diff options
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/rcS')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rcS | 82 |
1 files changed, 41 insertions, 41 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 87ec4293e..6d06f897a 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 @@ -87,7 +87,7 @@ then else echo "[init] ERROR: Params loading failed: $PARAM_FILE" fi - + # # Start system state indicator # @@ -105,7 +105,7 @@ then if pca8574 start then fi - + # # Set default values # @@ -126,7 +126,7 @@ then set LOAD_DEFAULT_APPS yes set GPS yes set GPS_FAKE no - + # # Set DO_AUTOCONFIG flag to use it in AUTOSTART scripts # @@ -136,7 +136,7 @@ then else set DO_AUTOCONFIG no fi - + # # Set USE_IO flag # @@ -146,7 +146,7 @@ then else set USE_IO no fi - + # # Set parameters and env variables for selected AUTOSTART # @@ -176,9 +176,9 @@ then param set SYS_AUTOCONFIG 0 param save fi - + set IO_PRESENT no - + if [ $USE_IO == yes ] then # @@ -190,19 +190,19 @@ 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 @@ -211,7 +211,7 @@ 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" @@ -224,14 +224,14 @@ 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 # @@ -250,7 +250,7 @@ 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 @@ -274,17 +274,17 @@ 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 @@ -300,7 +300,7 @@ then tone_alarm $TUNE_OUT_ERROR fi fi - + if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == ardrone ] then echo "[init] Use FMU as primary output" @@ -311,7 +311,7 @@ then echo "[init] ERROR: FMU mode_$FMU_MODE start failed" tone_alarm $TUNE_OUT_ERROR fi - + if ver hwcmp PX4FMU_V1 then if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ] @@ -324,7 +324,7 @@ then fi fi fi - + if [ $OUTPUT_MODE == mkblctrl ] then echo "[init] Use MKBLCTRL as primary output" @@ -337,7 +337,7 @@ then then set MKBLCTRL_ARG "-mkmode +" fi - + if mkblctrl $MKBLCTRL_ARG then echo "[init] MKBLCTRL started" @@ -345,9 +345,9 @@ 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" @@ -359,7 +359,7 @@ then tone_alarm $TUNE_OUT_ERROR fi fi - + # # Start IO or FMU for RC PPM input if needed # @@ -386,7 +386,7 @@ then echo "[init] ERROR: FMU mode_$FMU_MODE start failed" tone_alarm $TUNE_OUT_ERROR fi - + if ver hwcmp PX4FMU_V1 then if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ] @@ -401,7 +401,7 @@ then fi fi fi - + # # MAVLink # @@ -422,7 +422,7 @@ then fi mavlink start $MAVLINK_FLAGS - + # # Sensors, Logging, GPS # @@ -433,7 +433,7 @@ then echo "[init] Start logging" sh /etc/init.d/rc.logging fi - + if [ $GPS == yes ] then echo "[init] Start GPS" @@ -443,7 +443,7 @@ then gps start -f else gps start - fi + fi fi # @@ -460,24 +460,24 @@ 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 @@ -525,7 +525,7 @@ then set MAV_TYPE 14 fi fi - + # Still no MAV_TYPE found if [ $MAV_TYPE == none ] then @@ -533,10 +533,10 @@ 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 |