diff options
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/rcS')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rcS | 123 |
1 files changed, 65 insertions, 58 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 5d76e4283..c95016ace 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -65,12 +65,12 @@ then # Start CDC/ACM serial driver # sercon - + # # Start the ORB (first app to start) # uorb start - + # # Load parameters # @@ -79,7 +79,7 @@ then then set PARAM_FILE /fs/mtd_params fi - + param select $PARAM_FILE if param load then @@ -87,21 +87,25 @@ then else echo "[init] ERROR: Params loading failed: $PARAM_FILE" fi - + # # Start system state indicator # if rgbled start then - echo "[init] Using external RGB Led" + echo "[init] RGB Led" else if blinkm start then - echo "[init] Using blinkm" + echo "[init] BlinkM" blinkm systemstate fi fi - + + if pca8574 start + then + fi + # # Set default values # @@ -122,17 +126,21 @@ then set LOAD_DEFAULT_APPS yes set GPS yes set GPS_FAKE no - + # # Set DO_AUTOCONFIG flag to use it in AUTOSTART scripts # if param compare SYS_AUTOCONFIG 1 then + # We can't be sure the defaults haven't changed, so + # if someone requests a re-configuration, we do it + # cleanly from scratch (except autostart / autoconfig) + param reset_nostart set DO_AUTOCONFIG yes else set DO_AUTOCONFIG no fi - + # # Set USE_IO flag # @@ -142,7 +150,7 @@ then else set USE_IO no fi - + # # Set parameters and env variables for selected AUTOSTART # @@ -172,9 +180,9 @@ then param set SYS_AUTOCONFIG 0 param save fi - + set IO_PRESENT no - + if [ $USE_IO == yes ] then # @@ -186,19 +194,19 @@ then else set IO_FILE /etc/extras/px4io-v1_default.bin fi - + if px4io checkcrc $IO_FILE then echo "[init] PX4IO CRC OK" echo "PX4IO CRC OK" >> $LOG_FILE - + set IO_PRESENT yes else echo "[init] Trying to update" echo "PX4IO Trying to update" >> $LOG_FILE - + tone_alarm MLL32CP8MB - + if px4io forceupdate 14662 $IO_FILE then usleep 500000 @@ -207,7 +215,7 @@ then echo "[init] PX4IO CRC OK, update successful" echo "PX4IO CRC OK after updating" >> $LOG_FILE tone_alarm MLL8CDE - + set IO_PRESENT yes else echo "[init] ERROR: PX4IO update failed" @@ -220,14 +228,14 @@ then tone_alarm $TUNE_OUT_ERROR fi fi - + if [ $IO_PRESENT == no ] then echo "[init] ERROR: PX4IO not found" tone_alarm $TUNE_OUT_ERROR fi fi - + # # Set default output if not set # @@ -246,7 +254,7 @@ then # Need IO for output but it not present, disable output set OUTPUT_MODE none echo "[init] ERROR: PX4IO not found, disabling output" - + # Avoid using ttyS0 for MAVLink on FMUv1 if ver hwcmp PX4FMU_V1 then @@ -270,17 +278,17 @@ then # Try to get an USB console nshterm /dev/ttyACM0 & - + # # Start the Commander (needs to be this early for in-air-restarts) # commander start - + # # Start primary output # set TTYS1_BUSY no - + # If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output if [ $OUTPUT_MODE != none ] then @@ -306,7 +314,7 @@ then tone_alarm $TUNE_OUT_ERROR fi fi - + if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == ardrone ] then echo "[init] Use FMU as primary output" @@ -317,7 +325,7 @@ then echo "[init] ERROR: FMU mode_$FMU_MODE start failed" tone_alarm $TUNE_OUT_ERROR fi - + if ver hwcmp PX4FMU_V1 then if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ] @@ -330,7 +338,7 @@ then fi fi fi - + if [ $OUTPUT_MODE == mkblctrl ] then echo "[init] Use MKBLCTRL as primary output" @@ -343,7 +351,7 @@ then then set MKBLCTRL_ARG "-mkmode +" fi - + if mkblctrl $MKBLCTRL_ARG then echo "[init] MKBLCTRL started" @@ -351,9 +359,9 @@ then echo "[init] ERROR: MKBLCTRL start failed" tone_alarm $TUNE_OUT_ERROR fi - + fi - + if [ $OUTPUT_MODE == hil ] then echo "[init] Use HIL as primary output" @@ -365,7 +373,7 @@ then tone_alarm $TUNE_OUT_ERROR fi fi - + # # Start IO or FMU for RC PPM input if needed # @@ -392,7 +400,7 @@ then echo "[init] ERROR: FMU mode_$FMU_MODE start failed" tone_alarm $TUNE_OUT_ERROR fi - + if ver hwcmp PX4FMU_V1 then if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ] @@ -407,7 +415,7 @@ then fi fi fi - + # # MAVLink # @@ -428,28 +436,17 @@ then fi mavlink start $MAVLINK_FLAGS - - # - # Start the datamanager - # - dataman start - - # - # Start the navigator - # - navigator start - + # # Sensors, Logging, GPS # sh /etc/init.d/rc.sensors - if [ $HIL == no ] - then - echo "[init] Start logging" - sh /etc/init.d/rc.logging - fi - + # + # Start logging in all modes, including HIL + # + sh /etc/init.d/rc.logging + if [ $GPS == yes ] then echo "[init] Start GPS" @@ -459,7 +456,7 @@ then gps start -f else gps start - fi + fi fi # @@ -476,24 +473,24 @@ then if [ $VEHICLE_TYPE == fw ] then echo "[init] Vehicle type: FIXED WING" - + if [ $MIXER == none ] then # Set default mixer for fixed wing if not defined set MIXER FMU_AERT fi - + if [ $MAV_TYPE == none ] then # Use MAV_TYPE = 1 (fixed wing) if not defined set MAV_TYPE 1 fi - + param set MAV_TYPE $MAV_TYPE - + # Load mixer and configure outputs sh /etc/init.d/rc.interface - + # Start standard fixedwing apps if [ $LOAD_DEFAULT_APPS == yes ] then @@ -541,7 +538,7 @@ then set MAV_TYPE 14 fi fi - + # Still no MAV_TYPE found if [ $MAV_TYPE == none ] then @@ -549,10 +546,10 @@ then else param set MAV_TYPE $MAV_TYPE fi - + # Load mixer and configure outputs sh /etc/init.d/rc.interface - + # Start standard multicopter apps if [ $LOAD_DEFAULT_APPS == yes ] then @@ -561,6 +558,16 @@ then fi # + # Start the datamanager + # + dataman start + + # + # Start the navigator + # + navigator start + + # # Generic setup (autostart ID not found) # if [ $VEHICLE_TYPE == none ] |