diff options
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/rc.hil')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.hil | 68 |
1 files changed, 68 insertions, 0 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.hil b/ROMFS/px4fmu_common/init.d/rc.hil new file mode 100644 index 000000000..7614ac0fe --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.hil @@ -0,0 +1,68 @@ +#!nsh +# +# USB HIL start +# + +echo "[HIL] starting.." + +uorb start + +# Tell MAVLink that this link is "fast" +mavlink start -b 230400 -d /dev/console + +# Create a fake HIL /dev/pwm_output interface +hil mode_pwm + +# +# Load microSD params +# +echo "[init] loading microSD params" +param select /fs/microsd/params +if [ -f /fs/microsd/params ] +then + param load /fs/microsd/params +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 1 + +# +# Start the commander (depends on orb, mavlink) +# +commander start + +# +# Check if we got an IO +# +if [ px4io start ] +then + echo "IO started" +else + fmu mode_serial + echo "FMU started" +end + +# +# Start the sensors (depends on orb, px4io) +# +sh /etc/init.d/rc.sensors + +# +# Start the attitude estimator (depends on orb) +# +kalman_demo start + +# +# Load mixer and start controllers (depends on px4io) +# +mixer load /dev/pwm_output /etc/mixers/FMU_AET.mix +control_demo start + +echo "[HIL] setup done, running" + +# Exit shell to make it available to MAVLink +exit |