diff options
Diffstat (limited to 'ROMFS')
-rw-r--r-- | ROMFS/.gitignore | 1 | ||||
-rw-r--r-- | ROMFS/Makefile | 122 | ||||
-rwxr-xr-x | ROMFS/px4fmu_default/logging/logconv.m (renamed from ROMFS/logging/logconv.m) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_default/mixers/FMU_AERT.mix (renamed from ROMFS/mixers/FMU_AERT.mix) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_default/mixers/FMU_AET.mix (renamed from ROMFS/mixers/FMU_AET.mix) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_default/mixers/FMU_Q.mix (renamed from ROMFS/mixers/FMU_Q.mix) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_default/mixers/FMU_RET.mix (renamed from ROMFS/mixers/FMU_RET.mix) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_default/mixers/FMU_X5.mix (renamed from ROMFS/mixers/FMU_X5.mix) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_default/mixers/FMU_delta.mix | 50 | ||||
-rw-r--r-- | ROMFS/px4fmu_default/mixers/FMU_hex_+.mix (renamed from ROMFS/mixers/FMU_hex_+.mix) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_default/mixers/FMU_hex_x.mix (renamed from ROMFS/mixers/FMU_hex_x.mix) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_default/mixers/FMU_octo_+.mix (renamed from ROMFS/mixers/FMU_octo_+.mix) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_default/mixers/FMU_octo_x.mix (renamed from ROMFS/mixers/FMU_octo_x.mix) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_default/mixers/FMU_pass.mix (renamed from ROMFS/mixers/FMU_pass.mix) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_default/mixers/FMU_quad_+.mix (renamed from ROMFS/mixers/FMU_quad_+.mix) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_default/mixers/FMU_quad_x.mix (renamed from ROMFS/mixers/FMU_quad_x.mix) | 0 | ||||
-rw-r--r-- | ROMFS/px4fmu_default/mixers/README (renamed from ROMFS/mixers/README) | 0 | ||||
-rw-r--r-- | ROMFS/scripts/rc.FMU_quad_x | 67 | ||||
-rw-r--r-- | ROMFS/scripts/rc.PX4IO | 80 | ||||
-rw-r--r-- | ROMFS/scripts/rc.PX4IOAR | 98 | ||||
-rw-r--r-- | ROMFS/scripts/rc.boarddetect | 66 | ||||
-rw-r--r-- | ROMFS/scripts/rc.jig | 10 | ||||
-rw-r--r-- | ROMFS/scripts/rc.logging | 9 | ||||
-rw-r--r-- | ROMFS/scripts/rc.sensors | 34 | ||||
-rw-r--r-- | ROMFS/scripts/rc.standalone | 13 | ||||
-rwxr-xr-x | ROMFS/scripts/rcS | 79 |
26 files changed, 50 insertions, 579 deletions
diff --git a/ROMFS/.gitignore b/ROMFS/.gitignore deleted file mode 100644 index 30d3d7fe5..000000000 --- a/ROMFS/.gitignore +++ /dev/null @@ -1 +0,0 @@ -/img diff --git a/ROMFS/Makefile b/ROMFS/Makefile deleted file mode 100644 index ed39ab825..000000000 --- a/ROMFS/Makefile +++ /dev/null @@ -1,122 +0,0 @@ -# -# Makefile to generate a PX4FMU ROMFS image. -# -# In normal use, 'make install' will generate a new ROMFS header and place it -# into the px4fmu configuration in the appropriate location. -# - -# -# Directories of interest -# -SRCROOT ?= $(dir $(lastword $(MAKEFILE_LIST))) -BUILDROOT ?= $(SRCROOT)/img -ROMFS_HEADER ?