From b06f7f4f2e47dbaf33b255c9ecdffaa51f35f4a4 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 17 Nov 2014 14:56:11 +0100 Subject: Reduce ROMFS footprint --- ROMFS/px4fmu_common/init.d/rc.interface | 21 +++++++++++---------- 1 file changed, 11 insertions(+), 10 deletions(-) (limited to 'ROMFS/px4fmu_common') diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface index e44cd0953..10c6d7511 100644 --- a/ROMFS/px4fmu_common/init.d/rc.interface +++ b/ROMFS/px4fmu_common/init.d/rc.interface @@ -8,12 +8,11 @@ then # # Load mixer # - set MIXERSD /fs/microsd/etc/mixers/$MIXER.mix #Use the mixer file from the SD-card if it exists - if [ -f $MIXERSD ] + if [ -f /fs/microsd/etc/mixers/$MIXER.mix ] then - set MIXER_FILE $MIXERSD + set MIXER_FILE /fs/microsd/etc/mixers/$MIXER.mix else set MIXER_FILE /etc/mixers/$MIXER.mix fi @@ -35,19 +34,21 @@ then echo "[init] Mixer loaded: $MIXER_FILE" else echo "[init] Error loading mixer: $MIXER_FILE" - tone_alarm $TUNE_OUT_ERROR + tone_alarm $TUNE_ERR fi + + unset MIXER_FILE else if [ $MIXER != skip ] then echo "[init] Mixer not defined" - tone_alarm $TUNE_OUT_ERROR + tone_alarm $TUNE_ERR fi fi if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == io ] then - if [ $PWM_OUTPUTS != none ] + if [ $PWM_OUT != none ] then # # Set PWM output frequency @@ -55,7 +56,7 @@ then if [ $PWM_RATE != none ] then echo "[init] Set PWM rate: $PWM_RATE" - pwm rate -c $PWM_OUTPUTS -r $PWM_RATE + pwm rate -c $PWM_OUT -r $PWM_RATE fi # @@ -64,17 +65,17 @@ then if [ $PWM_DISARMED != none ] then echo "[init] Set PWM disarmed: $PWM_DISARMED" - pwm disarmed -c $PWM_OUTPUTS -p $PWM_DISARMED + pwm disarmed -c $PWM_OUT -p $PWM_DISARMED fi if [ $PWM_MIN != none ] then echo "[init] Set PWM min: $PWM_MIN" - pwm min -c $PWM_OUTPUTS -p $PWM_MIN + pwm min -c $PWM_OUT -p $PWM_MIN fi if [ $PWM_MAX != none ] then echo "[init] Set PWM max: $PWM_MAX" - pwm max -c $PWM_OUTPUTS -p $PWM_MAX + pwm max -c $PWM_OUT -p $PWM_MAX fi fi -- cgit v1.2.3 From 489b4c4839a3796c520629850bc703c42bef636c Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 17 Nov 2014 14:58:29 +0100 Subject: Reduce too chatty content, de-allocate non-needed string buffers --- ROMFS/px4fmu_common/init.d/rc.interface | 14 +-- ROMFS/px4fmu_common/init.d/rcS | 150 ++++++++++++++++---------------- 2 files changed, 82 insertions(+), 82 deletions(-) (limited to 'ROMFS/px4fmu_common') diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface index 10c6d7511..0f703c3b3 100644 --- a/ROMFS/px4fmu_common/init.d/rc.interface +++ b/ROMFS/px4fmu_common/init.d/rc.interface @@ -31,9 +31,9 @@ then if mixer load $OUTPUT_DEV $MIXER_FILE then - echo "[init] Mixer loaded: $MIXER_FILE" + echo "[i] Mixer: $MIXER_FILE" else - echo "[init] Error loading mixer: $MIXER_FILE" + echo "[i] Error loading mixer: $MIXER_FILE" tone_alarm $TUNE_ERR fi @@ -41,7 +41,7 @@ then else if [ $MIXER != skip ] then - echo "[init] Mixer not defined" + echo "[i] Mixer not defined" tone_alarm $TUNE_ERR fi fi @@ -55,7 +55,7 @@ then # if [ $PWM_RATE != none ] then - echo "[init] Set PWM rate: $PWM_RATE" + echo "[i] PWM rate: $PWM_RATE" pwm rate -c $PWM_OUT -r $PWM_RATE fi @@ -64,17 +64,17 @@ then # if [ $PWM_DISARMED != none ] then - echo "[init] Set PWM disarmed: $PWM_DISARMED" + echo "[i] PWM disarmed: $PWM_DISARMED" pwm disarmed -c $PWM_OUT -p $PWM_DISARMED fi if [ $PWM_MIN != none ] then - echo "[init] Set PWM min: $PWM_MIN" + echo "[i] PWM min: $PWM_MIN" pwm min -c $PWM_OUT -p $PWM_MIN fi if [ $PWM_MAX != none ] then - echo "[init] Set PWM max: $PWM_MAX" + echo "[i] PWM max: $PWM_MAX" pwm max -c $PWM_OUT -p $PWM_MAX fi fi diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index