diff options
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/rcS')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rcS | 131 |
1 files changed, 88 insertions, 43 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 441d99ecf..92121ac17 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -14,6 +14,7 @@ set CONFIG_FILE /fs/microsd/etc/config.txt set EXTRAS_FILE /fs/microsd/etc/extras.txt set TUNE_OUT_ERROR ML<<CP4CP4CP4CP4CP4 + # # Try to mount the microSD card. # @@ -73,26 +74,22 @@ then # # Load parameters # - if mtd start + set PARAM_FILE /fs/microsd/params + if hw_ver compare PX4FMU_V2 then - param select /fs/mtd_params - if param load /fs/mtd_params + if mtd start then - else - echo "FAILED LOADING PARAMS" + set PARAM_FILE /fs/mtd_params fi + fi + + param select $PARAM_FILE + if param load + then + echo "[init] Parameters loaded: $PARAM_FILE" else - param select /fs/microsd/params - if [ -f /fs/microsd/params ] - then - if param load /fs/microsd/params - then - echo "Parameters loaded" - else - echo "Parameter file corrupt - ignoring" - fi - fi - fi + echo "[init] ERROR: Parameters loading failed: $PARAM_FILE" + fi # # Start system state indicator @@ -103,6 +100,7 @@ then else if blinkm start then + echo "[init] Using blinkm" blinkm systemstate fi fi @@ -112,15 +110,17 @@ then # set HIL no set VEHICLE_TYPE none - set FRAME_GEOMETRY none + set MIXER none set USE_IO yes set OUTPUT_MODE none + set PWM_OUTPUTS none set PWM_RATE none set PWM_DISARMED none set PWM_MIN none set PWM_MAX none set MKBLCTRL_MODE none set FMU_MODE pwm + set MAV_TYPE none # # Set DO_AUTOCONFIG flag to use it in AUTOSTART scripts @@ -183,7 +183,7 @@ then set IO_PRESENT yes else - echo "[init] PX4IO CRC failure" + echo "[init] PX4IO CRC failure, trying to update" echo "PX4IO CRC failure" >> $LOG_FILE tone_alarm MLL32CP8MB @@ -193,17 +193,17 @@ then usleep 500000 if px4io checkcrc $IO_FILE then - echo "[init] PX4IO CRC OK after updating" + 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] PX4IO update failed" + echo "[init] ERROR: PX4IO update failed" echo "PX4IO update failed" >> $LOG_FILE fi else - echo "[init] PX4IO update failed" + echo "[init] ERROR: PX4IO update failed" echo "PX4IO update failed" >> $LOG_FILE fi fi @@ -220,16 +220,27 @@ then # if [ $OUTPUT_MODE == none ] then - if [ $IO_PRESENT == yes ] + if [ $USE_IO == yes ] then - # If PX4IO present, use it as primary PWM output by default set OUTPUT_MODE io else - # Else use PX4FMU PWM output set OUTPUT_MODE fmu fi fi + if [ $OUTPUT_MODE == io -a $IO_PRESENT != yes ] + 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 + then + set FMU_MODE serial + fi + fi + if [ $HIL == yes ] then set OUTPUT_MODE hil @@ -256,7 +267,7 @@ then echo "[init] PX4IO started" sh /etc/init.d/rc.io else - echo "[init] PX4IO start error" + echo "[init] ERROR: PX4IO start failed" tone_alarm $TUNE_OUT_ERROR fi fi @@ -267,7 +278,7 @@ then then echo "[init] FMU mode_$FMU_MODE started" else - echo "[init] FMU mode_$FMU_MODE start error" + echo "[init] ERROR: FMU mode_$FMU_MODE start failed" tone_alarm $TUNE_OUT_ERROR fi @@ -300,7 +311,7 @@ then then echo "[init] MKBLCTRL started" else - echo "[init] MKBLCTRL start error" + echo "[init] ERROR: MKBLCTRL start failed" tone_alarm $TUNE_OUT_ERROR fi @@ -312,7 +323,7 @@ then then echo "[init] HIL output started" else - echo "[init] HIL output error" + echo "[init] ERROR: HIL output start failed" tone_alarm $TUNE_OUT_ERROR fi fi @@ -329,7 +340,7 @@ then echo "[init] PX4IO started" sh /etc/init.d/rc.io else - echo "[init] PX4IO start error" + echo "[init] ERROR: PX4IO start failed" tone_alarm $TUNE_OUT_ERROR fi fi @@ -340,13 +351,17 @@ then then echo "[init] FMU mode_$FMU_MODE started" else - echo "[init] FMU mode_$FMU_MODE start error" + echo "[init] ERROR: FMU mode_$FMU_MODE start failed" tone_alarm $TUNE_OUT_ERROR fi if hw_ver compare PX4FMU_V1 then - if [ $FMU_MODE == pwm -o $FMU_MODE == gpio -o $FMU_MODE == pwm_gpio ] + if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ] + then + set TTYS1_BUSY yes + fi + if [ $FMU_MODE == pwm_gpio ] then set TTYS1_BUSY yes fi @@ -401,14 +416,22 @@ then then echo "[init] Vehicle type: FIXED WING" - if [ $FRAME_GEOMETRY == none ] + if [ $MIXER == none ] then - # Set default frame geometry for fixed wing - set FRAME_GEOMETRY AERT + # 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.fw_interface + sh /etc/init.d/rc.interface # Start standard fixedwing apps sh /etc/init.d/rc.fw_apps @@ -420,15 +443,37 @@ then if [ $VEHICLE_TYPE == mc ] then echo "[init] Vehicle type: MULTICOPTER" - - if [ $FRAME_GEOMETRY == none ] + + if [ $MIXER == none ] then - # Set default frame geometry for multicopter - set FRAME_GEOMETRY quad_x + # Set default mixer for multicopter if not defined + set MIXER quad_x + 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_hex_x -o $MIXER == FMU_hex_+ ] + then + param set MAV_TYPE 13 + fi + if [ $MIXER == FMU_octo_x -o $MIXER == FMU_octo_+ ] + then + param set MAV_TYPE 14 + fi + if [ $MIXER == FMU_octo_cox ] + then + param set MAV_TYPE 14 + fi fi + + param set MAV_TYPE $MAV_TYPE # Load mixer and configure outputs - sh /etc/init.d/rc.mc_interface + sh /etc/init.d/rc.interface # Start standard multicopter apps sh /etc/init.d/rc.mc_apps @@ -440,9 +485,9 @@ then if [ $VEHICLE_TYPE == none ] then echo "[init] Vehicle type: GENERIC" - - attitude_estimator_ekf start - position_estimator_inav start + + # Load mixer and configure outputs + sh /etc/init.d/rc.interface fi # Start any custom addons |