diff options
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/rcS')
| -rwxr-xr-x | ROMFS/px4fmu_common/init.d/rcS | 299 |
1 files changed, 151 insertions, 148 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 30edf679a..6a82acdcc 100755 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -57,168 +57,171 @@ fi if [ $MODE == autostart ] then - -# -# Start terminal -# -if sercon -then - echo "USB connected" -else - # second attempt - sercon & -fi - -# -# Start the ORB (first app to start) -# -uorb start - -# -# Load microSD params -# -if ramtron start -then - param select /ramtron/params - if [ -f /ramtron/params ] + # + # Start terminal + # + if sercon then - param load /ramtron/params + echo "USB connected" + else + # second attempt + sercon & fi -else - param select /fs/microsd/params - if [ -f /fs/microsd/params ] + + # + # Start the ORB (first app to start) + # + uorb start + + # + # Load microSD params + # + if ramtron start then - param load /fs/microsd/params + param select /ramtron/params + if [ -f /ramtron/params ] + then + param load /ramtron/params + fi + else + param select /fs/microsd/params + if [ -f /fs/microsd/params ] + then + param load /fs/microsd/params + fi fi -fi - -# -# Start system state indicator -# -if rgbled start -then - echo "Using external RGB Led" -else - if blinkm start + + # + # Start system state indicator + # + if rgbled start then - blinkm systemstate + echo "Using external RGB Led" + else + if blinkm start + then + blinkm systemstate + fi fi -fi - -# -# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell) -# -if [ -f /fs/microsd/px4io.bin ] -then - echo "PX4IO Firmware found. Checking Upgrade.." - if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.cur + + # + # Start logging + # + sh /etc/init.d/rc.logging + + # + # Check if PX4IO Firmware should be upgraded (from Andrew Tridgell) + # + if [ -f /fs/microsd/px4io.bin ] then - echo "No newer version, skipping upgrade." - else - echo "Loading /fs/microsd/px4io.bin" - if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io.log + echo "PX4IO Firmware found. Checking Upgrade.." + if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.cur then - cp /fs/microsd/px4io.bin /fs/microsd/px4io.cur - echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io.log + echo "No newer version, skipping upgrade." else - echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io.log - echo "Failed to upgrade px4io firmware - check if px4io is in bootloader mode" + echo "Loading /fs/microsd/px4io.bin" + if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io.log + then + cp /fs/microsd/px4io.bin /fs/microsd/px4io.cur + echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io.log + else + echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io.log + echo "Failed to upgrade px4io firmware - check if px4io is in bootloader mode" + fi fi fi -fi - -# -# Check if auto-setup from one of the standard scripts is wanted -# SYS_AUTOSTART = 0 means no autostart (default) -# -if param compare SYS_AUTOSTART 1 -then - sh /etc/init.d/01_fmu_quad_x - set MODE custom -fi - -if param compare SYS_AUTOSTART 2 -then - sh /etc/init.d/02_io_quad_x - set MODE custom -fi - -if param compare SYS_AUTOSTART 8 -then - sh /etc/init.d/08_ardrone - set MODE custom -fi - -if param compare SYS_AUTOSTART 9 -then - sh /etc/init.d/09_ardrone_flow - set MODE custom -fi - -if param compare SYS_AUTOSTART 10 -then - sh /etc/init.d/10_io_f330 - set MODE custom -fi - -if param compare SYS_AUTOSTART 15 -then - sh /etc/init.d/15_io_tbs - set MODE custom -fi - -if param compare SYS_AUTOSTART 30 -then - sh /etc/init.d/30_io_camflyer - set MODE custom -fi - -if param compare SYS_AUTOSTART 31 -then - sh /etc/init.d/31_io_phantom - set MODE custom -fi - -# Try to get an USB console -nshterm /dev/ttyACM0 & - -# Start any custom extensions that might be missing -if [ -f /fs/microsd/etc/rc.local ] -then - sh /fs/microsd/etc/rc.local -fi - -# If none of the autostart scripts triggered, get a minimal setup -if [ $MODE == autostart ] -then - # Telemetry port is on both FMU boards ttyS1 - mavlink start -b 57600 -d /dev/ttyS1 - usleep 5000 - - # Start commander - commander start - - # Start px4io if present - if px4io start + + # + # Check if auto-setup from one of the standard scripts is wanted + # SYS_AUTOSTART = 0 means no autostart (default) + # + if param compare SYS_AUTOSTART 1 then - echo "PX4IO driver started" - else - if fmu mode_serial + sh /etc/init.d/01_fmu_quad_x + set MODE custom + fi + + if param compare SYS_AUTOSTART 2 + then + sh /etc/init.d/02_io_quad_x + set MODE custom + fi + + if param compare SYS_AUTOSTART 8 + then + sh /etc/init.d/08_ardrone + set MODE custom + fi + + if param compare SYS_AUTOSTART 9 + then + sh /etc/init.d/09_ardrone_flow + set MODE custom + fi + + if param compare SYS_AUTOSTART 10 + then + sh /etc/init.d/10_io_f330 + set MODE custom + fi + + if param compare SYS_AUTOSTART 15 + then + sh /etc/init.d/15_io_tbs + set MODE custom + fi + + if param compare SYS_AUTOSTART 30 + then + sh /etc/init.d/30_io_camflyer + set MODE custom + fi + + if param compare SYS_AUTOSTART 31 + then + sh /etc/init.d/31_io_phantom + set MODE custom + fi + + # Try to get an USB console + nshterm /dev/ttyACM0 & + + # Start any custom extensions that might be missing + if [ -f /fs/microsd/etc/rc.local ] + then + sh /fs/microsd/etc/rc.local + fi + + # If none of the autostart scripts triggered, get a minimal setup + if [ $MODE == autostart ] + then + # Telemetry port is on both FMU boards ttyS1 + mavlink start -b 57600 -d /dev/ttyS1 + usleep 5000 + + # Start commander + commander start + + # Start px4io if present + if px4io start then - echo "FMU driver started" + 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 one of the estimators + attitude_estimator_ekf start + + # Start GPS + gps start + fi - - # Start sensors - sh /etc/init.d/rc.sensors - - # Start one of the estimators - attitude_estimator_ekf start - - # Start GPS - gps start - -fi - # End of autostart fi |