diff options
Diffstat (limited to 'ROMFS/scripts/rc.PX4IOAR')
| -rw-r--r-- | ROMFS/scripts/rc.PX4IOAR | 36 |
1 files changed, 27 insertions, 9 deletions
diff --git a/ROMFS/scripts/rc.PX4IOAR b/ROMFS/scripts/rc.PX4IOAR index 640cdf541..72df68e35 100644 --- a/ROMFS/scripts/rc.PX4IOAR +++ b/ROMFS/scripts/rc.PX4IOAR @@ -17,7 +17,7 @@ echo "[init] doing PX4IOAR startup..." uorb start # -# Load microSD params +# Init the parameter storage # echo "[init] loading microSD params" param select /fs/microsd/parameters @@ -27,17 +27,24 @@ then fi # -# Start MAVLink +# Force some key parameters to sane values +# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor +# see https://pixhawk.ethz.ch/mavlink/ # -mavlink start -d /dev/ttyS0 -b 57600 -usleep 5000 +param set MAV_TYPE 2 # -# Start the sensors and test them. +# 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 @@ -63,14 +70,25 @@ multirotor_att_control start ardrone_interface start -d /dev/ttyS1 # +# Start GPS capture +# +gps start + +# # Start logging # -#sdlog start - +sdlog start -s 10 + # -# Start GPS capture +# Start system state # -gps start +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 |