From ec5602e45d51e500327bd3aa08d4a3d678573936 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Thu, 8 May 2014 14:23:33 +0200
Subject: UAVCAN quad X autostart setup

---
 ROMFS/px4fmu_common/init.d/rcS | 12 +++++++++++-
 1 file changed, 11 insertions(+), 1 deletion(-)

(limited to 'ROMFS/px4fmu_common/init.d/rcS')

diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 756ee8ef8..5d76e4283 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -284,7 +284,17 @@ then
 	# If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output
 	if [ $OUTPUT_MODE != none ]
 	then
-		if [ $OUTPUT_MODE == io ]
+		if [ $OUTPUT_MODE == can ]
+		then
+			if uavcan start 1
+			then
+				echo "CAN UP"
+			else
+				echo "CAN ERR"
+			fi
+		fi
+
+		if [ $OUTPUT_MODE == io -o $OUTPUT_MODE == can ]
 		then
 			echo "[init] Use PX4IO PWM as primary output"
 			if px4io start
-- 
cgit v1.2.3


From dae9b48462bc851ee61d6d18ff2b5697dddf620b Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Mon, 7 Jul 2014 02:31:05 +0400
Subject: Renamed OUTPUT_MODE: can --> uavcan_esc

---
 ROMFS/px4fmu_common/init.d/4012_quad_x_can | 2 +-
 ROMFS/px4fmu_common/init.d/rc.interface    | 2 +-
 ROMFS/px4fmu_common/init.d/rcS             | 4 ++--
 3 files changed, 4 insertions(+), 4 deletions(-)

(limited to 'ROMFS/px4fmu_common/init.d/rcS')

diff --git a/ROMFS/px4fmu_common/init.d/4012_quad_x_can b/ROMFS/px4fmu_common/init.d/4012_quad_x_can
index 471ac54b4..8c5a4fbf2 100644
--- a/ROMFS/px4fmu_common/init.d/4012_quad_x_can
+++ b/ROMFS/px4fmu_common/init.d/4012_quad_x_can
@@ -24,4 +24,4 @@ then
 	param set MC_YAWRATE_D 0.0
 fi
 
-set OUTPUT_MODE can
+set OUTPUT_MODE uavcan_esc
diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface
index da4c73470..1de0abb58 100644
--- a/ROMFS/px4fmu_common/init.d/rc.interface
+++ b/ROMFS/px4fmu_common/init.d/rc.interface
@@ -25,7 +25,7 @@ then
 		set OUTPUT_DEV /dev/pwm_output
 	fi
 
-	if [ $OUTPUT_MODE == can ]
+	if [ $OUTPUT_MODE == uavcan_esc ]
 	then
 		set OUTPUT_DEV /dev/uavcan/esc
 	fi
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index c95016ace..975cb6d1d 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -292,7 +292,7 @@ then
 	# If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output
 	if [ $OUTPUT_MODE != none ]
 	then
-		if [ $OUTPUT_MODE == can ]
+		if [ $OUTPUT_MODE == uavcan_esc ]
 		then
 			if uavcan start 1
 			then
@@ -302,7 +302,7 @@ then
 			fi
 		fi
 
-		if [ $OUTPUT_MODE == io -o $OUTPUT_MODE == can ]
+		if [ $OUTPUT_MODE == io -o $OUTPUT_MODE == uavcan_esc ]
 		then
 			echo "[init] Use PX4IO PWM as primary output"
 			if px4io start
-- 
cgit v1.2.3