= $(SRCROOT)/../nuttx/configs/px4fmu/include/nsh_romfsimg.h - -# -# List of files to install in the ROMFS, specified as <source>~<destination> -# -ROMFS_FSSPEC := $(SRCROOT)/scripts/rcS~init.d/rcS \ - $(SRCROOT)/scripts/rc.sensors~init.d/rc.sensors \ - $(SRCROOT)/scripts/rc.logging~init.d/rc.logging \ - $(SRCROOT)/scripts/rc.standalone~init.d/rc.standalone \ - $(SRCROOT)/scripts/rc.PX4IO~init.d/rc.PX4IO \ - $(SRCROOT)/scripts/rc.PX4IOAR~init.d/rc.PX4IOAR \ - $(SRCROOT)/scripts/rc.FMU_quad_x~init.d/rc.FMU_quad_x \ - $(SRCROOT)/scripts/rc.usb~init.d/rc.usb \ - $(SRCROOT)/scripts/rc.hil~init.d/rc.hil \ - $(SRCROOT)/mixers/FMU_pass.mix~mixers/FMU_pass.mix \ - $(SRCROOT)/mixers/FMU_Q.mix~mixers/FMU_Q.mix \ - $(SRCROOT)/mixers/FMU_X5.mix~mixers/FMU_X5.mix \ - $(SRCROOT)/mixers/FMU_AERT.mix~mixers/FMU_AERT.mix \ - $(SRCROOT)/mixers/FMU_AET.mix~mixers/FMU_AET.mix \ - $(SRCROOT)/mixers/FMU_RET.mix~mixers/FMU_ERT.mix \ - $(SRCROOT)/mixers/FMU_quad_x.mix~mixers/FMU_quad_x.mix \ - $(SRCROOT)/mixers/FMU_quad_+.mix~mixers/FMU_quad_+.mix \ - $(SRCROOT)/mixers/FMU_hex_x.mix~mixers/FMU_hex_x.mix \ - $(SRCROOT)/mixers/FMU_hex_+.mix~mixers/FMU_hex_+.mix \ - $(SRCROOT)/mixers/FMU_octo_x.mix~mixers/FMU_octo_x.mix \ - $(SRCROOT)/mixers/FMU_octo_+.mix~mixers/FMU_octo_+.mix \ - $(SRCROOT)/logging/logconv.m~logging/logconv.m - -# the EXTERNAL_SCRIPTS variable is used to add out of tree scripts -# to ROMFS. -ROMFS_FSSPEC += $(EXTERNAL_SCRIPTS) - -# -# Add the PX4IO firmware to the spec if someone has dropped it into the -# source directory, or otherwise specified its location. -# -# Normally this is only something you'd do when working on PX4IO; most -# users will upgrade with firmware off the microSD card. -# -PX4IO_FIRMWARE ?= $(SRCROOT)/px4io.bin -ifneq ($(wildcard $(PX4IO_FIRMWARE)),) -ROMFS_FSSPEC += $(PX4IO_FIRMWARE)~px4io.bin -endif - -################################################################################ -# No user-serviceable parts below -################################################################################ - -# -# Just the source files from the ROMFS spec, so that we can fail cleanly if they don't -# exist -# -ROMFS_SRCFILES = $(foreach spec,$(ROMFS_FSSPEC),$(firstword $(subst ~, ,$(spec)))) - -# -# Just the destination directories from the ROMFS spec -# -ROMFS_DIRS = $(sort $(dir $(foreach spec,$(ROMFS_FSSPEC),$(lastword $(subst ~, ,$(spec)))))) - - -# -# Intermediate products -# -ROMFS_IMG = $(BUILDROOT)/romfs.img -ROMFS_WORKDIR = $(BUILDROOT)/romfs - -# -# Convenience target for rebuilding the ROMFS header -# -all: $(ROMFS_HEADER) - -$(ROMFS_HEADER): $(ROMFS_IMG) $(dir $(ROMFS_HEADER)) - @echo Generating the ROMFS header... - @(cd $(dir $(ROMFS_IMG)) && xxd -i $(notdir $(ROMFS_IMG))) | sed -e 's/char/const char/' > $@ - -$(ROMFS_IMG): $(ROMFS_WORKDIR) - @echo Generating the ROMFS image... - @genromfs -f $@ -d $(ROMFS_WORKDIR) -V "NSHInitVol" - -$(ROMFS_WORKDIR): $(ROMFS_SRCFILES) - @echo Rebuilding the ROMFS work area... - @rm -rf $(ROMFS_WORKDIR) - @mkdir -p $(ROMFS_WORKDIR) - @for dir in $(ROMFS_DIRS) ; do mkdir -p $(ROMFS_WORKDIR)/$$dir; done - @for spec in $(ROMFS_FSSPEC) ; do \ - echo $$spec | sed -e 's%^.*~% %' ;\ - `echo "cp $$spec" | sed -e 's%~% $(ROMFS_WORKDIR)/%'` ;\ - done - -$(BUILDROOT): - @mkdir -p $(BUILDROOT) - -clean: - @rm -rf $(BUILDROOT) - -distclean: clean - @rm -f $(PX4IO_FIRMWARE) $(ROMFS_HEADER) - -.PHONY: all install clean distclean - -# -# Hacks and fixups -# -SYSTYPE = $(shell uname) - -ifeq ($(SYSTYPE),Darwin) -# PATH inherited by Eclipse may not include toolchain install location -export PATH := $(PATH):/usr/local/bin -endif - diff --git a/ROMFS/logging/logconv.m