diff options
Diffstat (limited to 'ROMFS/px4fmu_common')
21 files changed, 752 insertions, 770 deletions
diff --git a/ROMFS/px4fmu_common/init.d/02_io_quad_x b/ROMFS/px4fmu_common/init.d/02_io_quad_x deleted file mode 100644 index c63e92f6d..000000000 --- a/ROMFS/px4fmu_common/init.d/02_io_quad_x +++ /dev/null @@ -1,101 +0,0 @@ -#!nsh -# -# Flight startup script for PX4FMU+PX4IO -# - -# disable USB and autostart -set USB no -set MODE custom - -# -# Start the ORB (first app to start) -# -uorb start - -# -# Load microSD params -# -echo "[init] loading microSD params" -param select /fs/microsd/params -if [ -f /fs/microsd/params ] -then - param load /fs/microsd/params -fi - -# -# Load default params for this platform -# -if param compare SYS_AUTOCONFIG 1 -then - # Set all params here, then disable autoconfig - param set SYS_AUTOCONFIG 0 - param save /fs/microsd/params -fi - -# -# Force some key parameters to sane values -# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor -# see https://pixhawk.ethz.ch/mavlink/ -# -param set MAV_TYPE 2 - -# -# Start MAVLink (depends on orb) -# -mavlink start -d /dev/ttyS1 -b 57600 -usleep 5000 - -# -# Start the commander (depends on orb, mavlink) -# -commander start - -# -# Start PX4IO interface (depends on orb, commander) -# -px4io start - -# -# Allow PX4IO to recover from midair restarts. -# this is very unlikely, but quite safe and robust. -px4io recovery - -# -# Disable px4io topic limiting -# -px4io limit 200 - -# -# Start the sensors (depends on orb, px4io) -# -sh /etc/init.d/rc.sensors - -# -# Start GPS interface (depends on orb) -# -gps start - -# -# Start the attitude estimator (depends on orb) -# -attitude_estimator_ekf start - -# -# Load mixer and start controllers (depends on px4io) -# -mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix -pwm -u 400 -m 0xff -multirotor_att_control start - -# -# Start logging -# -sdlog2 start -r 50 -a -b 14 - -# -# Start system state -# -if blinkm start -then - blinkm systemstate -fi diff --git a/ROMFS/px4fmu_common/init.d/08_ardrone b/ROMFS/px4fmu_common/init.d/08_ardrone index f55ac2ae3..f6d82a5ec 100644 --- a/ROMFS/px4fmu_common/init.d/08_ardrone +++ b/ROMFS/px4fmu_common/init.d/08_ardrone @@ -1,99 +1,45 @@ #!nsh -# -# Flight startup script for PX4FMU on PX4IOAR carrier board. -# - -# Disable the USB interface -set USB no -# Disable autostarting other apps -set MODE ardrone - -echo "[init] doing PX4IOAR startup..." - -# -# Start the ORB -# -uorb start +echo "[init] 08_ardrone: PX4FMU on PX4IOAR carrier board" # -# Load microSD params +# Load default params for this platform # -echo "[init] loading microSD params" -param select /fs/microsd/params -if [ -f /fs/microsd/params ] +if param compare SYS_AUTOCONFIG 1 then - param load /fs/microsd/params + # Set all params here, then disable autoconfig + # TODO + + param set SYS_AUTOCONFIG 0 + param save fi # # Force some key parameters to sane values -# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor -# see https://pixhawk.ethz.ch/mavlink/ +# MAV_TYPE 2 = quadrotor # param set MAV_TYPE 2 # -# Configure PX4FMU for operation with PX4IOAR -# -fmu mode_gpio_serial - -# -# Start the sensors. -# -sh /etc/init.d/rc.sensors - -# # Start MAVLink # mavlink start -d /dev/ttyS0 -b 57600 usleep 5000 - -# -# Start the commander. -# -commander start - -# -# Start the attitude estimator -# -attitude_estimator_ekf start - + # -# Fire up the multi rotor attitude controller +# Configure PX4FMU for operation with PX4IOAR # -multirotor_att_control start +fmu mode_gpio_serial # # Fire up the AR.Drone interface. # ardrone_interface start -d /dev/ttyS1 - -# -# Start logging -# -sdlog start -s 10 - -# -# Start GPS capture -# -gps start - -# -# Start system state -# -if blinkm start -then - echo "using BlinkM for state indication" - blinkm systemstate -else - echo "no BlinkM found, OK." -fi # -# startup is done; we don't want the shell because we -# use the same UART for telemetry +# Start common for all multirotors apps # -echo "[init] startup done" - +sh /etc/init.d/rc.multirotor + +# Exit, because /dev/ttyS0 is needed for MAVLink exit diff --git a/ROMFS/px4fmu_common/init.d/09_ardrone_flow b/ROMFS/px4fmu_common/init.d/09_ardrone_flow index e7173f6e6..794342a0b 100644 --- a/ROMFS/px4fmu_common/init.d/09_ardrone_flow +++ b/ROMFS/px4fmu_common/init.d/09_ardrone_flow @@ -1,42 +1,41 @@ #!nsh -# -# Flight startup script for PX4FMU on PX4IOAR carrier board. -# -# Disable the USB interface -set USB no +echo "[init] 09_ardrone_flow: PX4FMU on PX4IOAR carrier board with PX4FLOW" -# Disable autostarting other apps -set MODE ardrone - -echo "[init] doing PX4IOAR startup..." - # -# Start the ORB +# Load default params for this platform # -uorb start - -# -# Load microSD params -# -echo "[init] loading microSD params" -param select /fs/microsd/params -if [ -f /fs/microsd/params ] +if param compare SYS_AUTOCONFIG 1 then - param load /fs/microsd/params + # Set all params here, then disable autoconfig + # TODO + + param set SYS_AUTOCONFIG 0 + param save fi # # Force some key parameters to sane values -# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor -# see https://pixhawk.ethz.ch/mavlink/ +# MAV_TYPE 2 = quadrotor # param set MAV_TYPE 2 # +# Start MAVLink and MAVLink Onboard (PX4FLOW Sensor) +# +mavlink start -d /dev/ttyS0 -b 57600 +mavlink_onboard start -d /dev/ttyS3 -b 115200 +usleep 5000 + +# # Configure PX4FMU for operation with PX4IOAR # fmu mode_gpio_serial + +# +# Fire up the AR.Drone interface. +# +ardrone_interface start -d /dev/ttyS1 # # Start the sensors. @@ -44,13 +43,6 @@ fmu mode_gpio_serial sh /etc/init.d/rc.sensors # -# Start MAVLink and MAVLink Onboard (Flow Sensor) -# -mavlink start -d /dev/ttyS0 -b 57600 -mavlink_onboard start -d /dev/ttyS3 -b 115200 -usleep 5000 - -# # Start the commander. # commander start @@ -79,16 +71,6 @@ flow_position_control start # Fire up the flow speed controller # flow_speed_control start - -# -# Fire up the AR.Drone interface. -# -ardrone_interface start -d /dev/ttyS1 -# -# startup is done; we don't want the shell because we -# use the same UART for telemetry -# -echo "[init] startup done" - +# Exit, because /dev/ttyS0 is needed for MAVLink exit diff --git a/ROMFS/px4fmu_common/init.d/100_mpx_easystar b/ROMFS/px4fmu_common/init.d/100_mpx_easystar new file mode 100644 index 000000000..e1cefdb99 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/100_mpx_easystar @@ -0,0 +1,68 @@ +#!nsh + +echo "[init] Multiplex Easystar" + +# +# Load default params for this platform +# +if param compare SYS_AUTOCONFIG 1 +then + # Set all params here, then disable autoconfig + # TODO + + param set SYS_AUTOCONFIG 0 + param save +fi + +# +# Force some key parameters to sane values +# MAV_TYPE 1 = fixed wing +# +param set MAV_TYPE 1 + +# +# Start MAVLink (depends on orb) +# +mavlink start -d /dev/ttyS1 -b 57600 +usleep 5000 + +# +# Start and configure PX4IO interface +# +sh /etc/init.d/rc.io + +# +# Set actuator limit to 100 Hz update (50 Hz PWM) +px4io limit 100 + +# +# Start the commander +# +commander start + +# +# Start the sensors +# +sh /etc/init.d/rc.sensors + +# +# Start logging (depends on sensors) +# +sh /etc/init.d/rc.logging + +# +# Start GPS interface +# +gps start + +# +# Start the attitude and position estimator +# +att_pos_estimator_ekf start + +# +# Load mixer and start controllers (depends on px4io) +# +mixer load /dev/pwm_output /etc/mixers/FMU_RET.mix +fw_att_control start +fw_pos_control_l1 start diff --git a/ROMFS/px4fmu_common/init.d/10_dji_f330 b/ROMFS/px4fmu_common/init.d/10_dji_f330 new file mode 100644 index 000000000..743dce9ef --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/10_dji_f330 @@ -0,0 +1,93 @@ +#!nsh + +echo "[init] PX4FMU v1, v2 with or without IO on DJI F330" + +# +# Load default params for this platform +# +if param compare SYS_AUTOCONFIG 1 +then + # Set all params here, then disable autoconfig + param set SYS_AUTOCONFIG 0 + + param set MC_ATTRATE_D 0.004 + param set MC_ATTRATE_I 0.0 + param set MC_ATTRATE_P 0.12 + param set MC_ATT_D 0.0 + param set MC_ATT_I 0.0 + param set MC_ATT_P 7.0 + param set MC_YAWPOS_D 0.0 + param set MC_YAWPOS_I 0.0 + param set MC_YAWPOS_P 2.0 + param set MC_YAWRATE_D 0.005 + param set MC_YAWRATE_I 0.2 + param set MC_YAWRATE_P 0.3 + param set NAV_TAKEOFF_ALT 1.0 + param set MPC_TILT_MAX 0.5 + param set MPC_THR_MAX 0.7 + param set MPC_THR_MIN 0.3 + param set MPC_XY_D 0 + param set MPC_XY_P 0.5 + param set MPC_XY_VEL_D 0 + param set MPC_XY_VEL_I 0 + param set MPC_XY_VEL_MAX 2 + param set MPC_XY_VEL_P 0.2 + param set MPC_Z_D 0 + param set MPC_Z_P 1 + param set MPC_Z_VEL_D 0 + param set MPC_Z_VEL_I 0.10 + param set MPC_Z_VEL_MAX 2 + param set MPC_Z_VEL_P 0.20 + + param save +fi + +# +# Force some key parameters to sane values +# MAV_TYPE 2 = quadrotor +# +param set MAV_TYPE 2 + +set EXIT_ON_END no + +# +# Start and configure PX4IO or FMU interface +# +if px4io detect +then + # Start MAVLink (depends on orb) + mavlink start + usleep 5000 + + sh /etc/init.d/rc.io + # Set PWM values for DJI ESCs + px4io idle 900 900 900 900 + px4io min 1200 1200 1200 1200 + px4io max 1800 1800 1800 1800 +else + # Start MAVLink (on UART1 / ttyS0) + mavlink start -d /dev/ttyS0 + usleep 5000 + fmu mode_pwm + set EXIT_ON_END yes +fi + +# +# Load mixer +# +mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix + +# +# Set PWM output frequency +# +pwm -u 400 -m 0xff + +# +# Start common for all multirotors apps +# +sh /etc/init.d/rc.multirotor + +if [ $EXIT_ON_END == yes ] +then + exit +fi diff --git a/ROMFS/px4fmu_common/init.d/10_io_f330 b/ROMFS/px4fmu_common/init.d/10_io_f330 deleted file mode 100644 index 4450eb50d..000000000 --- a/ROMFS/px4fmu_common/init.d/10_io_f330 +++ /dev/null @@ -1,116 +0,0 @@ -#!nsh -# -# Flight startup script for PX4FMU+PX4IO -# - -# disable USB and autostart -set USB no -set MODE custom - -# -# Load default params for this platform -# -if param compare SYS_AUTOCONFIG 1 -then - # Set all params here, then disable autoconfig - param set SYS_AUTOCONFIG 0 - - param set MC_ATTRATE_D 0.005 - param set MC_ATTRATE_I 0.0 - param set MC_ATTRATE_P 0.1 - param set MC_ATT_D 0.0 - param set MC_ATT_I 0.0 - param set MC_ATT_P 4.5 - param set MC_RCLOSS_THR 0.0 - param set MC_YAWPOS_D 0.0 - param set MC_YAWPOS_I 0.3 - param set MC_YAWPOS_P 0.6 - param set MC_YAWRATE_D 0.0 - param set MC_YAWRATE_I 0.0 - param set MC_YAWRATE_P 0.1 - - param save /fs/microsd/params -fi - -# -# Force some key parameters to sane values -# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor -# see https://pixhawk.ethz.ch/mavlink/ -# -param set MAV_TYPE 2 - -# -# Start MAVLink (depends on orb) -# -mavlink start -usleep 5000 - -# -# Start PX4IO interface (depends on orb, commander) -# -px4io start -pwm -u 400 -m 0xff - -# -# Allow PX4IO to recover from midair restarts. -# this is very unlikely, but quite safe and robust. -px4io recovery - -# -# Disable px4io topic limiting -# -px4io limit 200 - -# -# This sets a PWM right after startup (regardless of safety button) -# -px4io idle 900 900 900 900 - -# -# The values are for spinning motors when armed using DJI ESCs -# -px4io min 1200 1200 1200 1200 - -# -# Upper limits could be higher, this is on the safe side -# -px4io max 1800 1800 1800 1800 - -# -# Start the sensors (depends on orb, px4io) -# -sh /etc/init.d/rc.sensors - -# -# Start the commander (depends on orb, mavlink) -# -commander start - -# -# Start GPS interface (depends on orb) -# -gps start - -# -# Start the attitude estimator (depends on orb) -# -attitude_estimator_ekf start - -# -# Load mixer and start controllers (depends on px4io) -# -mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix -multirotor_att_control start - -# -# Start logging -# -sdlog2 start -r 20 -a -b 16 - -# -# Start system state -# -if blinkm start -then - blinkm systemstate -fi diff --git a/ROMFS/px4fmu_common/init.d/11_dji_f450 b/ROMFS/px4fmu_common/init.d/11_dji_f450 new file mode 100644 index 000000000..1827a2c11 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/11_dji_f450 @@ -0,0 +1,77 @@ +#!nsh + +echo "[init] PX4FMU v1, v2 with or without IO on DJI F450" + +# +# Load default params for this platform +# +if param compare SYS_AUTOCONFIG 