diff options
Diffstat (limited to 'ROMFS')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.interface | 2 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.usb | 6 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rcS | 10 |
3 files changed, 12 insertions, 6 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface index 7fa8fd121..32af46b51 100644 --- a/ROMFS/px4fmu_common/init.d/rc.interface +++ b/ROMFS/px4fmu_common/init.d/rc.interface @@ -11,7 +11,7 @@ then # Load main mixer # - if [ $MIXER_AUX == none ] + if [ $MIXER_AUX == none -a $USE_IO == yes] then set MIXER_AUX $MIXER.aux fi diff --git a/ROMFS/px4fmu_common/init.d/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb index 9722d1c96..fddcf5b3e 100644 --- a/ROMFS/px4fmu_common/init.d/rc.usb +++ b/ROMFS/px4fmu_common/init.d/rc.usb @@ -8,17 +8,17 @@ mavlink start -r 20000 -d /dev/ttyACM0 -x mavlink stream -d /dev/ttyACM0 -s PARAM_VALUE -r 200 mavlink stream -d /dev/ttyACM0 -s MISSION_ITEM -r 50 mavlink stream -d /dev/ttyACM0 -s NAMED_VALUE_FLOAT -r 10 -mavlink stream -d /dev/ttyACM0 -s OPTICAL_FLOW -r 10 +mavlink stream -d /dev/ttyACM0 -s OPTICAL_FLOW_RAD -r 10 mavlink stream -d /dev/ttyACM0 -s VFR_HUD -r 20 mavlink stream -d /dev/ttyACM0 -s ATTITUDE -r 20 -mavlink stream -d /dev/ttyACM0 -s ATTITUDE_CONTROLS -r 30 +mavlink stream -d /dev/ttyACM0 -s ACTUATOR_CONTROL_TARGET0 -r 30 mavlink stream -d /dev/ttyACM0 -s RC_CHANNELS_RAW -r 5 mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 20 mavlink stream -d /dev/ttyACM0 -s POSITION_TARGET_GLOBAL_INT -r 10 mavlink stream -d /dev/ttyACM0 -s LOCAL_POSITION_NED -r 30 mavlink stream -d /dev/ttyACM0 -s MANUAL_CONTROL -r 5 -mavlink stream -d /dev/ttyACM0 -s ATTITUDE_QUATERNION -r 20 mavlink stream -d /dev/ttyACM0 -s HIGHRES_IMU -r 20 +mavlink stream -d /dev/ttyACM0 -s GPS_RAW_INT -r 20 # Exit shell to make it available to MAVLink exit diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 1663a2ab3..8b26bbe7a 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -23,6 +23,7 @@ set TUNE_ERR ML<<CP4CP4CP4CP4CP4 # # Try to mount the microSD card. # +# REBOOTWORK this needs to start after the flight control loop echo "[i] Looking for microSD..." if mount -t vfat /dev/mmcsd0 /fs/microsd then @@ -51,6 +52,7 @@ unset FRC if [ $MODE == autostart ] then # Try to get an USB console + # REBOOTWORK this needs to start after the flight control loop nshterm /dev/ttyACM0 & # @@ -186,7 +188,7 @@ then set IO_FILE /etc/extras/px4io-v1_default.bin fi - if px4io checkcrc $IO_FILE + if px4io checkcrc ${IO_FILE} then echo "PX4IO CRC OK" >> $LOG_FILE @@ -196,7 +198,10 @@ then tone_alarm MLL32CP8MB - if px4io forceupdate 14662 $IO_FILE + px4io start + px4io safety_on + + if px4io forceupdate 14662 ${IO_FILE} then usleep 500000 if px4io checkcrc $IO_FILE @@ -265,6 +270,7 @@ then unset HIL # waypoint storage + # REBOOTWORK this needs to start in parallel if dataman start then fi |