diff options
Diffstat (limited to 'ROMFS/px4fmu_common')
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.sensors | 2 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.usb | 39 |
2 files changed, 26 insertions, 15 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors index 5cf1ff383..73f40c503 100644 --- a/ROMFS/px4fmu_common/init.d/rc.sensors +++ b/ROMFS/px4fmu_common/init.d/rc.sensors @@ -39,5 +39,5 @@ then # # Check sensors - run AFTER 'sensors start' # - preflight_check + preflight_check & fi
\ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb index 986821994..c89932bb5 100644 --- a/ROMFS/px4fmu_common/init.d/rc.usb +++ b/ROMFS/px4fmu_common/init.d/rc.usb @@ -15,22 +15,33 @@ then fi mavlink start -b 230400 -d /dev/ttyACM0 -# Start the commander -commander start - -# Start sensors -sh /etc/init.d/rc.sensors - -# Start one of the estimators -if attitude_estimator_ekf start +if [ $MODE == autostart ] then - echo "estimating attitude" -fi -# Start GPS -if gps start -then - echo "GPS started" + # Start the commander + commander start + + # Start sensors + sh /etc/init.d/rc.sensors + + # Start one of the estimators + if attitude_estimator_ekf status + then + echo "multicopter att filter running" + else + if att_pos_estimator_ekf status + then + echo "fixedwing att filter running" + else + attitude_estimator_ekf start + fi + fi + + # Start GPS + if gps start + then + echo "GPS started" + fi fi echo "MAVLink started, exiting shell.." |