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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-01-18 16:47:23 +0100 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-01-18 16:47:23 +0100 |
| commit | bb8cf0894f01e9889a261d4cd62798048c0cf7f5 (patch) | |
| tree | aca7b68bd29b5b4a0a31cb4b69bcbba68129a39b /ROMFS | |
| parent | 5db68264c7b1240811d28d04149e4a49891ab423 (diff) | |
| download | px4-firmware-bb8cf0894f01e9889a261d4cd62798048c0cf7f5.tar.gz px4-firmware-bb8cf0894f01e9889a261d4cd62798048c0cf7f5.tar.bz2 px4-firmware-bb8cf0894f01e9889a261d4cd62798048c0cf7f5.zip | |
autostart: HIL and bad PX4IO fixes
Diffstat (limited to 'ROMFS')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rcS | 165 |
1 files changed, 86 insertions, 79 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 6325bb94f..a9c5c59ea 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -241,7 +241,10 @@ then if [ $HIL == yes ] then set OUTPUT_MODE hil - set FMU_MODE serial + if hw_ver compare PX4FMU_V1 + then + set FMU_MODE serial + fi else # Try to get an USB console if not in HIL mode nshterm /dev/ttyACM0 & @@ -257,82 +260,12 @@ then # set TTYS1_BUSY no - if [ $OUTPUT_MODE == io ] + # If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output + if [ $OUTPUT_MODE != none ] then - echo "[init] Use PX4IO PWM as primary output" - if px4io start - then - echo "[init] PX4IO started" - sh /etc/init.d/rc.io - else - echo "[init] ERROR: PX4IO start failed" - tone_alarm $TUNE_OUT_ERROR - fi - fi - if [ $OUTPUT_MODE == fmu ] - then - echo "[init] Use FMU PWM as primary output" - if fmu mode_$FMU_MODE - then - echo "[init] FMU mode_$FMU_MODE started" - else - echo "[init] ERROR: FMU mode_$FMU_MODE start failed" - tone_alarm $TUNE_OUT_ERROR - fi - - if hw_ver compare PX4FMU_V1 - then - if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ] - then - set TTYS1_BUSY yes - fi - if [ $FMU_MODE == pwm_gpio ] - then - set TTYS1_BUSY yes - fi - fi - fi - if [ $OUTPUT_MODE == mkblctrl ] - then - echo "[init] Use MKBLCTRL as primary output" - set MKBLCTRL_ARG "" - if [ $MKBLCTRL_MODE == x ] - then - set MKBLCTRL_ARG "-mkmode x" - fi - if [ $MKBLCTRL_MODE == + ] - then - set MKBLCTRL_ARG "-mkmode +" - fi - - if mkblctrl $MKBLCTRL_ARG - then - echo "[init] MKBLCTRL started" - else - echo "[init] ERROR: MKBLCTRL start failed" - tone_alarm $TUNE_OUT_ERROR - fi - - fi - if [ $OUTPUT_MODE == hil ] - then - echo "[init] Use HIL as primary output" - if hil mode_pwm - then - echo "[init] HIL output started" - else - echo "[init] ERROR: HIL output start failed" - tone_alarm $TUNE_OUT_ERROR - fi - fi - - # - # Start IO or FMU for RC PPM input if needed - # - if [ $IO_PRESENT == yes ] - then - if [ $OUTPUT_MODE != io ] + if [ $OUTPUT_MODE == io ] then + echo "[init] Use PX4IO PWM as primary output" if px4io start then echo "[init] PX4IO started" @@ -342,9 +275,9 @@ then tone_alarm $TUNE_OUT_ERROR fi fi - else - if [ $OUTPUT_MODE != fmu ] + if [ $OUTPUT_MODE == fmu ] then + echo "[init] Use FMU PWM as primary output" if fmu mode_$FMU_MODE then echo "[init] FMU mode_$FMU_MODE started" @@ -352,7 +285,7 @@ then echo "[init] ERROR: FMU mode_$FMU_MODE start failed" tone_alarm $TUNE_OUT_ERROR fi - + if hw_ver compare PX4FMU_V1 then if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ] @@ -365,8 +298,82 @@ then fi fi fi + if [ $OUTPUT_MODE == mkblctrl ] + then + echo "[init] Use MKBLCTRL as primary output" + set MKBLCTRL_ARG "" + if [ $MKBLCTRL_MODE == x ] + then + set MKBLCTRL_ARG "-mkmode x" + fi + if [ $MKBLCTRL_MODE == + ] + then + set MKBLCTRL_ARG "-mkmode +" + fi + + if mkblctrl $MKBLCTRL_ARG + then + echo "[init] MKBLCTRL started" + else + echo "[init] ERROR: MKBLCTRL start failed" + tone_alarm $TUNE_OUT_ERROR + fi + + fi + if [ $OUTPUT_MODE == hil ] + then + echo "[init] Use HIL as primary output" + if hil mode_pwm + then + echo "[init] HIL output started" + else + echo "[init] ERROR: HIL output start failed" + tone_alarm $TUNE_OUT_ERROR + fi + fi + + # + # Start IO or FMU for RC PPM input if needed + # + if [ $IO_PRESENT == yes ] + then + if [ $OUTPUT_MODE != io ] + then + if px4io start + then + echo "[init] PX4IO started" + sh /etc/init.d/rc.io + else + echo "[init] ERROR: PX4IO start failed" + tone_alarm $TUNE_OUT_ERROR + fi + fi + else + if [ $OUTPUT_MODE != fmu ] + then + if fmu mode_$FMU_MODE + then + echo "[init] FMU mode_$FMU_MODE started" + else + echo "[init] ERROR: FMU mode_$FMU_MODE start failed" + tone_alarm $TUNE_OUT_ERROR + fi + + if hw_ver compare PX4FMU_V1 + then + if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ] + then + set TTYS1_BUSY yes + fi + if [ $FMU_MODE == pwm_gpio ] + then + set TTYS1_BUSY yes + fi + fi + fi + fi fi - + # # MAVLink # |