diff options
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/rcS')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rcS | 246 |
1 files changed, 155 insertions, 91 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index d12785368..8855539fe 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -3,8 +3,7 @@ # PX4FMU startup script. # -# Default to auto-start mode. An init script on the microSD card -# can change this to prevent automatic startup of the flight script. +# Default to auto-start mode. # set MODE autostart @@ -21,7 +20,7 @@ echo "[init] Looking for microSD..." if mount -t vfat /dev/mmcsd0 /fs/microsd then set LOG_FILE /fs/microsd/bootlog.txt - echo "[init] microSD card mounted at /fs/microsd" + echo "[init] microSD mounted: /fs/microsd" # Start playing the startup tune tone_alarm start else @@ -66,12 +65,12 @@ then # Start CDC/ACM serial driver # sercon - + # # Start the ORB (first app to start) # uorb start - + # # Load parameters # @@ -80,36 +79,39 @@ then then set PARAM_FILE /fs/mtd_params fi - + param select $PARAM_FILE if param load then - echo "[init] Parameters loaded: $PARAM_FILE" + echo "[init] Params loaded: $PARAM_FILE" else - echo "[init] ERROR: Parameters loading failed: $PARAM_FILE" + 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 # set HIL no set VEHICLE_TYPE none set MIXER none - set USE_IO yes set OUTPUT_MODE none set PWM_OUTPUTS none set PWM_RATE none @@ -118,24 +120,43 @@ then set PWM_MAX none set MKBLCTRL_MODE none set FMU_MODE pwm + set MAVLINK_FLAGS default + set EXIT_ON_END no set MAV_TYPE none - + 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 + # + if param compare SYS_USE_IO 1 + then + set USE_IO yes + else + set USE_IO no + fi + # # Set parameters and env variables for selected AUTOSTART # if param compare SYS_AUTOSTART 0 then - echo "[init] Don't try to find autostart script" + echo "[init] No autostart" else sh /etc/init.d/rc.autostart fi @@ -145,10 +166,10 @@ then # if [ -f $CONFIG_FILE ] then - echo "[init] Reading config: $CONFIG_FILE" + echo "[init] Config: $CONFIG_FILE" sh $CONFIG_FILE else - echo "[init] Config file not found: $CONFIG_FILE" + echo "[init] Config not found: $CONFIG_FILE" fi # @@ -159,9 +180,9 @@ then param set SYS_AUTOCONFIG 0 param save fi - + set IO_PRESENT no - + if [ $USE_IO == yes ] then # @@ -173,19 +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 @@ -194,7 +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" @@ -207,14 +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 # @@ -233,36 +254,46 @@ 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 hw_ver compare PX4FMU_V1 + if ver hwcmp PX4FMU_V1 then set FMU_MODE serial fi fi + if [ $OUTPUT_MODE == ardrone ] + then + set FMU_MODE gpio_serial + fi + if [ $HIL == yes ] then set OUTPUT_MODE hil - if hw_ver compare PX4FMU_V1 + if ver hwcmp PX4FMU_V1 then set FMU_MODE serial fi - else - # Try to get an USB console if not in HIL mode - nshterm /dev/ttyACM0 & fi - + + # Try to get an USB console + nshterm /dev/ttyACM0 & + + # + # Start the datamanager + # + dataman start + # # 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 @@ -278,9 +309,10 @@ then tone_alarm $TUNE_OUT_ERROR fi fi - if [ $OUTPUT_MODE == fmu ] + + if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == ardrone ] then - echo "[init] Use FMU PWM as primary output" + echo "[init] Use FMU as primary output" if fmu mode_$FMU_MODE then echo "[init] FMU mode_$FMU_MODE started" @@ -288,19 +320,20 @@ then echo "[init] ERROR: FMU mode_$FMU_MODE start failed" tone_alarm $TUNE_OUT_ERROR fi - - if hw_ver compare PX4FMU_V1 + + if ver hwcmp PX4FMU_V1 then if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ] then set TTYS1_BUSY yes fi - if [ $FMU_MODE == pwm_gpio ] + if [ $FMU_MODE == pwm_gpio -o $OUTPUT_MODE == ardrone ] then set TTYS1_BUSY yes fi fi fi + if [ $OUTPUT_MODE == mkblctrl ] then echo "[init] Use MKBLCTRL as