1 +then + # Set all params here, then disable autoconfig + param set SYS_AUTOCONFIG 0 + + param set MC_ATTRATE_D 0.004 + param set MC_ATTRATE_I 0.0 + param set MC_ATTRATE_P 0.12 + param set MC_ATT_D 0.0 + param set MC_ATT_I 0.0 + param set MC_ATT_P 7.0 + param set MC_YAWPOS_D 0.0 + param set MC_YAWPOS_I 0.0 + param set MC_YAWPOS_P 2.0 + param set MC_YAWRATE_D 0.005 + param set MC_YAWRATE_I 0.2 + param set MC_YAWRATE_P 0.3 + + param save +fi + +# +# Force some key parameters to sane values +# MAV_TYPE 2 = quadrotor +# +param set MAV_TYPE 2 + +set EXIT_ON_END no + +# +# Start and configure PX4IO or FMU interface +# +if px4io detect +then + # Start MAVLink (depends on orb) + mavlink start + usleep 5000 + + sh /etc/init.d/rc.io + # Set PWM values for DJI ESCs + px4io idle 900 900 900 900 + px4io min 1200 1200 1200 1200 + px4io max 1800 1800 1800 1800 +else + # Start MAVLink (on UART1 / ttyS0) + mavlink start -d /dev/ttyS0 + usleep 5000 + fmu mode_pwm + set EXIT_ON_END yes +fi + +# +# Load mixer +# +mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix + +# +# Set PWM output frequency +# +pwm -u 400 -m 0xff + +# +# Start common for all multirotors apps +# +sh /etc/init.d/rc.multirotor + +if [ $EXIT_ON_END == yes ] +then + exit +fi diff --git a/ROMFS/px4fmu_common/init.d/15_tbs_discovery b/ROMFS/px4fmu_common/init.d/15_tbs_discovery new file mode 100644 index 000000000..1fcde3e27 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/15_tbs_discovery @@ -0,0 +1,77 @@ +#!nsh + +echo "[init] Team Blacksheep Discovery Quad" + +# +# Load default params for this platform +# +if param compare SYS_AUTOCONFIG 1 +then + # Set all params here, then disable autoconfig + param set SYS_AUTOCONFIG 0 + + param set MC_ATTRATE_D 0.006 + param set MC_ATTRATE_I 0.0 + param set MC_ATTRATE_P 0.17 + param set MC_ATT_D 0.0 + param set MC_ATT_I 0.0 + param set MC_ATT_P 5.0 + param set MC_YAWPOS_D 0.0 + param set MC_YAWPOS_I 0.15 + param set MC_YAWPOS_P 0.5 + param set MC_YAWRATE_D 0.0 + param set MC_YAWRATE_I 0.0 + param set MC_YAWRATE_P 0.2 + + param save +fi + +# +# Force some key parameters to sane values +# MAV_TYPE 2 = quadrotor +# +param set MAV_TYPE 2 + +set EXIT_ON_END no + +# +# Start and configure PX4IO or FMU interface +# +if px4io detect +then + # Start MAVLink (depends on orb) + mavlink start + usleep 5000 + + sh /etc/init.d/rc.io + # Set PWM values for DJI ESCs + px4io idle 900 900 900 900 + px4io min 1200 1200 1200 1200 + px4io max 1800 1800 1800 1800 +else + # Start MAVLink (on UART1 / ttyS0) + mavlink start -d /dev/ttyS0 + usleep 5000 + fmu mode_pwm + set EXIT_ON_END yes +fi + +# +# Load the mixer for a quad with wide arms +# +mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix + +# +# Set PWM output frequency +# +pwm -u 400 -m 0xff + +# +# Start common for all multirotors apps +# +sh /etc/init.d/rc.multirotor + +if [ $EXIT_ON_END == yes ] +then + exit +fi diff --git a/ROMFS/px4fmu_common/init.d/16_3dr_iris b/ROMFS/px4fmu_common/init.d/16_3dr_iris new file mode 100644 index 000000000..fa2cb1feb --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/16_3dr_iris @@ -0,0 +1,77 @@ +#!nsh + +echo "[init] 3DR Iris Quad" + +# +# Load default params for this platform +# +if param compare SYS_AUTOCONFIG 1 +then + # Set all params here, then disable autoconfig + param set SYS_AUTOCONFIG 0 + + param set MC_ATTRATE_D 0.006 + param set MC_ATTRATE_I 0.0 + param set MC_ATTRATE_P 0.17 + param set MC_ATT_D 0.0 + param set MC_ATT_I 0.0 + param set MC_ATT_P 5.0 + param set MC_YAWPOS_D 0.0 + param set MC_YAWPOS_I 0.15 + param set MC_YAWPOS_P 0.5 + param set MC_YAWRATE_D 0.0 + param set MC_YAWRATE_I 0.0 + param set MC_YAWRATE_P 0.2 + + param save +fi + +# +# Force some key parameters to sane values +# MAV_TYPE 2 = quadrotor +# +param set MAV_TYPE 2 + +set EXIT_ON_END no + +# +# Start and configure PX4IO or FMU interface +# +if px4io detect +then + # Start MAVLink (depends on orb) + mavlink start + usleep 5000 + + sh /etc/init.d/rc.io + # Set PWM values for DJI ESCs + px4io idle 900 900 900 900 + px4io min 1200 1200 1200 