diff options
Diffstat (limited to 'ROMFS')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/1001_rc_quad.hil | 18 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil | 18 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/4009_ardrone_flow | 2 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.multirotor | 4 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rcS | 10 |
5 files changed, 23 insertions, 29 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..c15e5d7c5 100644 --- a/ROMFS/px4fmu_common/init.d/1001_rc_quad.hil +++ b/ROMFS/px4fmu_common/init.d/1001_rc_quad.hil @@ -60,16 +60,8 @@ hil mode_pwm # param set MAV_TYPE 2 -# -# Check if we got an IO -# -if px4io start -then - echo "IO started" -else - fmu mode_serial - echo "FMU started" -fi +fmu mode_serial +echo "FMU started" # # Start the sensors (depends on orb, px4io) @@ -79,7 +71,7 @@ sh /etc/init.d/rc.sensors # # Start the attitude estimator (depends on orb) # -att_pos_estimator_ekf start +attitude_estimator_ekf start # # Load mixer and start controllers (depends on px4io) @@ -94,12 +86,12 @@ position_estimator_inav start # # Start attitude control # -multirotor_att_control start +mc_att_control_vector start # # Start position control # -multirotor_pos_control start +mc_pos_control start echo "[HIL] setup done, running" diff --git a/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil b/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil index 0cc07ad34..ad36716cf 100644 --- a/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil +++ b/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil @@ -60,16 +60,8 @@ hil mode_pwm # param set MAV_TYPE 2 -# -# Check if we got an IO -# -if px4io start -then - echo "IO started" -else - fmu mode_serial - echo "FMU started" -fi +fmu mode_serial +echo "FMU started" # # Start the sensors (depends on orb, px4io) @@ -79,7 +71,7 @@ sh /etc/init.d/rc.sensors # # Start the attitude estimator (depends on orb) # -att_pos_estimator_ekf start +attitude_estimator_ekf start # # Load mixer and start controllers (depends on px4io) @@ -94,12 +86,12 @@ position_estimator_inav start # # Start attitude control # -multirotor_att_control start +mc_att_control_vector start # # Start position control # -multirotor_pos_control start +mc_pos_control start echo "[HIL] setup done, running" diff --git a/ROMFS/px4fmu_common/init.d/4009_ardrone_flow b/ROMFS/px4fmu_common/init.d/4009_ardrone_flow index 2886bcb75..e2cb8833d 100644 --- a/ROMFS/px4fmu_common/init.d/4009_ardrone_flow +++ b/ROMFS/px4fmu_common/init.d/4009_ardrone_flow @@ -67,7 +67,7 @@ flow_position_estimator start # # Fire up the multi rotor attitude controller # -multirotor_att_control start +mc_att_control_vector start # # Fire up the flow position controller diff --git a/ROMFS/px4fmu_common/init.d/rc.multirotor b/ROMFS/px4fmu_common/init.d/rc.multirotor index bc550ac5a..f6ac58632 100644 --- a/ROMFS/px4fmu_common/init.d/rc.multirotor +++ b/ROMFS/px4fmu_common/init.d/rc.multirotor @@ -31,9 +31,9 @@ position_estimator_inav start # # Start attitude control # -multirotor_att_control start +mc_att_control_vector start # # Start position control # -multirotor_pos_control start +mc_pos_control start diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 05657b03e..d647e7d65 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -113,6 +113,16 @@ then # commander start + # + # Start the datamanager + # + dataman start + + # + # Start the Navigator + # + navigator start + if param compare SYS_AUTOSTART 1000 then sh /etc/init.d/1000_rc_fw_easystar.hil |