Merge remote-tracking branch 'juchlid/bottledrop' into bottle_drop_navigator

2 files changed, 81 insertions, 0 deletions

diff --git a/ROMFS/px4fmu_common/init.d/900_bottle_drop_test b/ROMFS/px4fmu_common/init.d/900_bottle_drop_test
new file mode 100644
index 000000000..c0f50fec0
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/900_bottle_drop_test
@@ -0,0 +1,75 @@
+#!nsh
+
+echo "[init] bottle drop test
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+	# Set all params here, then disable autoconfig
+	param set SYS_AUTOCONFIG 0
+
+	param save
+fi
+ 
+#
+# Force some key parameters to sane values
+# MAV_TYPE     2 = quadrotor
+#
+param set MAV_TYPE 2
+
+set EXIT_ON_END no
+
+#
+# Start and configure PX4IO and FMU interface
+#
+# Start MAVLink (depends on orb)
+mavlink start
+usleep 5000
+
+#
+# Start the sensors and test them.
+#
+sh /etc/init.d/rc.sensors
+
+#
+# Start logging (depends on sensors)
+#
+#sh /etc/init.d/rc.logging
+sdlog2 start -r 200 -e -b 16
+
+
+#
+# Start GPS interface (depends on orb)
+#
+gps start
+
+#
+# Start the attitude estimator
+#
+attitude_estimator_ekf start
+ 
+#
+# Start position estimator
+#
+position_estimator_inav start
+
+sh /etc/init.d/rc.io
+
+fmu mode_pwm
+
+mixer load /dev/px4fmu /etc/mixers/FMU_pass.mix
+
+pwm min -d /dev/px4fmu -c 123 -p 900
+pwm max -d /dev/px4fmu -c 123 -p 2100
+
+pwm arm -d /dev/px4fmu
+
+bottle_drop start
+
+
+if [ $EXIT_ON_END == yes ]
+then
+	exit
+fi
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 5f52969d1..46bb6d866 100755
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -319,6 +319,12 @@ then
 		set MODE custom
 	fi
 	
+	if param compare SYS_AUTOSTART 900
+	then
+		sh /etc/init.d/900_bottle_drop_test
+		set MODE custom
+	fi
+	
 	# Start any custom extensions that might be missing
 	if [ -f /fs/microsd/etc/rc.local ]
 	then