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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-22 09:58:07 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-22 09:58:07 +0200 |
| commit | 2ecaab98f955380775c4b7f3583d9b0e3c62cccb (patch) | |
| tree | d9b644aad4c1ac8531e1ce1e50ca94b39d5baa32 /ROMFS | |
| parent | af56e65a37bf32cf3c6f1c0eb90626d61127c559 (diff) | |
| parent | aefea1a95d221e541be219d9fec7eece3c72fd50 (diff) | |
| download | px4-firmware-2ecaab98f955380775c4b7f3583d9b0e3c62cccb.tar.gz px4-firmware-2ecaab98f955380775c4b7f3583d9b0e3c62cccb.tar.bz2 px4-firmware-2ecaab98f955380775c4b7f3583d9b0e3c62cccb.zip | |
Merge branch 'master' of github.com:PX4/Firmware into ekf_params
Diffstat (limited to 'ROMFS')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rcS | 50 |
1 files changed, 21 insertions, 29 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 2ab1e2e96..ea5cf8deb 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -20,7 +20,7 @@ echo "[init] Looking for microSD..." if mount -t vfat /dev/mmcsd0 /fs/microsd then set LOG_FILE /fs/microsd/bootlog.txt - echo "[init] microSD card mounted at /fs/microsd" + echo "[init] microSD mounted: /fs/microsd" # Start playing the startup tune tone_alarm start else @@ -83,9 +83,9 @@ then param select $PARAM_FILE if param load then - echo "[init] Parameters loaded: $PARAM_FILE" + echo "[init] Params loaded: $PARAM_FILE" else - echo "[init] ERROR: Parameters loading failed: $PARAM_FILE" + echo "[init] ERROR: Params loading failed: $PARAM_FILE" fi # @@ -146,7 +146,7 @@ then # if param compare SYS_AUTOSTART 0 then - echo "[init] Don't try to find autostart script" + echo "[init] No autostart" else sh /etc/init.d/rc.autostart fi @@ -156,10 +156,10 @@ then # if [ -f $CONFIG_FILE ] then - echo "[init] Reading config: $CONFIG_FILE" + echo "[init] Config: $CONFIG_FILE" sh $CONFIG_FILE else - echo "[init] Config file not found: $CONFIG_FILE" + echo "[init] Config not found: $CONFIG_FILE" fi # @@ -264,10 +264,10 @@ then then set FMU_MODE serial fi - else - # Try to get an USB console if not in HIL mode - nshterm /dev/ttyACM0 & fi + + # Try to get an USB console + nshterm /dev/ttyACM0 & # # Start the Commander (needs to be this early for in-air-restarts) @@ -401,23 +401,17 @@ then # if [ $MAVLINK_FLAGS == default ] then - if [ $HIL == yes ] + # Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s + if [ $TTYS1_BUSY == yes ] then - sleep 1 - set MAVLINK_FLAGS "-r 10000 -d /dev/ttyACM0" + # Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else + set MAVLINK_FLAGS "-r 1000 -d /dev/ttyS0" + + # Exit from nsh to free port for mavlink + set EXIT_ON_END yes else - # Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s - if [ $TTYS1_BUSY == yes ] - then - # Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else - set MAVLINK_FLAGS "-r 1000 -d /dev/ttyS0" - - # Exit from nsh to free port for mavlink - set EXIT_ON_END yes - else - # Start MAVLink on default port: ttyS1 - set MAVLINK_FLAGS "-r 1000" - fi + # Start MAVLink on default port: ttyS1 + set MAVLINK_FLAGS "-r 1000" fi fi @@ -436,17 +430,15 @@ then # # Sensors, Logging, GPS # - echo "[init] Start sensors" sh /etc/init.d/rc.sensors if [ $HIL == no ] then echo "[init] Start logging" sh /etc/init.d/rc.logging - - echo "[init] Start GPS" - gps start fi + + gps start # # Start up ARDrone Motor interface @@ -561,7 +553,7 @@ then echo "[init] Starting addons script: $EXTRAS_FILE" sh $EXTRAS_FILE else - echo "[init] Addons script not found: $EXTRAS_FILE" + echo "[init] No addons script: $EXTRAS_FILE" fi if [ $EXIT_ON_END == yes ] |