diff options
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/4008_ardrone | 14 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rcS | 12 | ||||
| -rw-r--r-- | src/drivers/px4fmu/fmu.cpp | 2 |
3 files changed, 17 insertions, 11 deletions
diff --git a/ROMFS/px4fmu_common/init.d/4008_ardrone b/ROMFS/px4fmu_common/init.d/4008_ardrone index fa9b9d18a..d6b2319f9 100644 --- a/ROMFS/px4fmu_common/init.d/4008_ardrone +++ b/ROMFS/px4fmu_common/init.d/4008_ardrone @@ -3,6 +3,8 @@ # ARDrone # +echo "[init] 4008_ardrone: PX4FMU on PX4IOAR carrier board" + # Just use the default multicopter settings. sh /etc/init.d/rc.mc_defaults @@ -29,12 +31,6 @@ then param save fi -set FMU_MODE gpio - -# -# Force some key parameters to sane values -# MAV_TYPE 2 = quadrotor -# -set MAV_TYPE 2 -set VEHICLE_TYPE mc -param set BAT_V_SCALING 0.008381 +set FMU_MODE gpio_serial +set OUTPUT_MODE fmu +set ARDRONE yes
\ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 76f021e33..af78162ed 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -397,8 +397,10 @@ then set EXIT_ON_END yes else # Start MAVLink on default port: ttyS1 - mavlink start + mavlink start -d /dev/ttyS0 usleep 5000 + + set EXIT_ON_END yes fi fi @@ -428,6 +430,14 @@ then fi # + # Start up ARDrone Motor interface + # + if [ $ARDRONE == yes ] + then + ardrone_interface start -d /dev/ttyS1 + fi + + # # Fixed wing setup # if [ $VEHICLE_TYPE == fw ] diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index 0fbd84924..a70ff6c5c 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -1714,7 +1714,7 @@ fmu_main(int argc, char *argv[]) } - fprintf(stderr, "FMU: unrecognised command, try:\n"); + fprintf(stderr, "FMU: unrecognised command %s, try:\n", verb); #if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) fprintf(stderr, " mode_gpio, mode_serial, mode_pwm, mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio, test\n"); #elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2) |