diff options
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/rcS')
| -rwxr-xr-x | ROMFS/px4fmu_common/init.d/rcS | 221 |
1 files changed, 149 insertions, 72 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index f0ee1a0c6..8c79a035a 100755 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -20,7 +20,7 @@ then else echo "[init] no microSD card found" # Play SOS - tone_alarm 2 + tone_alarm error fi # @@ -57,90 +57,167 @@ fi if [ $MODE == autostart ] then - -# -# 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" + sleep 3 + mavlink start -d /dev/ttyACM0 -b 230400 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 - -# -# 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 system state indicator + # + if rgbled start then - echo "No newer version, skipping upgrade." + echo "Using external RGB Led" else - echo "Loading /fs/microsd/px4io.bin" - if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io.log + if blinkm start 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" + blinkm systemstate 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 -fi - -if param compare SYS_AUTOSTART 2 -then - sh /etc/init.d/02_io_quad_x -fi - -if param compare SYS_AUTOSTART 8 -then - sh /etc/init.d/08_ardrone -fi - -if param compare SYS_AUTOSTART 9 -then - sh /etc/init.d/09_ardrone_flow -fi + # Try to get an USB console + #nshterm /dev/ttyACM0 & + + # + # Upgrade PX4IO firmware + # + if px4io detect + then + echo "PX4IO running, not upgrading" + else + echo "Attempting to upgrade PX4IO" + if px4io update + then + if [ -d /fs/microsd ] + then + echo "Flashed PX4IO Firmware OK" > /fs/microsd/px4io.log + fi -if param compare SYS_AUTOSTART 10 -then - sh /etc/init.d/10_io_f330 -fi + # Allow IO to safely kick back to app + usleep 200000 + else + echo "No PX4IO to upgrade here" + 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 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_dji_f330 + set MODE custom + fi -if param compare SYS_AUTOSTART 30 -then - sh /etc/init.d/30_io_camflyer -fi + if param compare SYS_AUTOSTART 11 + then + sh /etc/init.d/11_dji_f450 + set MODE custom + fi + + if param compare SYS_AUTOSTART 15 + then + sh /etc/init.d/15_tbs_discovery + set MODE custom + fi -if param compare SYS_AUTOSTART 31 -then - sh /etc/init.d/31_io_phantom -fi + if param compare SYS_AUTOSTART 16 + then + sh /etc/init.d/16_3dr_iris + 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 + + # 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 detect + then + px4io start + else + if fmu mode_serial + then + echo "FMU driver (no PWM) 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 # End of autostart fi |