diff options
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.usb | 38 |
1 files changed, 21 insertions, 17 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb index 147521fd1..c89932bb5 100644 --- a/ROMFS/px4fmu_common/init.d/rc.usb +++ b/ROMFS/px4fmu_common/init.d/rc.usb @@ -15,29 +15,33 @@ then fi mavlink start -b 230400 -d /dev/ttyACM0 -# Start the commander -commander start +if [ $MODE == autostart ] +then -# Start sensors -sh /etc/init.d/rc.sensors + # Start the commander + commander start -# Start one of the estimators -if attitude_estimator_ekf status -then - echo "multicopter att filter running" -else - if att_pos_estimator_ekf status + # Start sensors + sh /etc/init.d/rc.sensors + + # Start one of the estimators + if attitude_estimator_ekf status then - echo "fixedwing att filter running" + echo "multicopter att filter running" else - attitude_estimator_ekf start + if att_pos_estimator_ekf status + then + echo "fixedwing att filter running" + else + attitude_estimator_ekf start + fi fi -fi -# Start GPS -if gps start -then - echo "GPS started" + # Start GPS + if gps start + then + echo "GPS started" + fi fi echo "MAVLink started, exiting shell.." |