primary output" @@ -313,7 +346,7 @@ then then set MKBLCTRL_ARG "-mkmode +" fi - + if mkblctrl $MKBLCTRL_ARG then echo "[init] MKBLCTRL started" @@ -321,12 +354,13 @@ then echo "[init] ERROR: MKBLCTRL start failed" tone_alarm $TUNE_OUT_ERROR fi - - fi + + fi + if [ $OUTPUT_MODE == hil ] then echo "[init] Use HIL as primary output" - if hil mode_pwm + if hil mode_port2_pwm8 then echo "[init] HIL output started" else @@ -334,7 +368,7 @@ then tone_alarm $TUNE_OUT_ERROR fi fi - + # # Start IO or FMU for RC PPM input if needed # @@ -352,7 +386,7 @@ then fi fi else - if [ $OUTPUT_MODE != fmu ] + if [ $OUTPUT_MODE != fmu -a $OUTPUT_MODE != ardrone ] then if fmu mode_$FMU_MODE then @@ -361,14 +395,14 @@ then echo "[init] ERROR: FMU mode_$FMU_MODE start failed" tone_alarm $TUNE_OUT_ERROR fi - - if hw_ver compare PX4FMU_V1 + + if ver hwcmp PX4FMU_V1 then if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ] then set TTYS1_BUSY yes fi - if [ $FMU_MODE == pwm_gpio ] + if [ $FMU_MODE == pwm_gpio -o $OUTPUT_MODE == ardrone ] then set TTYS1_BUSY yes fi @@ -376,74 +410,87 @@ then fi fi fi - + # # MAVLink # - set EXIT_ON_END no - - if [ $HIL == yes ] + if [ $MAVLINK_FLAGS == default ] then - sleep 1 - mavlink start -b 230400 -d /dev/ttyACM0 - usleep 5000 - else + # Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s if [ $TTYS1_BUSY == yes ] then # Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else - mavlink start -d /dev/ttyS0 - usleep 5000 - + set MAVLINK_FLAGS "-r 1000 -d /dev/ttyS0" + # Exit from nsh to free port for mavlink set EXIT_ON_END yes else # Start MAVLink on default port: ttyS1 - mavlink start - usleep 5000 + set MAVLINK_FLAGS "-r 1000" fi fi - + + mavlink start $MAVLINK_FLAGS + # # Sensors, Logging, GPS # - echo "[init] Start sensors" sh /etc/init.d/rc.sensors - if [ $HIL == no ] + # + # Start logging in all modes, including HIL + # + sh /etc/init.d/rc.logging + + if [ $GPS == yes ] then - echo "[init] Start logging" - sh /etc/init.d/rc.logging - echo "[init] Start GPS" - gps start + if [ $GPS_FAKE == yes ] + then + echo "[init] Faking GPS" + gps start -f + else + gps start + fi fi - + + # + # Start up ARDrone Motor interface + # + if [ $OUTPUT_MODE == ardrone ] + then + ardrone_interface start -d /dev/ttyS1 + fi + # # Fixed wing setup # 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 - sh /etc/init.d/rc.fw_apps + if [ $LOAD_DEFAULT_APPS == yes ] + then + sh /etc/init.d/rc.fw_apps + fi fi # @@ -455,21 +502,25 @@ then if [ $MIXER == none ] then - # Set default mixer for multicopter if not defined - set MIXER quad_x + echo "Default mixer for multicopter not defined" fi if [ $MAV_TYPE == none ] then - # Use MAV_TYPE = 2 (quadcopter) if not defined - set MAV_TYPE 2 - # Use mixer to detect vehicle type + if [ $MIXER == FMU_quad_x -o $MIXER == FMU_quad_+ ] + then + set MAV_TYPE 2 + fi + if [ $MIXER == FMU_quad_w ] + then + set MAV_TYPE 2 + fi if [ $MIXER == FMU_hexa_x -o $MIXER == FMU_hexa_+ ] then set MAV_TYPE 13 fi - if [ $MIXER == hexa_cox ] + if [ $MIXER == FMU_hexa_cox ] then set MAV_TYPE 13 fi @@ -483,24 +534,36 @@ then fi fi - param set MAV_TYPE $MAV_TYPE - + # 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 multicopter apps - sh /etc/init.d/rc.mc_apps + if [ $LOAD_DEFAULT_APPS == yes ] + then + sh /etc/init.d/rc.mc_apps + fi fi # + # Start the navigator + # + navigator start + + # # Generic setup (autostart ID not found) # if [ $VEHICLE_TYPE == none ] then - echo "[init] Vehicle type: GENERIC" + echo "[init] Vehicle type: No autostart ID found" - # Load mixer and configure outputs - sh /etc/init.d/rc.interface fi # Start any custom addons @@ -509,11 +572,12 @@ then echo "[init] Starting addons script: $EXTRAS_FILE" sh $EXTRAS_FILE else - echo "[init] Addons script not found: $EXTRAS_FILE" + echo "[init] No addons script: $EXTRAS_FILE" fi if [ $EXIT_ON_END == yes ] then + echo "[init] Exit from nsh" exit fi |