diff options
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/rcS')
| -rw-r--r--[-rwxr-xr-x] | ROMFS/px4fmu_common/init.d/rcS | 81 |
1 files changed, 70 insertions, 11 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index d8b5cb608..6eac00d0c 100755..100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -8,6 +8,8 @@ # set MODE autostart +set logfile /fs/microsd/bootlog.txt + # # Try to mount the microSD card. # @@ -111,6 +113,16 @@ then # commander start + # + # Start the datamanager + # + dataman start + + # + # Start the Navigator + # + navigator start + if param compare SYS_AUTOSTART 1000 then sh /etc/init.d/1000_rc_fw_easystar.hil @@ -147,26 +159,49 @@ then nshterm /dev/ttyACM0 & fi - # # Upgrade PX4IO firmware # - if px4io detect + + if [ -f /etc/extras/px4io-v2_default.bin ] then - echo "PX4IO running, not upgrading" + set io_file /etc/extras/px4io-v2_default.bin else - echo "Attempting to upgrade PX4IO" - if px4io update + set io_file /etc/extras/px4io-v1_default.bin + fi + + if px4io start + then + echo "PX4IO OK" + echo "PX4IO OK" >> $logfile + fi + + if px4io checkcrc $io_file + then + echo "PX4IO CRC OK" + echo "PX4IO CRC OK" >> $logfile + else + echo "PX4IO CRC failure" + echo "PX4IO CRC failure" >> $logfile + tone_alarm MBABGP + if px4io forceupdate 14662 $io_file then - if [ -d /fs/microsd ] + usleep 200000 + if px4io start then - echo "Flashed PX4IO Firmware OK" > /fs/microsd/px4io.log + echo "PX4IO restart OK" + echo "PX4IO restart OK" >> $logfile + tone_alarm MSPAA + else + echo "PX4IO restart failed" + echo "PX4IO restart failed" >> $logfile + tone_alarm MNGGG + sh /etc/init.d/rc.error fi - - # Allow IO to safely kick back to app - usleep 200000 else - echo "No PX4IO to upgrade here" + echo "PX4IO update failed" + echo "PX4IO update failed" >> $logfile + tone_alarm MNGGG fi fi @@ -296,6 +331,18 @@ then set MODE custom fi + if param compare SYS_AUTOSTART 33 + then + sh /etc/init.d/33_io_wingwing + set MODE custom + fi + + if param compare SYS_AUTOSTART 34 + then + sh /etc/init.d/34_io_fx79 + set MODE custom + fi + if param compare SYS_AUTOSTART 40 then sh /etc/init.d/40_io_segway @@ -313,6 +360,18 @@ then sh /etc/init.d/101_hk_bixler set MODE custom fi + + if param compare SYS_AUTOSTART 102 + then + sh /etc/init.d/102_3dr_skywalker + set MODE custom + fi + + if param compare SYS_AUTOSTART 800 + then + sh /etc/init.d/800_sdlogger + set MODE custom + fi # Start any custom extensions that might be missing if [ -f /fs/microsd/etc/rc.local ] |