b/ROMFS/px4fmu_default/logging/logconv.m index 92ee01413..92ee01413 100755 --- a/ROMFS/logging/logconv.m +++ b/ROMFS/px4fmu_default/logging/logconv.m diff --git a/ROMFS/mixers/FMU_AERT.mix b/ROMFS/px4fmu_default/mixers/FMU_AERT.mix index 75e82bb00..75e82bb00 100644 --- a/ROMFS/mixers/FMU_AERT.mix +++ b/ROMFS/px4fmu_default/mixers/FMU_AERT.mix diff --git a/ROMFS/mixers/FMU_AET.mix b/ROMFS/px4fmu_default/mixers/FMU_AET.mix index 20cb88b91..20cb88b91 100644 --- a/ROMFS/mixers/FMU_AET.mix +++ b/ROMFS/px4fmu_default/mixers/FMU_AET.mix diff --git a/ROMFS/mixers/FMU_Q.mix b/ROMFS/px4fmu_default/mixers/FMU_Q.mix index ebcb66b24..ebcb66b24 100644 --- a/ROMFS/mixers/FMU_Q.mix +++ b/ROMFS/px4fmu_default/mixers/FMU_Q.mix diff --git a/ROMFS/mixers/FMU_RET.mix b/ROMFS/px4fmu_default/mixers/FMU_RET.mix index 95beb8927..95beb8927 100644 --- a/ROMFS/mixers/FMU_RET.mix +++ b/ROMFS/px4fmu_default/mixers/FMU_RET.mix diff --git a/ROMFS/mixers/FMU_X5.mix b/ROMFS/px4fmu_default/mixers/FMU_X5.mix index 9f81e1dc3..9f81e1dc3 100644 --- a/ROMFS/mixers/FMU_X5.mix +++ b/ROMFS/px4fmu_default/mixers/FMU_X5.mix diff --git a/ROMFS/px4fmu_default/mixers/FMU_delta.mix b/ROMFS/px4fmu_default/mixers/FMU_delta.mix new file mode 100644 index 000000000..981466704 --- /dev/null +++ b/ROMFS/px4fmu_default/mixers/FMU_delta.mix @@ -0,0 +1,50 @@ +Delta-wing mixer for PX4FMU +=========================== + +This file defines mixers suitable for controlling a delta wing aircraft using +PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU +servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is +assumed to be unused. + +Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 +(roll), 1 (pitch) and 3 (thrust). + +See the README for more information on the scaler format. + +Elevon mixers +------------- +Three scalers total (output, roll, pitch). + +On the assumption that the two elevon servos are physically reversed, the pitch +input is inverted between the two servos. + +The scaling factor for roll inputs is adjusted to implement differential travel +for the elevons. + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 3000 5000 0 -10000 10000 +S: 0 1 5000 5000 0 -10000 10000 + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 5000 3000 0 -10000 10000 +S: 0 1 -5000 -5000 0 -10000 10000 + +Output 2 +-------- +This mixer is empty. + +Z: + +Motor speed mixer +----------------- +Two scalers total (output, thrust). + +This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1) +range. Inputs below zero are treated as zero. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 + diff --git a/ROMFS/mixers/FMU_hex_+.mix b/ROMFS/px4fmu_default/mixers/FMU_hex_+.mix index b5e38ce9e..b5e38ce9e 100644 --- a/ROMFS/mixers/FMU_hex_+.mix +++ b/ROMFS/px4fmu_default/mixers/FMU_hex_+.mix diff --git a/ROMFS/mixers/FMU_hex_x.mix b/ROMFS/px4fmu_default/mixers/FMU_hex_x.mix index 8e8d122ad..8e8d122ad 100644 --- a/ROMFS/mixers/FMU_hex_x.mix +++ b/ROMFS/px4fmu_default/mixers/FMU_hex_x.mix diff --git a/ROMFS/mixers/FMU_octo_+.mix b/ROMFS/px4fmu_default/mixers/FMU_octo_+.mix index 2cb70e814..2cb70e814 100644 --- a/ROMFS/mixers/FMU_octo_+.mix +++ b/ROMFS/px4fmu_default/mixers/FMU_octo_+.mix diff --git a/ROMFS/mixers/FMU_octo_x.mix b/ROMFS/px4fmu_default/mixers/FMU_octo_x.mix index edc71f013..edc71f013 100644 --- a/ROMFS/mixers/FMU_octo_x.mix +++ b/ROMFS/px4fmu_default/mixers/FMU_octo_x.mix diff --git a/ROMFS/mixers/FMU_pass.mix b/ROMFS/px4fmu_default/mixers/FMU_pass.mix index e9a81f2bb..e9a81f2bb 100644 --- a/ROMFS/mixers/FMU_pass.mix +++ b/ROMFS/px4fmu_default/mixers/FMU_pass.mix diff --git a/ROMFS/mixers/FMU_quad_+.mix b/ROMFS/px4fmu_default/mixers/FMU_quad_+.mix index dfdf1d58e..dfdf1d58e 100644 --- a/ROMFS/mixers/FMU_quad_+.mix +++ b/ROMFS/px4fmu_default/mixers/FMU_quad_+.mix diff --git a/ROMFS/mixers/FMU_quad_x.mix b/ROMFS/px4fmu_default/mixers/FMU_quad_x.mix index 12a3bee20..12a3bee20 100644 --- a/ROMFS/mixers/FMU_quad_x.mix +++ b/ROMFS/px4fmu_default/mixers/FMU_quad_x.mix diff --git a/ROMFS/mixers/README b/ROMFS/px4fmu_default/mixers/README index 6649c53c2..6649c53c2 100644 --- a/ROMFS/mixers/README +++ b/ROMFS/px4fmu_default/mixers/README diff --git a/ROMFS/scripts/rc.FMU_quad_x b/ROMFS/scripts/rc.FMU_quad_x deleted file mode 100644 index 8787443ea..000000000 --- a/ROMFS/scripts/rc.FMU_quad_x +++ /dev/null @@ -1,67 +0,0 @@ -#!nsh -# -# Flight startup script for PX4FMU with PWM outputs. -# - -# Disable the USB interface -set USB no - -# Disable autostarting other apps -set MODE custom - -echo "[init] doing PX4FMU Quad startup..." - -# -# Start the ORB -# -uorb start - -# -# Load microSD params -# -echo "[init] loading microSD params" -param select /fs/microsd/parameters -if [ -f /fs/microsd/parameters ] -then - param load /fs/microsd/parameters -fi - -# -# Force some key parameters to sane values -# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor -# see https://pixhawk.ethz.ch/mavlink/ -# -param set MAV_TYPE 2 - -# -# Start MAVLink -# -mavlink start -d /dev/ttyS0 -b 57600 -usleep 5000 - -# -# Start the sensors and test them. -# -sh /etc/init.d/rc.sensors - -# -# Start the commander. -# -commander start - -# -# Start the attitude estimator -# -attitude_estimator_ekf start - -echo "[init] starting PWM output" -fmu mode_pwm -mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix - -# -# Start attitude control -# -multirotor_att_control start - -echo "[init] startup done, exiting" -exit
\ No newline at end of file diff --git a/ROMFS/scripts/rc.PX4IO b/ROMFS/scripts/rc.PX4IO deleted file mode 100644 index 1e3963b9a..000000000 --- a/ROMFS/scripts/rc.PX4IO +++ /dev/null @@ -1,80 +0,0 @@ -#!nsh - -# Disable USB and autostart -set USB no -set MODE camflyer - -# -# Start the ORB -# -uorb start - -# -# Load microSD params -# -echo "[init] loading microSD params" -param select /fs/microsd/parameters -if [ -f /fs/microsd/parameters ] -then - param load /fs/microsd/parameters -fi - -# -# Force some key parameters to sane values -# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor -# see https://pixhawk.ethz.ch/mavlink/ -# -param set MAV_TYPE 1 - -# -# Start the sensors. -# -sh /etc/init.d/rc.sensors - -# -# Start MAVLink -# -mavlink start -d /dev/ttyS1 -b 57600 -usleep 5000 - -# -# Start the commander. -# -commander start - -# -# Start GPS interface -# -gps start - -# -# Start the attitude estimator -# -kalman_demo start - -# -# Start PX4IO interface -# -px4io start - -# -# Load mixer and start controllers -# -mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix -control_demo start - -# -# Start logging -# -sdlog start -s 10 - -# -# Start system state -# -if blinkm start -then - echo "using BlinkM for