From 4cffd99db940a9f0cda7643842ccf17d8a3f1b48 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Wed, 8 Jan 2014 20:55:12 +0100 Subject: Major autostart rewrite --- ROMFS/px4fmu_common/init.d/rcS | 383 +++++++++++++++-------------------------- 1 file changed, 139 insertions(+), 244 deletions(-) (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 8801d1126..4dd9af407 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -60,12 +60,9 @@ fi if [ $MODE == autostart ] then # - # Start terminal + # Start CDC/ACM serial driver # - if sercon - then - echo "USB connected" - fi + sercon # # Start the ORB (first app to start) @@ -107,52 +104,79 @@ then blinkm systemstate fi fi + + set USE_IO no + set FRAME_TYPE none + set PWM_RATE none + set PWM_DISARMED none + set PWM_MIN none + set PWM_MAX none + + if param compare SYS_AUTOCONFIG 1 + then + set DO_AUTOCONFIG yes + else + set DO_AUTOCONFIG no + fi # # Start the Commander (needs to be this early for in-air-restarts) # commander start - - if param compare SYS_AUTOSTART 1000 - then - sh /etc/init.d/1000_rc_fw_easystar.hil - set MODE custom - fi - - if param compare SYS_AUTOSTART 1001 - then - sh /etc/init.d/1001_rc_quad.hil - set MODE custom - fi - if param compare SYS_AUTOSTART 1002 - then - sh /etc/init.d/1002_rc_fw_state.hil - set MODE custom - fi + # + # Set parameters and env variables for selected AUTOSTART (HIL setups) + # + sh /etc/init.d/rc.autostart_hil - if param compare SYS_AUTOSTART 1003 - then - sh /etc/init.d/1003_rc_quad_+.hil - set MODE custom - fi - - if param compare SYS_AUTOSTART 1004 - then - sh /etc/init.d/1004_rc_fw_Rascal110.hil - set MODE custom - fi + if [ $MODE == hil ] + then + # + # Do common HIL setup depending on env variables + # + # Allow USB some time to come up + sleep 1 + + # Start MAVLink on USB port + mavlink start -b 230400 -d /dev/ttyACM0 + usleep 5000 + + # Create a fake HIL /dev/pwm_output interface + hil mode_pwm + + # Sensors + echo "Start sensors" + sh /etc/init.d/rc.sensors + + # + # Fixed wing setup + # + if [ $FRAME_TYPE == fw ] + then + echo "Setup FIXED WING" + fi - if [ $MODE != custom ] - then - # Try to get an USB console + # + # Multicopters setup + # + if [ $FRAME_TYPE == mc ] + then + echo "Setup MULTICOPTER" + + # Load mixer and configure outputs + sh /etc/init.d/rc.mc_interface + + # Start common multicopter apps + sh /etc/init.d/rc.mc_apps + fi + else + # Try to get an USB console if not in HIL mode nshterm /dev/ttyACM0 & fi - + # # Upgrade PX4IO firmware # - if [ -f /etc/extras/px4io-v2_default.bin ] then set io_file /etc/extras/px4io-v2_default.bin @@ -170,6 +194,7 @@ then then echo "PX4IO CRC OK" echo "PX4IO CRC OK" >> $logfile + set USE_IO yes else echo "PX4IO CRC failure" echo "PX4IO CRC failure" >> $logfile @@ -182,6 +207,7 @@ then echo "PX4IO restart OK" echo "PX4IO restart OK" >> $logfile tone_alarm MSPAA + set USE_IO yes else echo "PX4IO restart failed" echo "PX4IO restart failed" >> $logfile @@ -200,222 +226,91 @@ then fi set EXIT_ON_END no + set USE_LOGGING yes + set USE_GPS yes # - # Check if auto-setup from one of the standard scripts is wanted - # SYS_AUTOSTART = 0 means no autostart (default) + # Set parameters and env variables for selected AUTOSTART # - # AUTOSTART PARTITION: - # 0 .. 999 Reserved (historical) - # 1000 .. 1999 Simulation setups - # 2000 .. 2999 Standard planes - # 3000 .. 3999 Flying wing - # 4000 .. 4999 Quad X - # 5000 .. 5999 Quad + - # 6000 .. 6999 Hexa X - # 7000 .. 7999 Hexa + - # 8000 .. 8999 Octo X - # 9000 .. 9999 Octo + - # 10000 .. 10999 Wide arm / H frame - # 11000 .. 11999 Hexa Cox - # 12000 .. 12999 Octo Cox - - if param compare SYS_AUTOSTART 4008 8 - then - sh /etc/init.d/4008_ardrone - set MODE custom - fi - - if param compare SYS_AUTOSTART 4009 9 - then - sh /etc/init.d/4009_ardrone_flow - set MODE custom - fi - - if param compare SYS_AUTOSTART 4010 10 - then - set FRAME_GEOMETRY x - set FRAME_COUNT 4 - set PWM_MIN 1200 - set PWM_MAX 1900 - set PWM_DISARMED 900 - sh /etc/init.d/4010_dji_f330 - set MODE custom - fi - - if param compare SYS_AUTOSTART 4011 11 - then - sh /etc/init.d/4011_dji_f450 - set MODE custom - fi - - if param compare SYS_AUTOSTART 4012 - then - sh /etc/init.d/666_fmu_q_x550 - set MODE custom - fi - - if param compare SYS_AUTOSTART 6012 12 - then - set MIXER /etc/mixers/FMU_hex_x.mix - sh /etc/init.d/rc.hexa - set MODE custom - fi - - if param compare SYS_AUTOSTART 7013 13 - then - set MIXER /etc/mixers/FMU_hex_+.mix - sh /etc/init.d/rc.hexa - set MODE custom - fi - - if param compare SYS_AUTOSTART 8001 - then - set MIXER /etc/mixers/FMU_octo_x.mix - sh /etc/init.d/rc.octo - set MODE custom - fi - - if param compare SYS_AUTOSTART 9001 - then - set MIXER /etc/mixers/FMU_octo_+.mix - sh /etc/init.d/rc.octo - set MODE custom - fi - - if param compare SYS_AUTOSTART 12001 - then - set MIXER /etc/mixers/FMU_octo_cox.mix - sh /etc/init.d/rc.octo - set MODE custom - fi + sh /etc/init.d/rc.autostart - if param compare SYS_AUTOSTART 10015 15 - then - sh /etc/init.d/10015_tbs_discovery - set MODE custom - fi - - if param compare SYS_AUTOSTART 10016 16 - then - sh /etc/init.d/10016_3dr_iris - set MODE custom - fi - - # PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 X Frame - if param compare SYS_AUTOSTART 4017 17 - then - set MKBLCTRL_MODE no - set MKBLCTRL_FRAME x - sh /etc/init.d/rc.custom_dji_f330_mkblctrl - set MODE custom - fi - - # PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 + Frame - if param compare SYS_AUTOSTART 5018 18 - then - set MKBLCTRL_MODE no - set MKBLCTRL_FRAME + - sh /etc/init.d/rc.custom_dji_f330_mkblctrl - set MODE custom - fi - - # PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 X Frame Mikrokopter-Addressing - if param compare SYS_AUTOSTART 4019 19 - then - set MKBLCTRL_MODE yes - set MKBLCTRL_FRAME x - sh /etc/init.d/rc.custom_dji_f330_mkblctrl - set MODE custom - fi - - # PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 + Frame Mikrokopter-Addressing - if param compare SYS_AUTOSTART 5020 20 - then - set MKBLCTRL_MODE yes - set MKBLCTRL_FRAME + - sh /etc/init.d/rc.custom_dji_f330_mkblctrl - set MODE custom - fi - - # PX4FMU v1 with IO + PPM-based ESCs on Quad X-shape frame - if param compare SYS_AUTOSTART 4021 21 - then - set FRAME_GEOMETRY x - set ESC_MAKER afro - sh /etc/init.d/rc.custom_io_esc - set MODE custom - fi - - # PX4FMU v1 with IO + PPM-based ESCs on Quad X-shape frame - if param compare SYS_AUTOSTART 10022 22 - then - set FRAME_GEOMETRY w - sh /etc/init.d/rc.custom_io_esc - set MODE custom - fi - - if param compare SYS_AUTOSTART 3030 30 - then - sh /etc/init.d/3030_io_camflyer - set MODE custom - fi - - if param compare SYS_AUTOSTART 3031 31 + # + # If autoconfig parameter was set, reset it and save parameters + # + if [ $DO_AUTOCONFIG == yes ] then - sh /etc/init.d/3031_io_phantom - set MODE custom + param set SYS_AUTOCONFIG 0 + param save fi - if param compare SYS_AUTOSTART 3032 32 - then - sh /etc/init.d/3032_skywalker_x5 - set MODE custom - fi - - if param compare SYS_AUTOSTART 3033 33 - then - sh /etc/init.d/3033_io_wingwing - set MODE custom - fi - - if param compare SYS_AUTOSTART 3034 34 - then - sh /etc/init.d/3034_io_fx79 - set MODE custom - fi - - if param compare SYS_AUTOSTART 40 - then - sh /etc/init.d/40_io_segway - set MODE custom - fi + if [ $MODE == autostart ] + then + # + # Do common setup depending on env variables + # + if [ $USE_IO == yes ] + then + echo "Use IO" + + # Start MAVLink on default port: ttyS1 + mavlink start + usleep 5000 + + sh /etc/init.d/rc.io + else + echo "Don't use IO" + + # Start MAVLink on ttyS0 + mavlink start -d /dev/ttyS0 + usleep 5000 + + # Configure FMU for PWM outputs + fmu mode_pwm + + # Exit from nsh to free port for mavlink + set EXIT_ON_END yes + fi + + # Sensors + echo "Start sensors" + sh /etc/init.d/rc.sensors + + # Logging + if [ $USE_LOGGING == yes ] + then + sh /etc/init.d/rc.logging + fi + + # GPS interface + if [ $USE_GPS == yes ] + then + gps start + fi + + # + # Fixed wing setup + # + if [ $FRAME_TYPE == fw ] + then + echo "Setup FIXED WING" + fi - if param compare SYS_AUTOSTART 2100 100 - then - sh /etc/init.d/2100_mpx_easystar - set MODE custom - fi - - if param compare SYS_AUTOSTART 2101 101 - then - sh /etc/init.d/2101_hk_bixler - set MODE custom + # + # Multicopters setup + # + if [ $FRAME_TYPE == mc ] + then + echo "Setup MULTICOPTER" + + # Load mixer and configure outputs + sh /etc/init.d/rc.mc_interface + + # Start common multicopter apps + sh /etc/init.d/rc.mc_apps + fi fi - if param compare SYS_AUTOSTART 2102 102 - then - sh /etc/init.d/2102_3dr_skywalker - set MODE custom - fi - - if param compare SYS_AUTOSTART 800 - then - sh /etc/init.d/800_sdlogger - set MODE custom - fi - - # Start any custom extensions that might be missing + # Start any custom extensions if [ -f /fs/microsd/etc/rc.local ] then sh /fs/microsd/etc/rc.local -- cgit v1.2.3