diff options
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/rcS')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rcS | 50 |
1 files changed, 47 insertions, 3 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 94c462439..5748fe2b5 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -28,9 +28,6 @@ then tone_alarm start else set LOG_FILE /dev/null - echo "[i] No microSD card found" - # Play SOS - tone_alarm error fi # @@ -555,6 +552,45 @@ then fi # + # VTOL setup + # + if [ $VEHICLE_TYPE == vtol ] + then + echo "[init] Vehicle type: VTOL" + + if [ $MIXER == none ] + then + echo "Default mixer for vtol not defined" + fi + + if [ $MAV_TYPE == none ] + then + # Use mixer to detect vehicle type + if [ $MIXER == FMU_caipirinha_vtol ] + then + set MAV_TYPE 19 + fi + fi + + # Still no MAV_TYPE found + if [ $MAV_TYPE == none ] + then + echo "Unknown MAV_TYPE" + else + param set MAV_TYPE $MAV_TYPE + fi + + # Load mixer and configure outputs + sh /etc/init.d/rc.interface + + # Start standard vtol apps + if [ $LOAD_DEFAULT_APPS == yes ] + then + sh /etc/init.d/rc.vtol_apps + fi + fi + + # # Start the navigator # navigator start @@ -585,6 +621,14 @@ then fi unset EXIT_ON_END + # Run no SD alarm last + if [ $LOG_FILE == /dev/null ] + then + echo "[i] No microSD card found" + # Play SOS + tone_alarm error + fi + # End of autostart fi |