diff options
-rw-r--r-- | ROMFS/scripts/rc.PX4IO | 57 | ||||
-rw-r--r-- | ROMFS/scripts/rc.PX4IOAR | 27 |
2 files changed, 56 insertions, 28 deletions
diff --git a/ROMFS/scripts/rc.PX4IO b/ROMFS/scripts/rc.PX4IO index 1e3963b9a..625f23bdd 100644 --- a/ROMFS/scripts/rc.PX4IO +++ b/ROMFS/scripts/rc.PX4IO @@ -5,7 +5,7 @@ set USB no set MODE camflyer # -# Start the ORB +# Start the ORB (first app to start) # uorb start @@ -27,38 +27,65 @@ fi param set MAV_TYPE 1 # -# Start the sensors. +# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell) # -sh /etc/init.d/rc.sensors +if [ -f /fs/microsd/px4io.bin ] +then + echo "PX4IO Firmware found. Checking Upgrade.." + if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current + then + echo "No newer version, skipping upgrade." + else + echo "Loading /fs/microsd/px4io.bin" + if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log + then + cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current + echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log + else + echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log + echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode" + fi + fi +fi # -# Start MAVLink +# Start MAVLink (depends on orb) # mavlink start -d /dev/ttyS1 -b 57600 usleep 5000 # -# Start the commander. +# Start the commander (depends on orb, mavlink) # commander start # -# Start GPS interface +# Start PX4IO interface (depends on orb, commander) # -gps start +px4io start # -# Start the attitude estimator +# Allow PX4IO to recover from midair restarts. +# this is very unlikely, but quite safe and robust. +px4io recovery + # -kalman_demo start +# Start the sensors (depends on orb, px4io) +# +sh /etc/init.d/rc.sensors # -# Start PX4IO interface +# Start GPS interface (depends on orb) # -px4io start +gps start + +# +# Start the attitude estimator (depends on orb) +# +kalman_demo start # -# Load mixer and start controllers +# Load mixer and start controllers (depends on px4io) # mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix control_demo start @@ -66,8 +93,8 @@ control_demo start # # Start logging # -sdlog start -s 10 - +#sdlog start -s 4 + # # Start system state # @@ -77,4 +104,4 @@ then blinkm systemstate else echo "no BlinkM found, OK." -fi +fi
\ No newline at end of file diff --git a/ROMFS/scripts/rc.PX4IOAR b/ROMFS/scripts/rc.PX4IOAR index 72df68e35..6af91992e 100644 --- a/ROMFS/scripts/rc.PX4IOAR +++ b/ROMFS/scripts/rc.PX4IOAR @@ -2,10 +2,10 @@ # # Flight startup script for PX4FMU on PX4IOAR carrier board. # - + # Disable the USB interface set USB no - + # Disable autostarting other apps set MODE ardrone @@ -25,13 +25,18 @@ if [ -f /fs/microsd/parameters ] then param load /fs/microsd/parameters fi - + # # Force some key parameters to sane values # MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor # see https://pixhawk.ethz.ch/mavlink/ # param set MAV_TYPE 2 + +# +# Configure PX4FMU for operation with PX4IOAR +# +fmu mode_gpio_serial # # Start the sensors. @@ -55,11 +60,6 @@ commander start attitude_estimator_ekf start # -# Configure PX4FMU for operation with PX4IOAR -# -fmu mode_gpio_serial - -# # Fire up the multi rotor attitude controller # multirotor_att_control start @@ -68,11 +68,6 @@ multirotor_att_control start # Fire up the AR.Drone interface. # ardrone_interface start -d /dev/ttyS1 - -# -# Start GPS capture -# -gps start # # Start logging @@ -80,6 +75,11 @@ gps start sdlog start -s 10 # +# Start GPS capture +# +gps start + +# # Start system state # if blinkm start @@ -95,4 +95,5 @@ fi # use the same UART for telemetry # echo "[init] startup done" + exit
\ No newline at end of file |