diff options
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/101_hk_bixler')
-rw-r--r-- | ROMFS/px4fmu_common/init.d/101_hk_bixler | 80 |
1 files changed, 80 insertions, 0 deletions
diff --git a/ROMFS/px4fmu_common/init.d/101_hk_bixler b/ROMFS/px4fmu_common/init.d/101_hk_bixler new file mode 100644 index 000000000..89b3185ad --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/101_hk_bixler @@ -0,0 +1,80 @@ +#!nsh + +echo "[init] PX4FMU v1, v2 with or without IO on HK Bixler" + +# +# Load default params for this platform +# +if param compare SYS_AUTOCONFIG 1 +then + # Set all params here, then disable autoconfig + # TODO + + param set SYS_AUTOCONFIG 0 + param save +fi + +# +# Force some key parameters to sane values +# MAV_TYPE 1 = fixed wing +# +param set MAV_TYPE 1 + +set EXIT_ON_END no + +# +# Start and configure PX4IO or FMU interface +# +if px4io detect +then + # Start MAVLink (depends on orb) + mavlink start + + commander start + + sh /etc/init.d/rc.io + # Limit to 100 Hz updates and (implicit) 50 Hz PWM + px4io limit 100 +else + # Start MAVLink (on UART1 / ttyS0) + mavlink start -d /dev/ttyS0 + + commander start + + fmu mode_pwm + param set BAT_V_SCALING 0.004593 + set EXIT_ON_END yes +fi + +# +# Start the sensors and test them. +# +sh /etc/init.d/rc.sensors + +# +# Start logging (depends on sensors) +# +sh /etc/init.d/rc.logging + +# +# Start GPS interface (depends on orb) +# +gps start + +# +# Start the attitude and position estimator +# +att_pos_estimator_ekf start + +# +# Load mixer and start controllers (depends on px4io) +# +mixer load /dev/pwm_output /etc/mixers/FMU_AERT.mix +fw_att_control start +# Not ready yet for prime-time +#fw_pos_control_l1 start + +if [ $EXIT_ON_END == yes ] +then + exit +fi |