From 557d3f22de25a392995f2803363f32fdbc6ce843 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Sun, 25 Aug 2013 19:27:11 +0200 Subject: Startup scripts major cleanup --- ROMFS/px4fmu_common/init.d/31_io_phantom | 93 ++++++-------------------------- 1 file changed, 17 insertions(+), 76 deletions(-) (limited to 'ROMFS/px4fmu_common/init.d/31_io_phantom') diff --git a/ROMFS/px4fmu_common/init.d/31_io_phantom b/ROMFS/px4fmu_common/init.d/31_io_phantom index 5090b98a4..0deffe3f1 100644 --- a/ROMFS/px4fmu_common/init.d/31_io_phantom +++ b/ROMFS/px4fmu_common/init.d/31_io_phantom @@ -1,26 +1,6 @@ #!nsh -# -# Flight startup script for PX4FMU+PX4IO -# - -# disable USB and autostart -set USB no -set MODE custom - -# -# Start the ORB (first app to start) -# -uorb start - -# -# Load microSD params -# -echo "[init] loading microSD params" -param select /fs/microsd/params -if [ -f /fs/microsd/params ] -then - param load /fs/microsd/params -fi + +echo "[init] 31_io_phantom: PX4FMU+PX4IO on Phantom" # # Load default params for this platform @@ -28,76 +8,50 @@ fi if param compare SYS_AUTOCONFIG 1 then # Set all params here, then disable autoconfig + # TODO + param set SYS_AUTOCONFIG 0 param save /fs/microsd/params fi # # Force some key parameters to sane values -# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor -# see https://pixhawk.ethz.ch/mavlink/ +# MAV_TYPE 1 = fixed wing # param set MAV_TYPE 1 - -# -# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell) -# -if [ -f /fs/microsd/px4io.bin ] -then - echo "PX4IO Firmware found. Checking Upgrade.." - if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current - then - echo "No newer version, skipping upgrade." - else - echo "Loading /fs/microsd/px4io.bin" - if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log - then - cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current - echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log - else - echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log - echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode" - fi - fi -fi - + # # Start MAVLink (depends on orb) # mavlink start -d /dev/ttyS1 -b 57600 usleep 5000 - -# -# Start the commander (depends on orb, mavlink) -# -commander start - -# -# Start PX4IO interface (depends on orb, commander) + # -px4io start - +# Start and configure PX4IO interface # -# Allow PX4IO to recover from midair restarts. -# this is very unlikely, but quite safe and robust. -px4io recovery +sh /etc/init.d/rc.io # # Set actuator limit to 100 Hz update (50 Hz PWM) px4io limit 100 # -# Start the sensors (depends on orb, px4io) +# Start the commander +# +commander start + +# +# Start the sensors # sh /etc/init.d/rc.sensors # -# Start GPS interface (depends on orb) +# Start GPS interface # gps start # -# Start the attitude estimator (depends on orb) +# Start the attitude estimator # kalman_demo start @@ -106,16 +60,3 @@ kalman_demo start # mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix control_demo start - -# -# Start logging -# -sdlog2 start -r 50 -a -b 14 - -# -# Start system state -# -if blinkm start -then - blinkm systemstate -fi -- cgit v1.2.3 From dfde02c82507d183fdc16aa2d45cb8d9cdf6ff0e Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 26 Aug 2013 11:53:52 +0200 Subject: Startup scripts fixup, fixed unmatched dependencies --- ROMFS/px4fmu_common/init.d/30_io_camflyer | 9 +++++++-- ROMFS/px4fmu_common/init.d/31_io_phantom | 7 ++++++- ROMFS/px4fmu_common/init.d/rc.multirotor | 5 +++++ ROMFS/px4fmu_common/init.d/rcS | 11 +++-------- 4 files changed, 21 insertions(+), 11 deletions(-) (limited to 'ROMFS/px4fmu_common/init.d/31_io_phantom') diff --git a/ROMFS/px4fmu_common/init.d/30_io_camflyer b/ROMFS/px4fmu_common/init.d/30_io_camflyer index c9d5d6632..6a0bd4da8 100644 --- a/ROMFS/px4fmu_common/init.d/30_io_camflyer +++ b/ROMFS/px4fmu_common/init.d/30_io_camflyer @@ -1,6 +1,6 @@ #!nsh -cho "[init] 30_io_camflyer: PX4FMU+PX4IO on Camflyer" +echo "[init] 30_io_camflyer: PX4FMU+PX4IO on Camflyer" # # Load default params for this platform @@ -49,6 +49,11 @@ px4io limit 100 # Start the sensors (depends on orb, px4io) # sh /etc/init.d/rc.sensors + +# +# Start logging (depends on sensors) +# +sh /etc/init.d/rc.logging # # Start GPS interface (depends on orb) @@ -64,4 +69,4 @@ kalman_demo start # Load mixer and start controllers (depends on px4io) # mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix -control_demo start +fw_att_control start diff --git a/ROMFS/px4fmu_common/init.d/31_io_phantom b/ROMFS/px4fmu_common/init.d/31_io_phantom index 0deffe3f1..718313862 100644 --- a/ROMFS/px4fmu_common/init.d/31_io_phantom +++ b/ROMFS/px4fmu_common/init.d/31_io_phantom @@ -44,6 +44,11 @@ commander start # Start the sensors # sh /etc/init.d/rc.sensors + +# +# Start logging (depends on sensors) +# +sh /etc/init.d/rc.logging # # Start GPS interface @@ -59,4 +64,4 @@ kalman_demo start # Load mixer and start controllers (depends on px4io) # mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix -control_demo start +fw_att_control start diff --git a/ROMFS/px4fmu_common/init.d/rc.multirotor b/ROMFS/px4fmu_common/init.d/rc.multirotor index 73f1b3742..e3638e3d1 100644 --- a/ROMFS/px4fmu_common/init.d/rc.multirotor +++ b/ROMFS/px4fmu_common/init.d/rc.multirotor @@ -8,6 +8,11 @@ # sh /etc/init.d/rc.sensors +# +# Start logging (depends on sensors) +# +sh /etc/init.d/rc.logging + # # Start the commander. # diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 6a82acdcc..c4abd07d2 100755 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -103,11 +103,9 @@ then blinkm systemstate fi fi - - # - # Start logging - # - sh /etc/init.d/rc.logging + + # Try to get an USB console + nshterm /dev/ttyACM0 & # # Check if PX4IO Firmware should be upgraded (from Andrew Tridgell) @@ -183,9 +181,6 @@ then set MODE custom fi - # Try to get an USB console - nshterm /dev/ttyACM0 & - # Start any custom extensions that might be missing if [ -f /fs/microsd/etc/rc.local ] then -- cgit v1.2.3