1200 + px4io max 1800 1800 1800 1800 +else + # Start MAVLink (on UART1 / ttyS0) + mavlink start -d /dev/ttyS0 + usleep 5000 + fmu mode_pwm + set EXIT_ON_END yes +fi + +# +# Load the mixer for a quad with wide arms +# +mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix + +# +# Set PWM output frequency +# +pwm -u 400 -m 0xff + +# +# Start common for all multirotors apps +# +sh /etc/init.d/rc.multirotor + +if [ $EXIT_ON_END == yes ] +then + exit +fi diff --git a/ROMFS/px4fmu_common/init.d/30_io_camflyer b/ROMFS/px4fmu_common/init.d/30_io_camflyer index 5090b98a4..f7e653362 100644 --- a/ROMFS/px4fmu_common/init.d/30_io_camflyer +++ b/ROMFS/px4fmu_common/init.d/30_io_camflyer @@ -1,26 +1,6 @@ #!nsh -# -# Flight startup script for PX4FMU+PX4IO -# - -# disable USB and autostart -set USB no -set MODE custom - -# -# Start the ORB (first app to start) -# -uorb start - -# -# Load microSD params -# -echo "[init] loading microSD params" -param select /fs/microsd/params -if [ -f /fs/microsd/params ] -then - param load /fs/microsd/params -fi + +echo "[init] 30_io_camflyer: PX4FMU+PX4IO on Camflyer" # # Load default params for this platform @@ -28,40 +8,19 @@ fi if param compare SYS_AUTOCONFIG 1 then # Set all params here, then disable autoconfig + # TODO + param set SYS_AUTOCONFIG 0 - param save /fs/microsd/params + param save fi # # Force some key parameters to sane values -# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor -# see https://pixhawk.ethz.ch/mavlink/ +# MAV_TYPE 1 = fixed wing # param set MAV_TYPE 1 # -# 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.bin.current - then - echo "No newer version, skipping upgrade." - else - echo "Loading /fs/microsd/px4io.bin" - if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log - then - cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current - echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log - else - echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log - echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode" - fi - fi -fi - -# # Start MAVLink (depends on orb) # mavlink start -d /dev/ttyS1 -b 57600 @@ -90,6 +49,11 @@ px4io limit 100 # Start the sensors (depends on orb, px4io) # sh /etc/init.d/rc.sensors + +# +# Start logging (depends on sensors) +# +sh /etc/init.d/rc.logging # # Start GPS interface (depends on orb) @@ -97,25 +61,13 @@ sh /etc/init.d/rc.sensors gps start # -# Start the attitude estimator (depends on orb) +# Start the attitude and position estimator # -kalman_demo start +att_pos_estimator_ekf start # # Load mixer and start controllers (depends on px4io) # mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix -control_demo start - -# -# Start logging -# -sdlog2 start -r 50 -a -b 14 - -# -# Start system state -# -if blinkm start -then - blinkm systemstate -fi +fw_att_control start +fw_pos_control_l1 start diff --git a/ROMFS/px4fmu_common/init.d/31_io_phantom b/ROMFS/px4fmu_common/init.d/31_io_phantom index 5090b98a4..e1e609927 100644 --- a/ROMFS/px4fmu_common/init.d/31_io_phantom +++ b/ROMFS/px4fmu_common/init.d/31_io_phantom @@ -1,26 +1,6 @@ #!nsh -# -# Flight startup script for PX4FMU+PX4IO -# - -# disable USB and autostart -set USB no -set MODE custom - -# -# Start the ORB (first app to start) -# -uorb start - -# -# Load microSD params -# -echo "[init] loading microSD params" -param select /fs/microsd/params -if [ -f /fs/microsd/params ] -then - param load /fs/microsd/params -fi + +echo "[init] 31_io_phantom: PX4FMU+PX4IO on Phantom" # # Load default params for this platform @@ -28,94 +8,61 @@ fi if param compare SYS_AUTOCONFIG 1 then # Set all params here, then disable autoconfig + # TODO + param set SYS_AUTOCONFIG 0 - param save /fs/microsd/params + param save fi # # Force some key parameters to sane values -# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor -# see https://pixhawk.ethz.ch/mavlink/ +# MAV_TYPE 1 = fixed wing # param set MAV_TYPE 1 - -# -# 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.bin.current - then - echo "No newer version, skipping upgrade." - else - echo "Loading /fs/microsd/px4io.bin" - if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log - then - cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current - echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log - else - echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log - echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode" - fi - fi -fi - + # # Start MAVLink (depends on orb) # mavlink start -d /dev/ttyS1 -b 57600 usleep 5000 - -# -# Start the commander (depends on orb, mavlink) -# -commander start - -# -# Start PX4IO interface (depends on orb, commander) + # -px4io start - +# Start and configure PX4IO interface # -# Allow PX4IO to recover from midair restarts. -# this is very unlikely, but quite safe and robust. -px4io recovery +sh /etc/init.d/rc.io # # Set actuator limit to 100 Hz update (50 Hz PWM) px4io limit 100 # -# Start the sensors (depends on orb, px4io) +# Start the commander # -sh /etc/init.d/rc.sensors +commander start # -# Start GPS interface (depends on orb) +# Start the sensors # -gps start - +sh /etc/init.d/rc.sensors + # -# Start the attitude estimator (depends on orb) +# Start logging (depends on sensors) # -kalman_demo start +sh /etc/init.d/rc.logging # -# Load mixer and start controllers (depends on px4io) +# Start GPS interface # -mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix -control_demo start +gps start # -# Start logging +# Start the attitude and position estimator # -sdlog2 start -r 50 -a -b 14 +att_pos_estimator_ekf start # -# Start system state +# Load mixer and start controllers (depends on px4io) # -if blinkm start -then - blinkm systemstate -fi +mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix +fw_att_control start +fw_pos_control_l1 start diff --git a/ROMFS/px4fmu_common/init.d/40_io_segway b/ROMFS/px4fmu_common/init.d/40_io_segway index 5742d685a..4b7ed5286 100644 --- a/ROMFS/px4fmu_common/init.d/40_io_segway +++ b/ROMFS/px4fmu_common/init.d/40_io_segway @@ -1,26 +1,4 @@ #!nsh -# -# Flight startup script for PX4FMU+PX4IO -# - -# disable USB and autostart -set USB no -set MODE custom - -# -# Start the ORB (first app to start) -# -uorb start - -# -# Load microSD params -# -echo "[init] loading microSD params" -param select /fs/microsd/params -if [ -f /fs/microsd/params ] -then - param load /fs/microsd/params -fi # # Load default params for this platform @@ -28,39 +6,18 @@ fi if param compare SYS_AUTOCONFIG 1 then # Set all params here, then disable autoconfig + # TODO + param set SYS_AUTOCONFIG 0 - param save /fs/microsd/params + param save fi # # Force some key parameters to sane values -# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor -# see https://pixhawk.ethz.ch/mavlink/ +# MAV_TYPE 10 = ground rover # param set MAV_TYPE 10 - -# -# 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.bin.current - then - echo "No newer version, skipping upgrade." - else - echo "Loading /fs/microsd/px4io.bin" - if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log - then - cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current - echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log - else - echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log - echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode" - fi - fi -fi - + # # Start MAVLink (depends on orb) # @@ -68,26 +25,16 @@ mavlink start -d /dev/ttyS1 -b 57600 usleep 5000 # -# Start the commander (depends on orb, mavlink) +# Start and configure PX4IO interface # -commander start +sh /etc/init.d/rc.io # -# Start PX4IO interface (depends on orb, commander) -# -px4io start - +# Start the commander (depends on orb, mavlink) # -# Allow PX4IO to recover from midair restarts. -# this is very unlikely, but quite safe and robust. -px4io recovery +commander start # -# Disable px4io topic limiting -# -px4io limit 200 - -# # Start the sensors (depends on orb, px4io) # sh /etc/init.d/rc.sensors @@ -107,16 +54,3 @@ attitude_estimator_ekf start # md25 start 3 0x58 segway start - -# -# Start logging -# -sdlog2 start -r 50 -a -b 14 - -# -# Start system state -# -if