diff options
Diffstat (limited to 'ROMFS')
-rw-r--r-- | ROMFS/px4fmu_common/init.d/1001_rc_quad.hil | 7 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/800_sdlogger | 4 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.io | 2 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.logging | 4 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.sensors | 4 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rcS | 9 |
6 files changed, 19 insertions, 11 deletions
diff --git a/ROMFS/px4fmu_common/init.d/1001_rc_quad.hil b/ROMFS/px4fmu_common/init.d/1001_rc_quad.hil index 9b664d63e..25ea25ae8 100644 --- a/ROMFS/px4fmu_common/init.d/1001_rc_quad.hil +++ b/ROMFS/px4fmu_common/init.d/1001_rc_quad.hil @@ -67,8 +67,11 @@ if px4io start then echo "IO started" else - fmu mode_serial - echo "FMU started" + if hw_ver compare PX4FMU_V1 + then + fmu mode_serial + echo "FMU started" + fi fi # diff --git a/ROMFS/px4fmu_common/init.d/800_sdlogger b/ROMFS/px4fmu_common/init.d/800_sdlogger index 9b90cbdd0..2d2c3737b 100644 --- a/ROMFS/px4fmu_common/init.d/800_sdlogger +++ b/ROMFS/px4fmu_common/init.d/800_sdlogger @@ -42,10 +42,12 @@ position_estimator_inav start if [ -d /fs/microsd ] then - if [ $BOARD == fmuv1 ] + if hw_ver compare PX4FMU_V1 then + echo "Start sdlog2 at 50Hz" sdlog2 start -r 50 -e -b 16 else + echo "Start sdlog2 at 200Hz" sdlog2 start -r 200 -e -b 16 fi fi diff --git a/ROMFS/px4fmu_common/init.d/rc.io b/ROMFS/px4fmu_common/init.d/rc.io index aaf91b316..24784610c 100644 --- a/ROMFS/px4fmu_common/init.d/rc.io +++ b/ROMFS/px4fmu_common/init.d/rc.io @@ -11,7 +11,7 @@ then # # Disable px4io topic limiting # - if [ $BOARD == fmuv1 ] + if hw_ver compare PX4FMU_V1 then px4io limit 200 else diff --git a/ROMFS/px4fmu_common/init.d/rc.logging b/ROMFS/px4fmu_common/init.d/rc.logging index dc4be8055..1791acbee 100644 --- a/ROMFS/px4fmu_common/init.d/rc.logging +++ b/ROMFS/px4fmu_common/init.d/rc.logging @@ -5,10 +5,12 @@ if [ -d /fs/microsd ] then - if [ $BOARD == fmuv1 ] + if hw_ver compare PX4FMU_V1 then + echo "Start sdlog2 at 50Hz" sdlog2 start -r 50 -a -b 16 else + echo "Start sdlog2 at 200Hz" sdlog2 start -r 200 -a -b 16 fi fi diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors index 070a4e7e3..a2517135f 100644 --- a/ROMFS/px4fmu_common/init.d/rc.sensors +++ b/ROMFS/px4fmu_common/init.d/rc.sensors @@ -28,9 +28,7 @@ fi if lsm303d start then - set BOARD fmuv2 -else - set BOARD fmuv1 + echo "using LSM303D" fi # Start airspeed sensors diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 66cb3f237..8801d1126 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -185,9 +185,12 @@ then else echo "PX4IO restart failed" echo "PX4IO restart failed" >> $logfile - tone_alarm MNGGG - sleep 10 - reboot + if hw_ver compare PX4FMU_V2 + then + tone_alarm MNGGG + sleep 10 + reboot + fi fi else echo "PX4IO update failed" |