From 4254bbfe6df9b17ece3b72d51dd93921fe55be52 Mon Sep 17 00:00:00 2001 From: samuezih Date: Tue, 18 Jun 2013 10:45:08 +0200 Subject: Add PX4IOAR PX4FLOW example startup script --- .../init.d/rc.PX4IOAR_PX4FLOW_example | 94 ++++++++++++++++++++++ 1 file changed, 94 insertions(+) create mode 100644 ROMFS/px4fmu_common/init.d/rc.PX4IOAR_PX4FLOW_example (limited to 'ROMFS/px4fmu_common/init.d/rc.PX4IOAR_PX4FLOW_example') diff --git a/ROMFS/px4fmu_common/init.d/rc.PX4IOAR_PX4FLOW_example b/ROMFS/px4fmu_common/init.d/rc.PX4IOAR_PX4FLOW_example new file mode 100644 index 000000000..e7173f6e6 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.PX4IOAR_PX4FLOW_example @@ -0,0 +1,94 @@ +#!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 + +# +# 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 + +# +# 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 + +# +# Configure PX4FMU for operation with PX4IOAR +# +fmu mode_gpio_serial + +# +# Start the sensors. +# +sh /etc/init.d/rc.sensors + +# +# Start MAVLink and MAVLink Onboard (Flow Sensor) +# +mavlink start -d /dev/ttyS0 -b 57600 +mavlink_onboard start -d /dev/ttyS3 -b 115200 +usleep 5000 + +# +# Start the commander. +# +commander start + +# +# Start the attitude estimator +# +attitude_estimator_ekf start + +# +# Start the position estimator +# +flow_position_estimator start + +# +# Fire up the multi rotor attitude controller +# +multirotor_att_control start + +# +# Fire up the flow position controller +# +flow_position_control start + +# +# Fire up the flow speed controller +# +flow_speed_control start + +# +# Fire up the AR.Drone interface. +# +ardrone_interface start -d /dev/ttyS1 + +# +# startup is done; we don't want the shell because we +# use the same UART for telemetry +# +echo "[init] startup done" + +exit -- cgit v1.2.3