blinkm start -then - blinkm systemstate -fi diff --git a/ROMFS/px4fmu_common/init.d/01_fmu_quad_x b/ROMFS/px4fmu_common/init.d/666_fmu_q_x550 index 58a970eba..938663f0c 100644 --- a/ROMFS/px4fmu_common/init.d/01_fmu_quad_x +++ b/ROMFS/px4fmu_common/init.d/666_fmu_q_x550 @@ -1,28 +1,6 @@ #!nsh -# -# Flight startup script for PX4FMU with PWM outputs. -# - -# disable USB and autostart -set USB no -set MODE custom - -echo "[init] doing PX4FMU Quad startup..." - -# -# Start the ORB -# -uorb start - -# -# Load microSD params -# -echo "[init] loading microSD params" -param select /fs/microsd/params -if [ -f /fs/microsd/params ] -then - param load /fs/microsd/params -fi + +echo "[init] 666_fmu_q_x550: PX4FMU Quad X550 with PWM outputs" # # Load default params for this platform @@ -47,13 +25,12 @@ then param set RC_SCALE_YAW 3 param set SYS_AUTOCONFIG 0 - param save /fs/microsd/params + param save fi # # Force some key parameters to sane values -# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor -# see https://pixhawk.ethz.ch/mavlink/ +# MAV_TYPE 2 = quadrotor # param set MAV_TYPE 2 @@ -62,46 +39,26 @@ param set MAV_TYPE 2 # mavlink start -d /dev/ttyS0 -b 57600 usleep 5000 - -# -# Start the sensors and test them. -# -sh /etc/init.d/rc.sensors - -# -# Start the commander. -# -commander start # -# Start GPS interface (depends on orb) +# Start PWM output # -gps start - +fmu mode_pwm + # -# Start the attitude estimator +# Load mixer # -attitude_estimator_ekf start - -echo "[init] starting PWM output" -fmu mode_pwm mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix -pwm -u 400 -m 0xff - + # -# Start attitude control +# Set PWM output frequency # -multirotor_att_control start +pwm -u 400 -m 0xff # -# Start logging +# Start common for all multirotors apps # -sdlog2 start -r 50 -a -b 14 +sh /etc/init.d/rc.multirotor -# -# Start system state -# -if blinkm start -then - blinkm systemstate -fi +# Exit, because /dev/ttyS0 is needed for MAVLink +exit diff --git a/ROMFS/px4fmu_common/init.d/rc.boarddetect b/ROMFS/px4fmu_common/init.d/rc.boarddetect deleted file mode 100644 index f233e51df..000000000 --- a/ROMFS/px4fmu_common/init.d/rc.boarddetect +++ /dev/null @@ -1,66 +0,0 @@ -#!nsh -# -# If we are still in flight mode, work out what airframe -# configuration we have and start up accordingly. -# -if [ $MODE != autostart ] -then - echo "[init] automatic startup cancelled by user script" -else - echo "[init] detecting attached hardware..." - - # - # Assume that we are PX4FMU in standalone mode - # - set BOARD PX4FMU - - # - # Are we attached to a PX4IOAR (AR.Drone carrier board)? - # - if boardinfo test name PX4IOAR - then - set BOARD PX4IOAR - if [ -f /etc/init.d/rc.PX4IOAR ] - then - echo "[init] reading /etc/init.d/rc.PX4IOAR" - usleep 500 - sh /etc/init.d/rc.PX4IOAR - fi - else - echo "[init] PX4IOAR not detected" - fi - - # - # Are we attached to a PX4IO? - # - if boardinfo test name PX4IO - then - set BOARD PX4IO - if [ -f /etc/init.d/rc.PX4IO ] - then - echo "[init] reading /etc/init.d/rc.PX4IO" - usleep 500 - sh /etc/init.d/rc.PX4IO - fi - else - echo "[init] PX4IO not detected" - fi - - # - # Looks like we are stand-alone - # - if [ $BOARD == PX4FMU ] - then - echo "[init] no expansion board detected" - if [ -f /etc/init.d/rc.standalone ] - then - echo "[init] reading /etc/init.d/rc.standalone" - sh /etc/init.d/rc.standalone - fi - fi - - # - # We may not reach here if the airframe-specific script exits the shell. - # - echo "[init] startup done." -fi
\ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/rc.hil b/ROMFS/px4fmu_common/init.d/rc.hil index 3517a5bd8..eccb2b767 100644 --- a/ROMFS/px4fmu_common/init.d/rc.hil +++ b/ROMFS/px4fmu_common/init.d/rc.hil @@ -8,22 +8,12 @@ echo "[HIL] starting.." uorb start # Tell MAVLink that this link is "fast" -mavlink start -b 230400 -d /dev/console +mavlink start -b 230400 -d /dev/ttyS1 # Create a fake HIL /dev/pwm_output interface hil mode_pwm # -# Load microSD params -# -echo "[init] loading microSD params" -param select /fs/microsd/params -if [ -f /fs/microsd/params ] -then - param load /fs/microsd/params -fi - -# # Force some key parameters to sane values # MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor # see https://pixhawk.ethz.ch/mavlink/ @@ -38,13 +28,13 @@ commander start # # Check if we got an IO # -if [ px4io start ] +if px4io start then echo "IO started" else fmu mode_serial echo "FMU started" -end +fi # # Start the sensors (depends on orb, px4io) @@ -60,9 +50,7 @@ att_pos_estimator_ekf start # Load mixer and start controllers (depends on px4io) # mixer load /dev/pwm_output /etc/mixers/FMU_AET.mix -fixedwing_backside start +fw_pos_control_l1 start +fw_att_control start echo "[HIL] setup done, running" - -# Exit shell to make it available to MAVLink -exit diff --git a/ROMFS/px4fmu_common/init.d/rc.io b/ROMFS/px4fmu_common/init.d/rc.io new file mode 100644 index 000000000..aaf91b316 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.io @@ -0,0 +1,23 @@ +# +# Start PX4IO interface (depends on orb, commander) +# +if px4io start +then + # + # Allow PX4IO to recover from midair restarts. + # this is very unlikely, but quite safe and robust. + px4io recovery + + # + # Disable px4io topic limiting + # + if [ $BOARD == fmuv1 ] + then + px4io limit 200 + else + px4io limit 400 + fi +else + # SOS + tone_alarm error +fi diff --git a/ROMFS/px4fmu_common/init.d/rc.logging b/ROMFS/px4fmu_common/init.d/rc.logging index 09c2d00d1..dc4be8055 100644 --- a/ROMFS/px4fmu_common/init.d/rc.logging +++ b/ROMFS/px4fmu_common/init.d/rc.logging @@ -5,5 +5,10 @@ if [ -d /fs/microsd ] then - sdlog start + if [ $BOARD == fmuv1 ] + then + sdlog2 start -r 50 -a -b 16 + else + sdlog2 start -r 200 -a -b 16 + fi fi diff --git a/ROMFS/px4fmu_common/init.d/rc.multirotor b/ROMFS/px4fmu_common/init.d/rc.multirotor new file mode 100644 index 000000000..e3638e3d1 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.multirotor @@ -0,0 +1,44 @@ +#!nsh +# +# Standard everything needed for multirotors except mixer, output and mavlink +# + +# +# Start the sensors and test them. +# +sh /etc/init.d/rc.sensors + +# +# Start logging (depends on sensors) +# +sh /etc/init.d/rc.logging + +# +# Start the commander. +# +commander start + +# +# Start GPS interface (depends on orb) +# +gps start + +# +# Start the attitude estimator +# +attitude_estimator_ekf start + +# +# Start position estimator +# +position_estimator_inav start + +# +# Start attitude control +# +multirotor_att_control start + +# +# Start position control +# +multirotor_pos_control start diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors index 5e80ddc2f..2828a108b 100644 --- a/ROMFS/px4fmu_common/init.d/rc.sensors +++ b/ROMFS/px4fmu_common/init.d/rc.sensors @@ -7,25 +7,24 @@ # Start sensor drivers here. # -# -# Check for UORB -# -if uorb start -then - echo "uORB started" -fi - ms5611 start adc start +# mag might be external +if hmc5883 start +then + echo "using HMC5883" +fi + if mpu6000 start then - echo "using MPU6000 and HMC5883L" - hmc5883 start + echo "using MPU6000" + set BOARD fmuv1 else echo "using L3GD20 and LSM303D" l3gd20 start lsm303d start + set BOARD fmuv2 fi # @@ -36,8 +35,5 @@ fi # if sensors start then - # - # Check sensors - run AFTER 'sensors start' - # preflight_check & fi diff --git a/ROMFS/px4fmu_common/init.d/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb index 5b1bd272e..9264985d6 100644 --- a/ROMFS/px4fmu_common/init.d/rc.usb +++ b/ROMFS/px4fmu_common/init.d/rc.usb @@ -8,6 +8,14 @@ echo "Starting MAVLink on this USB console" # Stop tone alarm tone_alarm stop +# +# Check for UORB +# +if uorb start +then + echo "uORB started" +fi + # Tell MAVLink that this link is "fast" if mavlink stop then @@ -16,12 +24,26 @@ fi sleep 2 mavlink start -b 230400 -d /dev/ttyACM0 +# Stop commander +if commander stop +then + echo "Commander stopped" +fi +sleep 1 + # Start the commander if commander start then echo "Commander started" fi +# Stop px4io +if px4io stop +then + echo "PX4IO stopped" +fi +sleep 1 + # Start px4io if present if px4io start then 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 |