diff options
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/rcS')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rcS | 84 |
1 files changed, 61 insertions, 23 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 76f021e33..503dbb83e 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -108,7 +108,6 @@ then 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 @@ -117,7 +116,10 @@ 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 DO_AUTOCONFIG flag to use it in AUTOSTART scripts @@ -128,6 +130,16 @@ then 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 @@ -240,6 +252,11 @@ then fi fi + if [ $OUTPUT_MODE == ardrone ] + then + set FMU_MODE gpio_serial + fi + if [ $HIL == yes ] then set OUTPUT_MODE hil @@ -277,9 +294,9 @@ 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" @@ -294,7 +311,7 @@ then 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 @@ -351,7 +368,7 @@ then fi fi else - if [ $OUTPUT_MODE != fmu ] + if [ $OUTPUT_MODE != fmu -a $OUTPUT_MODE != ardrone ] then if fmu mode_$FMU_MODE then @@ -367,7 +384,7 @@ then 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 @@ -379,28 +396,34 @@ then # # 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 - if [ $TTYS1_BUSY == yes ] + if [ $HIL == yes ] then - # Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else - mavlink start -d /dev/ttyS0 + sleep 1 + set MAVLINK_FLAGS "-r 10000 -d /dev/ttyACM0" usleep 5000 - - # Exit from nsh to free port for mavlink - set EXIT_ON_END yes else - # Start MAVLink on default port: ttyS1 - mavlink start - usleep 5000 + # 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 + set MAVLINK_FLAGS "-r 1000 -d /dev/ttyS0" + usleep 5000 + + # Exit from nsh to free port for mavlink + set EXIT_ON_END yes + else + # Start MAVLink on default port: ttyS1 + set MAVLINK_FLAGS "-r 1000" + usleep 5000 + fi fi fi + + mavlink start $MAVLINK_FLAGS + usleep 5000 # # Start the datamanager @@ -428,6 +451,14 @@ then 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 ] @@ -452,7 +483,10 @@ then 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 # @@ -508,7 +542,10 @@ then 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 # @@ -531,6 +568,7 @@ then if [ $EXIT_ON_END == yes ] then + echo "[init] Exit from nsh" exit fi |