diff options
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/666_fmu_q_x550')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/666_fmu_q_x550 | 43 |
1 files changed, 31 insertions, 12 deletions
diff --git a/ROMFS/px4fmu_common/init.d/666_fmu_q_x550 b/ROMFS/px4fmu_common/init.d/666_fmu_q_x550 index eae37098b..1ee84b9b0 100644 --- a/ROMFS/px4fmu_common/init.d/666_fmu_q_x550 +++ b/ROMFS/px4fmu_common/init.d/666_fmu_q_x550 @@ -1,6 +1,6 @@ #!nsh -echo "[init] 666_fmu_q_x550: PX4FMU Quad X550 with PWM outputs" +echo "[init] 666_fmu_q_x550: PX4FMU Quad X550 with or without IO" # # Load default params for this platform @@ -33,17 +33,27 @@ fi # MAV_TYPE 2 = quadrotor # param set MAV_TYPE 2 - -# -# Start MAVLink -# -mavlink start -d /dev/ttyS0 -b 57600 -usleep 5000 + +set EXIT_ON_END no # -# Start PWM output +# Start and configure PX4IO or FMU interface # -fmu mode_pwm +if px4io detect +then + # Start MAVLink (depends on orb) + mavlink start + usleep 5000 + + sh /etc/init.d/rc.io +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 # # Load mixer @@ -56,9 +66,18 @@ mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix pwm rate -c 1234 -r 400 # +# Set disarmed, min and max PWM signals +# +pwm disarmed -c 1234 -p 900 +pwm min -c 1234 -p 1100 +pwm max -c 1234 -p 1900 + +# # Start common for all multirotors apps # sh /etc/init.d/rc.multirotor - -# Exit, because /dev/ttyS0 is needed for MAVLink -exit + +if [ $EXIT_ON_END == yes ] +then + exit +fi |