diff options
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/101_hk_bixler')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/101_hk_bixler | 36 |
1 files changed, 11 insertions, 25 deletions
diff --git a/ROMFS/px4fmu_common/init.d/101_hk_bixler b/ROMFS/px4fmu_common/init.d/101_hk_bixler index cef86c34d..920a24e2f 100644 --- a/ROMFS/px4fmu_common/init.d/101_hk_bixler +++ b/ROMFS/px4fmu_common/init.d/101_hk_bixler @@ -52,8 +52,6 @@ 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 @@ -61,39 +59,27 @@ 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) +# Load mixer and start controllers (depends on px4io) # -sh /etc/init.d/rc.logging +if [ -f /fs/microsd/etc/mixers/FMU_AERT.mix ] +then + echo "Using /fs/microsd/etc/mixers/FMU_AERT.mix" + mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_AERT.mix +else + echo "Using /etc/mixers/FMU_Q.mix" + mixer load /dev/pwm_output /etc/mixers/FMU_AERT.mix +fi # -# 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) +Start common fixedwing apps # -mixer load /dev/pwm_output /etc/mixers/FMU_AERT.mix -fw_att_control start -fw_pos_control_l1 start +sh /etc/init.d/rc.fixedwing if [ $EXIT_ON_END == yes ] then |