dev/ttyS1 - -# -# Start logging -# -sdlog start -s 10 - -# -# Start GPS capture -# -gps start - -# -# Start system state -# -if blinkm start -then - echo "using BlinkM for state indication" - blinkm systemstate -else - echo "no BlinkM found, OK." -fi - -# -# startup is done; we don't want the shell because we -# use the same UART for telemetry -# -echo "[init] startup done" - -exit
\ No newline at end of file diff --git a/ROMFS/scripts/rcS b/ROMFS/scripts/rcS deleted file mode 100755 index c0a70f7dd..000000000 --- a/ROMFS/scripts/rcS +++ /dev/null @@ -1,83 +0,0 @@ -#!nsh -# -# PX4FMU startup script. -# -# This script is responsible for: -# -# - mounting the microSD card (if present) -# - running the user startup script from the microSD card (if present) -# - detecting the configuration of the system and picking a suitable -# startup script to continue with -# -# Note: DO NOT add configuration-specific commands to this script; -# add them to the per-configuration scripts instead. -# - -# -# Default to auto-start mode. An init script on the microSD card -# can change this to prevent automatic startup of the flight script. -# -set MODE autostart -set USB autoconnect - -# - -# - - -# -# Try to mount the microSD card. -# -echo "[init] looking for microSD..." -if mount -t vfat /dev/mmcsd0 /fs/microsd -then - echo "[init] card mounted at /fs/microsd" - # Start playing the startup tune - tone_alarm start -else - echo "[init] no microSD card found" - # Play SOS - tone_alarm 2 -fi - -# -# Look for an init script on the microSD card. -# -# To prevent automatic startup in the current flight mode, -# the script should set MODE to some other value. -# -if [ -f /fs/microsd/etc/rc ] -then - echo "[init] reading /fs/microsd/etc/rc" - sh /fs/microsd/etc/rc -fi -# Also consider rc.txt files -if [ -f /fs/microsd/etc/rc.txt ] -then - echo "[init] reading /fs/microsd/etc/rc.txt" - sh /fs/microsd/etc/rc.txt -fi - -# -# Check for USB host -# -if [ $USB != autoconnect ] -then - echo "[init] not connecting USB" -else - if sercon - then - echo "[init] USB interface connected" - else - echo "[init] No USB connected" - fi -fi - -# if this is an APM build then there will be a rc.APM script -# from an EXTERNAL_SCRIPTS build option -if [ -f /etc/init.d/rc.APM ] -then - echo Running rc.APM - # if APM startup is successful then nsh will exit - sh /etc/init.d/rc.APM -fi |