diff options
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/rc.FMU_quad_x')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.FMU_quad_x | 67 |
1 files changed, 67 insertions, 0 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.FMU_quad_x b/ROMFS/px4fmu_common/init.d/rc.FMU_quad_x new file mode 100644 index 000000000..8787443ea --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.FMU_quad_x @@ -0,0 +1,67 @@ +#!nsh +# +# Flight startup script for PX4FMU with PWM outputs. +# + +# Disable the USB interface +set USB no + +# Disable autostarting other apps +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/parameters +if [ -f /fs/microsd/parameters ] +then + param load /fs/microsd/parameters +fi + +# +# Force some key parameters to sane values +# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor +# see https://pixhawk.ethz.ch/mavlink/ +# +param set MAV_TYPE 2 + +# +# Start MAVLink +# +mavlink start -d /dev/ttyS0 -b 57600 +usleep 5000 + +# +# Start the sensors and test them. +# +sh /etc/init.d/rc.sensors + +# +# Start the commander. +# +commander start + +# +# Start the attitude estimator +# +attitude_estimator_ekf start + +echo "[init] starting PWM output" +fmu mode_pwm +mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix + +# +# Start attitude control +# +multirotor_att_control start + +echo "[init] startup done, exiting" +exit
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