diff options
| author | Anton Babushkin <anton.babushkin@me.com> | 2013-08-24 20:32:46 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-08-24 20:32:46 +0200 |
| commit | 41dfdfb1a4b974b5d32788852768513d0dac7a67 (patch) | |
| tree | 4a6b746190655bc87171c929ca653d8cd72332e2 /ROMFS | |
| parent | 8579d0b7c9f77c84fa9afa87f7ab2f353443a242 (diff) | |
| download | px4-firmware-41dfdfb1a4b974b5d32788852768513d0dac7a67.tar.gz px4-firmware-41dfdfb1a4b974b5d32788852768513d0dac7a67.tar.bz2 px4-firmware-41dfdfb1a4b974b5d32788852768513d0dac7a67.zip | |
Use common rc.multirotor script (now only in 01_fmu_quad_x).
Diffstat (limited to 'ROMFS')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/01_fmu_quad_x | 33 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.multirotor | 49 |
2 files changed, 54 insertions, 28 deletions
diff --git a/ROMFS/px4fmu_common/init.d/01_fmu_quad_x b/ROMFS/px4fmu_common/init.d/01_fmu_quad_x index c1f3187f9..8223b3ea5 100644 --- a/ROMFS/px4fmu_common/init.d/01_fmu_quad_x +++ b/ROMFS/px4fmu_common/init.d/01_fmu_quad_x @@ -62,44 +62,21 @@ param set MAV_TYPE 2 # mavlink start -d /dev/ttyS0 -b 57600 usleep 5000 - -# -# Start the sensors and test them. -# -sh /etc/init.d/rc.sensors - -# -# Start the commander. -# -commander start # -# Start GPS interface (depends on orb) +# Start common for all multirotors apps # -gps start - +sh /etc/init.d/rc.multirotor + # -# Start the attitude estimator +# Start PWM output # -attitude_estimator_ekf start - -echo "[init] starting PWM output" fmu mode_pwm mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix pwm -u 400 -m 0xff -# -# Start attitude control -# -multirotor_att_control start - -# -# Start logging -# -sdlog2 start -r 50 -a -b 14 - # Try to get an USB console nshterm /dev/ttyACM0 & # Exit, because /dev/ttyS0 is needed for MAVLink -exit +#exit diff --git a/ROMFS/px4fmu_common/init.d/rc.multirotor b/ROMFS/px4fmu_common/init.d/rc.multirotor new file mode 100644 index 000000000..81184f363 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.multirotor @@ -0,0 +1,49 @@ +#!nsh +# +# Standard everything needed for multirotors except mixer, output and mavlink +# + +# +# Start the sensors and test them. +# +sh /etc/init.d/rc.sensors + +# +# Start the commander. +# +commander start + +# +# Start GPS interface (depends on orb) +# +gps start + +# +# Start the attitude estimator +# +attitude_estimator_ekf start + +# +# Start position estimator +# +position_estimator_inav start + +# +# Start attitude control +# +multirotor_att_control start + +# +# Start position control +# +multirotor_pos_control start + +# +# Start logging +# +if [ $BOARD == fmuv1 ] +then + sdlog2 start -r 50 -a -b 16 +else + sdlog2 start -r 200 -a -b 16 +fi |