diff options
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/30_io_camflyer')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/30_io_camflyer | 61 |
1 files changed, 35 insertions, 26 deletions
diff --git a/ROMFS/px4fmu_common/init.d/30_io_camflyer b/ROMFS/px4fmu_common/init.d/30_io_camflyer index f7e653362..c4c4ea3da 100644 --- a/ROMFS/px4fmu_common/init.d/30_io_camflyer +++ b/ROMFS/px4fmu_common/init.d/30_io_camflyer @@ -1,6 +1,6 @@ #!nsh -echo "[init] 30_io_camflyer: PX4FMU+PX4IO on Camflyer" +echo "[init] PX4FMU v1, v2 with or without IO on Camflyer" # # Load default params for this platform @@ -19,34 +19,32 @@ fi # MAV_TYPE 1 = fixed wing # param set MAV_TYPE 1 - -# -# Start MAVLink (depends on orb) -# -mavlink start -d /dev/ttyS1 -b 57600 -usleep 5000 - -# -# Start the commander (depends on orb, mavlink) -# -commander start - -# -# Start PX4IO interface (depends on orb, commander) + +set EXIT_ON_END no + # -px4io start - +# Start and configure PX4IO or FMU interface # -# Allow PX4IO to recover from midair restarts. -# this is very unlikely, but quite safe and robust. -px4io recovery +if px4io detect +then + # Start MAVLink (depends on orb) + mavlink start + usleep 5000 -# -# Set actuator limit to 100 Hz update (50 Hz PWM) -px4io limit 100 + 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 + usleep 5000 + fmu mode_pwm + param set BAT_V_SCALING 0.004593 + set EXIT_ON_END yes +fi # -# Start the sensors (depends on orb, px4io) +# Start the sensors and test them. # sh /etc/init.d/rc.sensors @@ -54,7 +52,12 @@ sh /etc/init.d/rc.sensors # Start logging (depends on sensors) # sh /etc/init.d/rc.logging - + +# +# Start the commander. +# +commander start + # # Start GPS interface (depends on orb) # @@ -70,4 +73,10 @@ att_pos_estimator_ekf start # mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix fw_att_control start -fw_pos_control_l1 start +# Not ready yet for prime-time +#fw_pos_control_l1 start + +if [ $EXIT_ON_END == yes ] +then + exit +fi |