state indication" - blinkm systemstate -else - echo "no BlinkM found, OK." -fi diff --git a/ROMFS/scripts/rc.PX4IOAR b/ROMFS/scripts/rc.PX4IOAR deleted file mode 100644 index 72df68e35..000000000 --- a/ROMFS/scripts/rc.PX4IOAR +++ /dev/null @@ -1,98 +0,0 @@ -#!nsh -# -# Flight startup script for PX4FMU on PX4IOAR carrier board. -# - -# Disable the USB interface -set USB no - -# Disable autostarting other apps -set MODE ardrone - -echo "[init] doing PX4IOAR startup..." - -# -# Start the ORB -# -uorb start - -# -# Init the parameter storage -# -echo "[init] loading microSD params" -param select /fs/microsd/parameters -if [ -f /fs/microsd/parameters ] -then - param load /fs/microsd/parameters -fi - -# -# Force some key parameters to sane values -# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor -# see https://pixhawk.ethz.ch/mavlink/ -# -param set MAV_TYPE 2 - -# -# 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 - -# -# Start the attitude estimator -# -attitude_estimator_ekf start - -# -# Configure PX4FMU for operation with PX4IOAR -# -fmu mode_gpio_serial - -# -# Fire up the multi rotor attitude controller -# -multirotor_att_control start - -# -# Fire up the AR.Drone interface. -# -ardrone_interface start -d /dev/ttyS1 - -# -# Start GPS capture -# -gps start - -# -# Start logging -# -sdlog start -s 10 - -# -# Start system state -# -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 -# use the same UART for telemetry -# -echo "[init] startup done" -exit
\ No newline at end of file diff --git a/ROMFS/scripts/rc.boarddetect b/ROMFS/scripts/rc.boarddetect deleted file mode 100644 index f233e51df..000000000 --- a/ROMFS/scripts/rc.boarddetect +++ /dev/null @@ -1,66 +0,0 @@ -#!nsh -# -# If we are still in flight mode, work out what airframe -# configuration we have and start up accordingly. -# -if [ $MODE != autostart ] -then - echo "[init] automatic startup cancelled by user script" -else - echo "[init] detecting attached hardware..." - - # - # Assume that we are PX4FMU in standalone mode - # - set BOARD PX4FMU - - # - # Are we attached to a PX4IOAR (AR.Drone carrier board)? - # - if boardinfo test name PX4IOAR - then - set BOARD PX4IOAR - if [ -f /etc/init.d/rc.PX4IOAR ] - then - echo "[init] reading /etc/init.d/rc.PX4IOAR" - usleep 500 - sh /etc/init.d/rc.PX4IOAR - fi - else - echo "[init] PX4IOAR not detected" - fi - - # - # Are we attached to a PX4IO? - # - if boardinfo test name PX4IO - then - set BOARD PX4IO - if [ -f /etc/init.d/rc.PX4IO ] - then - echo "[init] reading /etc/init.d/rc.PX4IO" - usleep 500 - sh /etc/init.d/rc.PX4IO - fi - else - echo "[init] PX4IO not detected" - fi - - # - # Looks like we are stand-alone - # - if [ $BOARD == PX4FMU ] - then - echo "[init] no expansion board detected" - if [ -f /etc/init.d/rc.standalone ] - then - echo "[init] reading /etc/init.d/rc.standalone" - sh /etc/init.d/rc.standalone - fi - fi - - # - # We may not reach here if the airframe-specific script exits the shell. - # - echo "[init] startup done." -fi
