diff options
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/rc.usb')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.usb | 49 |
1 files changed, 30 insertions, 19 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb index c89932bb5..5b1bd272e 100644 --- a/ROMFS/px4fmu_common/init.d/rc.usb +++ b/ROMFS/px4fmu_common/init.d/rc.usb @@ -13,35 +13,46 @@ if mavlink stop then echo "stopped other MAVLink instance" fi +sleep 2 mavlink start -b 230400 -d /dev/ttyACM0 -if [ $MODE == autostart ] +# Start the commander +if commander start then + echo "Commander started" +fi - # Start the commander - commander start +# Start px4io if present +if px4io start +then + echo "PX4IO driver started" +else + if fmu mode_serial + then + echo "FMU driver started" + fi +fi - # Start sensors - sh /etc/init.d/rc.sensors +# Start sensors +sh /etc/init.d/rc.sensors - # Start one of the estimators - if attitude_estimator_ekf status +# Start one of the estimators +if attitude_estimator_ekf status +then + echo "multicopter att filter running" +else + if att_pos_estimator_ekf status then - echo "multicopter att filter running" + echo "fixedwing att filter running" else - if att_pos_estimator_ekf status - then - echo "fixedwing att filter running" - else - attitude_estimator_ekf start - fi + attitude_estimator_ekf start fi +fi - # Start GPS - if gps start - then - echo "GPS started" - fi +# Start GPS +if gps start +then + echo "GPS started" fi echo "MAVLink started, exiting shell.." |