diff options
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/10_io_f330 | 10 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.sensors | 3 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.usb | 14 | ||||
| -rw-r--r-- | src/drivers/l3gd20/l3gd20.cpp | 2 | ||||
| -rw-r--r-- | src/drivers/lsm303d/lsm303d.cpp | 2 |
5 files changed, 20 insertions, 11 deletions
diff --git a/ROMFS/px4fmu_common/init.d/10_io_f330 b/ROMFS/px4fmu_common/init.d/10_io_f330 index 4450eb50d..4083bb905 100644 --- a/ROMFS/px4fmu_common/init.d/10_io_f330 +++ b/ROMFS/px4fmu_common/init.d/10_io_f330 @@ -75,6 +75,8 @@ px4io min 1200 1200 1200 1200 # Upper limits could be higher, this is on the safe side # px4io max 1800 1800 1800 1800 + +mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix # # Start the sensors (depends on orb, px4io) @@ -95,17 +97,13 @@ gps start # Start the attitude estimator (depends on orb) # attitude_estimator_ekf start - -# -# Load mixer and start controllers (depends on px4io) -# -mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix + multirotor_att_control start # # Start logging # -sdlog2 start -r 20 -a -b 16 +sdlog2 start -r 50 -a -b 16 # # Start system state diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors index 5e80ddc2f..26b561571 100644 --- a/ROMFS/px4fmu_common/init.d/rc.sensors +++ b/ROMFS/px4fmu_common/init.d/rc.sensors @@ -36,8 +36,5 @@ fi # if sensors start then - # - # Check sensors - run AFTER 'sensors start' - # preflight_check & fi diff --git a/ROMFS/px4fmu_common/init.d/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb index 5b1bd272e..abeed0ca3 100644 --- a/ROMFS/px4fmu_common/init.d/rc.usb +++ b/ROMFS/px4fmu_common/init.d/rc.usb @@ -16,12 +16,26 @@ fi sleep 2 mavlink start -b 230400 -d /dev/ttyACM0 +# Stop commander +if commander stop +then + echo "Commander stopped" +fi +sleep 1 + # Start the commander if commander start then echo "Commander started" fi +# Stop px4io +if px4io stop +then + echo "PX4IO stopped" +fi +sleep 1 + # Start px4io if present if px4io start then diff --git a/src/drivers/l3gd20/l3gd20.cpp b/src/drivers/l3gd20/l3gd20.cpp index fde201351..42a0c264c 100644 --- a/src/drivers/l3gd20/l3gd20.cpp +++ b/src/drivers/l3gd20/l3gd20.cpp @@ -780,7 +780,7 @@ start() int fd; if (g_dev != nullptr) - errx(1, "already started"); + errx(0, "already started"); /* create the driver */ g_dev = new L3GD20(1 /* XXX magic number */, GYRO_DEVICE_PATH, (spi_dev_e)PX4_SPIDEV_GYRO); diff --git a/src/drivers/lsm303d/lsm303d.cpp b/src/drivers/lsm303d/lsm303d.cpp index a95b62468..117583faf 100644 --- a/src/drivers/lsm303d/lsm303d.cpp +++ b/src/drivers/lsm303d/lsm303d.cpp @@ -1370,7 +1370,7 @@ start() int fd, fd_mag; if (g_dev != nullptr) - errx(1, "already started"); + errx(0, "already started"); /* create the driver */ g_dev = new LSM303D(1 /* XXX magic number */, ACCEL_DEVICE_PATH, (spi_dev_e)PX4_SPIDEV_ACCEL_MAG); |