diff options
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/01_fmu_quad_x')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/01_fmu_quad_x | 52 |
1 files changed, 17 insertions, 35 deletions
diff --git a/ROMFS/px4fmu_common/init.d/01_fmu_quad_x b/ROMFS/px4fmu_common/init.d/01_fmu_quad_x index 8223b3ea5..f57e4bd68 100644 --- a/ROMFS/px4fmu_common/init.d/01_fmu_quad_x +++ b/ROMFS/px4fmu_common/init.d/01_fmu_quad_x @@ -1,28 +1,6 @@ #!nsh -# -# Flight startup script for PX4FMU with PWM outputs. -# - -# disable USB and autostart -set USB no -set MODE custom - -echo "[init] doing PX4FMU Quad startup..." - -# -# Start the ORB -# -uorb start - -# -# Load microSD params -# -echo "[init] loading microSD params" -param select /fs/microsd/params -if [ -f /fs/microsd/params ] -then - param load /fs/microsd/params -fi + +echo "[init] 01_fmu_quad_x: PX4FMU Quad X with PWM outputs" # # Load default params for this platform @@ -52,11 +30,10 @@ fi # # Force some key parameters to sane values -# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor -# see https://pixhawk.ethz.ch/mavlink/ +# MAV_TYPE 2 = quadrotor # param set MAV_TYPE 2 - + # # Start MAVLink # @@ -64,19 +41,24 @@ mavlink start -d /dev/ttyS0 -b 57600 usleep 5000 # -# Start common for all multirotors apps +# Start PWM output # -sh /etc/init.d/rc.multirotor +fmu mode_pwm # -# Start PWM output +# Load mixer # -fmu mode_pwm mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix + +# +# Set PWM output frequency +# pwm -u 400 -m 0xff - -# Try to get an USB console -nshterm /dev/ttyACM0 & +# +# Start common for all multirotors apps +# +sh /etc/init.d/rc.multirotor + # Exit, because /dev/ttyS0 is needed for MAVLink -#exit +exit |