\ No newline at end of file diff --git a/ROMFS/scripts/rc.jig b/ROMFS/scripts/rc.jig deleted file mode 100644 index e2b5d8f30..000000000 --- a/ROMFS/scripts/rc.jig +++ /dev/null @@ -1,10 +0,0 @@ -#!nsh -# -# Test jig startup script -# - -echo "[testing] doing production test.." - -tests jig - -echo "[testing] testing done" diff --git a/ROMFS/scripts/rc.logging b/ROMFS/scripts/rc.logging deleted file mode 100644 index 09c2d00d1..000000000 --- a/ROMFS/scripts/rc.logging +++ /dev/null @@ -1,9 +0,0 @@ -#!nsh -# -# Initialise logging services. -# - -if [ -d /fs/microsd ] -then - sdlog start -fi diff --git a/ROMFS/scripts/rc.sensors b/ROMFS/scripts/rc.sensors deleted file mode 100644 index 42c2f52e9..000000000 --- a/ROMFS/scripts/rc.sensors +++ /dev/null @@ -1,34 +0,0 @@ -#!nsh -# -# Standard startup script for PX4FMU onboard sensor drivers. -# - -# -# Start sensor drivers here. -# - -ms5611 start -adc start - -if mpu6000 start -then - echo "using MPU6000 and HMC5883L" - hmc5883 start -else - echo "using L3GD20 and LSM303D" - l3gd20 start - lsm303 start -fi - -# -# Start the sensor collection task. -# IMPORTANT: this also loads param offsets -# ALWAYS start this task before the -# preflight_check. -# -sensors start - -# -# Check sensors - run AFTER 'sensors start' -# -preflight_check
\ No newline at end of file diff --git a/ROMFS/scripts/rc.standalone b/ROMFS/scripts/rc.standalone deleted file mode 100644 index 67e95215b..000000000 --- a/ROMFS/scripts/rc.standalone +++ /dev/null @@ -1,13 +0,0 @@ -#!nsh -# -# Flight startup script for PX4FMU standalone configuration. -# - -echo "[init] doing standalone PX4FMU startup..." - -# -# Start the ORB -# -uorb start - -echo "[init] startup done" diff --git a/ROMFS/scripts/rcS b/ROMFS/scripts/rcS deleted file mode 100755 index 89a767879..000000000 --- a/ROMFS/scripts/rcS +++ /dev/null @@ -1,79 +0,0 @@ -#!nsh -# -# PX4FMU startup script. -# -# This script is responsible for: -# -# - mounting the microSD card (if present) -# - running the user startup script from the microSD card (if present) -# - detecting the configuration of the system and picking a suitable -# startup script to continue with -# -# Note: DO NOT add configuration-specific commands to this script; -# add them to the per-configuration scripts instead. -# - -# -# Default to auto-start mode. An init script on the microSD card -# can change this to prevent automatic startup of the flight script. -# -set MODE autostart -set USB autoconnect - -# -# Start playing the startup tune -# -tone_alarm start - -# -# Try to mount the microSD card. -# -echo "[init] looking for microSD..." -if mount -t vfat /dev/mmcsd0 /fs/microsd -then - echo "[init] card mounted at /fs/microsd" -else - echo "[init] no microSD card found" -fi - -# -# Look for an init script on the microSD card. -# -# To prevent automatic startup in the current flight mode, -# the script should set MODE to some other value. -# -if [ -f /fs/microsd/etc/rc ] -then - echo "[init] reading /fs/microsd/etc/rc" - sh /fs/microsd/etc/rc -fi -# Also consider rc.txt files -if [ -f /fs/microsd/etc/rc.txt ] -then - echo "[init] reading /fs/microsd/etc/rc.txt" - sh /fs/microsd/etc/rc.txt -fi - -# -# Check for USB host -# -if [ $USB != autoconnect ] -then - echo "[init] not connecting USB" -else - if sercon - then - echo "[init] USB interface connected" - else - echo "[init] No USB connected" - fi -fi - -# if this is an APM build then there will be a rc.APM script -# from an EXTERNAL_SCRIPTS build option -if [ -f /etc/init.d/rc.APM ] -then - echo Running rc.APM - # if APM startup is successful then nsh will exit - sh /etc/init.d/rc.APM -fi |