diff options
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/rcS')
| -rwxr-xr-x | ROMFS/px4fmu_common/init.d/rcS | 47 |
1 files changed, 46 insertions, 1 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 650224cf1..8674c3c04 100755 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -61,7 +61,13 @@ then # # Start terminal # -sercon +if sercon +then + echo "USB connected" +else + # second attempt + sercon & +fi # # Start the ORB (first app to start) @@ -128,45 +134,84 @@ fi 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 & +# 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 + + # Start commander + commander start + + # Start px4io if present + if px4io start + then + 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 + # End of autostart fi |