diff options
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/800_sdlogger | 60 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rcS | 6 |
2 files changed, 66 insertions, 0 deletions
diff --git a/ROMFS/px4fmu_common/init.d/800_sdlogger b/ROMFS/px4fmu_common/init.d/800_sdlogger new file mode 100644 index 000000000..955fe0e2a --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/800_sdlogger @@ -0,0 +1,60 @@ +#!nsh + +echo "[init] PX4FMU v1, v2 init to log only + +# +# Load default params for this platform +# +if param compare SYS_AUTOCONFIG 1 +then + # Set all params here, then disable autoconfig + param set SYS_AUTOCONFIG 0 + + param save +fi + +set EXIT_ON_END no + +# +# Start and configure PX4IO or FMU interface +# +if px4io detect +then + # Start MAVLink (depends on orb) + mavlink start + usleep 5000 + + commander start + + sh /etc/init.d/rc.io + # Set PWM values for DJI ESCs +else + # Start MAVLink (on UART1 / ttyS0) + mavlink start -d /dev/ttyS0 + usleep 5000 + param set BAT_V_SCALING 0.004593 + set EXIT_ON_END yes +fi + +sh /etc/init.d/rc.sensors + +gps start + +attitude_estimator_ekf start + +position_estimator_inav start + +if [ -d /fs/microsd ] +then + if [ $BOARD == fmuv1 ] + then + sdlog2 start -r 50 -e -b 16 + else + sdlog2 start -r 200 -e -b 16 + fi +fi + +if [ $EXIT_ON_END == yes ] +then + exit +fi diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index f551c1aa8..06102b707 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -345,6 +345,12 @@ then set MODE custom fi + if param compare SYS_AUTOSTART 800 + then + sh /etc/init.d/800_sdlogger + set MODE custom + fi + # Start any custom extensions that might be missing if [ -f /fs/microsd/etc/rc.local ] then |