diff options
Diffstat (limited to 'ROMFS/scripts/rc.FMU_quad_x')
| -rw-r--r-- | ROMFS/scripts/rc.FMU_quad_x | 83 |
1 files changed, 55 insertions, 28 deletions
diff --git a/ROMFS/scripts/rc.FMU_quad_x b/ROMFS/scripts/rc.FMU_quad_x index d9c9a8457..8787443ea 100644 --- a/ROMFS/scripts/rc.FMU_quad_x +++ b/ROMFS/scripts/rc.FMU_quad_x @@ -1,40 +1,67 @@ +#!nsh +# +# Flight startup script for PX4FMU with PWM outputs. +# + +# Disable the USB interface +set USB no + +# Disable autostarting other apps +set MODE custom + +echo "[init] doing PX4FMU Quad startup..." + +# +# Start the ORB # -# Startup for X-quad on FMU1.5/1.6 -# - -echo "[init] uORB" uorb start - -echo "[init] eeprom" -eeprom start -if [ -f /eeprom/parameters ] + +# +# Load microSD params +# +echo "[init] loading microSD params" +param select /fs/microsd/parameters +if [ -f /fs/microsd/parameters ] then - param load + param load /fs/microsd/parameters fi - -echo "[init] sensors" -#bma180 start -#l3gd20 start -mpu6000 start -hmc5883 start -ms5611 start - -sensors start - -echo "[init] mavlink" + +# +# 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 +# mavlink start -d /dev/ttyS0 -b 57600 usleep 5000 - -echo "[init] commander" + +# +# Start the sensors and test them. +# +sh /etc/init.d/rc.sensors + +# +# Start the commander. +# commander start - -echo "[init] attitude control" + +# +# Start the attitude estimator +# attitude_estimator_ekf start -multirotor_att_control start - + echo "[init] starting PWM output" fmu mode_pwm mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix - + +# +# Start attitude control +# +multirotor_att_control start + echo "[init] startup done, exiting" -exit +exit
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