diff options
Diffstat (limited to 'ROMFS/scripts/rc.PX4IO')
| -rw-r--r-- | ROMFS/scripts/rc.PX4IO | 87 |
1 files changed, 47 insertions, 40 deletions
diff --git a/ROMFS/scripts/rc.PX4IO b/ROMFS/scripts/rc.PX4IO index 84e181a5a..1e3963b9a 100644 --- a/ROMFS/scripts/rc.PX4IO +++ b/ROMFS/scripts/rc.PX4IO @@ -1,73 +1,80 @@ #!nsh - + +# Disable USB and autostart set USB no - +set MODE camflyer + # -# Start the object request broker +# Start the ORB # uorb start - + # -# Init the EEPROM +# Load microSD params # -echo "[init] eeprom" -eeprom start -if [ -f /eeprom/parameters ] +echo "[init] loading microSD params" +param select /fs/microsd/parameters +if [ -f /fs/microsd/parameters ] then - param load + param load /fs/microsd/parameters fi - -# -# Enable / connect to PX4IO -# -px4io start - + # -# Load an appropriate mixer. FMU_pass.mix is a passthru mixer -# which is good for testing. See ROMFS/mixers for a full list of mixers. +# Force some key parameters to sane values +# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor +# see https://pixhawk.ethz.ch/mavlink/ # -mixer load /dev/pwm_output /etc/mixers/FMU_pass.mix - +param set MAV_TYPE 1 + # # Start the sensors. # sh /etc/init.d/rc.sensors - + # -# Start MAVLink on UART1 (dev/ttyS0) at 57600 baud (CLI is now unusable) +# Start MAVLink # -mavlink start -d /dev/ttyS0 -b 57600 +mavlink start -d /dev/ttyS1 -b 57600 usleep 5000 - + # # Start the commander. # commander start - + +# +# Start GPS interface +# +gps start + # # Start the attitude estimator # -attitude_estimator_ekf start - +kalman_demo start + # -# Start the attitude and position controller +# Start PX4IO interface # -fixedwing_att_control start -fixedwing_pos_control start - +px4io start + # -# Start GPS capture. Comment this out if you do not have a GPS. +# Load mixer and start controllers # -gps start - +mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix +control_demo start + +# +# Start logging # -# Start logging to microSD if we can -# -sh /etc/init.d/rc.logging +sdlog start -s 10 # -# startup is done; we don't want the shell because we -# use the same UART for telemetry +# Start system state # -echo "[init] startup done" -exit +if blinkm start +then + echo "using BlinkM for state indication" + blinkm systemstate +else + echo "no BlinkM found, OK." +fi |