f9c822635..7532d3811 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -7,25 +7,25 @@ # set MODE autostart -set RC_FILE /fs/microsd/etc/rc.txt -set CONFIG_FILE /fs/microsd/etc/config.txt -set EXTRAS_FILE /fs/microsd/etc/extras.txt +set FRC /fs/microsd/etc/rc.txt +set FCONFIG /fs/microsd/etc/config.txt +set FEXTRAS /fs/microsd/etc/extras.txt -set TUNE_OUT_ERROR ML<> $LOG_FILE - tone_alarm $TUNE_OUT_ERROR + tone_alarm $TUNE_ERR fi else echo "PX4IO update failed" >> $LOG_FILE - tone_alarm $TUNE_OUT_ERROR + tone_alarm $TUNE_ERR fi fi if [ $IO_PRESENT == no ] then - echo "[init] ERROR: PX4IO not found" - tone_alarm $TUNE_OUT_ERROR + echo "[i] ERROR: PX4IO not found" + tone_alarm $TUNE_ERR fi fi @@ -251,7 +252,7 @@ then then # Need IO for output but it not present, disable output set OUTPUT_MODE none - echo "[init] ERROR: PX4IO not found, disabling output" + echo "[i] ERROR: PX4IO not found, disabling output" # Avoid using ttyS0 for MAVLink on FMUv1 if ver hwcmp PX4FMU_V1 @@ -294,33 +295,31 @@ then then if param compare UAVCAN_ENABLE 0 then - echo "[init] OVERRIDING UAVCAN_ENABLE = 1" + echo "[i] OVERRIDING UAVCAN_ENABLE = 1" param set UAVCAN_ENABLE 1 fi fi if [ $OUTPUT_MODE == io -o $OUTPUT_MODE == uavcan_esc ] then - echo "[init] Use PX4IO PWM as primary output" if px4io start then - echo "[init] PX4IO started" + echo "[i] PX4IO started" sh /etc/init.d/rc.io else - echo "[init] ERROR: PX4IO start failed" - tone_alarm $TUNE_OUT_ERROR + echo "[i] ERROR: PX4IO start failed" + tone_alarm $TUNE_ERR fi fi if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == ardrone ] then - echo "[init] Use FMU as primary output" if fmu mode_$FMU_MODE then - echo "[init] FMU mode_$FMU_MODE started" + echo "[i] FMU mode_$FMU_MODE started" else - echo "[init] ERROR: FMU mode_$FMU_MODE start failed" - tone_alarm $TUNE_OUT_ERROR + echo "[i] ERROR: FMU mode_$FMU_MODE start failed" + tone_alarm $TUNE_ERR fi if ver hwcmp PX4FMU_V1 @@ -338,36 +337,34 @@ then if [ $OUTPUT_MODE == mkblctrl ] then - echo "[init] Use MKBLCTRL as primary output" set MKBLCTRL_ARG "" - if [ $MKBLCTRL_MODE == x ] + if [ $MK_MODE == x ] then set MKBLCTRL_ARG "-mkmode x" fi - if [ $MKBLCTRL_MODE == + ] + if [ $MK_MODE == + ] then set MKBLCTRL_ARG "-mkmode +" fi if mkblctrl $MKBLCTRL_ARG then - echo "[init] MKBLCTRL started" + echo "[i] MK started" else - echo "[init] ERROR: MKBLCTRL start failed" - tone_alarm $TUNE_OUT_ERROR + echo "[i] ERROR: MK start failed" + tone_alarm $TUNE_ERR fi fi if [ $OUTPUT_MODE == hil ] then - echo "[init] Use HIL as primary output" if hil mode_port2_pwm8 then - echo "[init] HIL output started" + echo "[i] HIL output started" else - echo "[init] ERROR: HIL output start failed" - tone_alarm $TUNE_OUT_ERROR + echo "[i] ERROR: HIL output start failed" + tone_alarm $TUNE_ERR fi fi @@ -380,11 +377,11 @@ then then if px4io start then - echo "[init] PX4IO started" + echo "[i] PX4IO started" sh /etc/init.d/rc.io else - echo "[init] ERROR: PX4IO start failed" - tone_alarm $TUNE_OUT_ERROR + echo "[i] ERROR: PX4IO start failed" + tone_alarm $TUNE_ERR fi fi else @@ -392,10 +389,10 @@ then then if fmu mode_$FMU_MODE then - echo "[init] FMU mode_$FMU_MODE started" + echo "[i] FMU mode_$FMU_MODE started" else - echo "[init] ERROR: FMU mode_$FMU_MODE start failed" - tone_alarm $TUNE_OUT_ERROR + echo "[i] ERROR: FMU mode_$FMU_MODE start failed" + tone_alarm $TUNE_ERR fi if ver hwcmp PX4FMU_V1 @@ -413,23 +410,24 @@ then fi fi - if [ $MAVLINK_FLAGS == default ] + if [ $MAVLINK_F == default ] then # Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s if [ $TTYS1_BUSY == yes ] then # Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else - set MAVLINK_FLAGS "-r 1000 -d /dev/ttyS0" + set MAVLINK_F "-r 1000 -d /dev/ttyS0" # Exit from nsh to free port for mavlink set EXIT_ON_END yes else # Start MAVLink on default port: ttyS1 - set MAVLINK_FLAGS "-r 1000" + set MAVLINK_F "-r 1000" fi fi - mavlink start $MAVLINK_FLAGS + mavlink start $MAVLINK_F + unset MAVLINK_F # # UAVCAN @@ -444,15 +442,16 @@ then if [ $GPS == yes ] then - echo "[init] Start GPS" + echo "[i] Start GPS" if [ $GPS_FAKE == yes ] then - echo "[init] Faking GPS" + echo "[i] Faking GPS" gps start -f else gps start fi fi + unset GPS_FAKE # # Start up ARDrone Motor interface @@ -467,7 +466,7 @@ then # if [ $VEHICLE_TYPE == fw ] then - echo "[init] Vehicle type: FIXED WING" + echo "[i] FIXED WING" if [ $MIXER == none ] then @@ -481,13 +480,13 @@ then set MAV_TYPE 1 fi - param set MAV_TYPE $MAV_TYPE + #param set MAV_TYPE $MAV_TYPE # Load mixer and configure outputs sh /etc/init.d/rc.interface # Start standard fixedwing apps - if [ $LOAD_DEFAULT_APPS == yes ] + if [ $LOAD_DAPPS == yes ] then sh /etc/init.d/rc.fw_apps fi @@ -498,11 +497,11 @@ then # if [ $VEHICLE_TYPE == mc ] then - echo "[init] Vehicle type: MULTICOPTER" + echo "[i] MULTICOPTER" if [ $MIXER == none ] then - echo "Default mixer for multicopter not defined" + echo "Mixer undefined" fi if [ $MAV_TYPE == none ] @@ -546,7 +545,7 @@ then sh /etc/init.d/rc.interface # Start standard multicopter apps - if [ $LOAD_DEFAULT_APPS == yes ] + if [ $LOAD_DAPPS == yes ] then sh /etc/init.d/rc.mc_apps fi @@ -562,22 +561,23 @@ then # if [ $VEHICLE_TYPE == none ] then - echo "[init] Vehicle type: No autostart ID found" + echo "[i] No autostart ID found" fi # Start any custom addons - if [ -f $EXTRAS_FILE ] + if [ -f $FEXTRAS ] then - echo "[init] Starting addons script: $EXTRAS_FILE" - sh $EXTRAS_FILE + echo "[i] Addons script: $FEXTRAS" + sh $FEXTRAS else - echo "[init] No addons script: $EXTRAS_FILE" + echo "[i] No addons script: $FEXTRAS" fi + unset FEXTRAS if [ $EXIT_ON_END == yes ] then - echo "[init] Exit from nsh" + echo "Exit from nsh" exit fi -- cgit v1.2.3 From b808cc9a1b498aedfaccf35777c440e7ea286ac4 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Mon, 17 Nov 2014 16:38:20 +0100 Subject: fix variable name in rc.uavcan --- ROMFS/px4fmu_common/init.d/rc.uavcan | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'ROMFS/px4fmu_common') diff --git a/ROMFS/px4fmu_common/init.d/rc.uavcan b/ROMFS/px4fmu_common/init.d/rc.uavcan index 9a470a6b8..55a372609 100644 --- a/ROMFS/px4fmu_common/init.d/rc.uavcan +++ b/ROMFS/px4fmu_common/init.d/rc.uavcan @@ -13,6 +13,6 @@ then echo "[init] UAVCAN started" else echo "[init] ERROR: Could not start UAVCAN" - tone_alarm $TUNE_OUT_ERROR + tone_alarm $TUNE_ERR fi fi -- cgit v1.2.3 From 32f88bbe847bfeb7d040345df6fb534d223fb2bb Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Mon, 17 Nov 2014 17:02:57 +0100 Subject: rename PWM_OUTPUTS to PWM_OUT in all files --- ROMFS/px4fmu_common/init.d/10015_tbs_discovery | 2 +- ROMFS/px4fmu_common/init.d/10016_3dr_iris | 2 +- ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d | 2 +- ROMFS/px4fmu_common/init.d/11001_hexa_cox | 2 +- ROMFS/px4fmu_common/init.d/12001_octo_cox | 2 +- ROMFS/px4fmu_common/init.d/3030_io_camflyer | 2 +- ROMFS/px4fmu_common/init.d/3031_phantom | 2 +- ROMFS/px4fmu_common/init.d/3033_wingwing | 2 +- ROMFS/px4fmu_common/init.d/4001_quad_x | 2 +- ROMFS/px4fmu_common/init.d/5001_quad_+ | 2 +- ROMFS/px4fmu_common/init.d/6001_hexa_x | 2 +- ROMFS/px4fmu_common/init.d/7001_hexa_+ | 2 +- ROMFS/px4fmu_common/init.d/8001_octo_x | 2 +- ROMFS/px4fmu_common/init.d/9001_octo_+ | 2 +- 14 files changed, 14 insertions(+), 14 deletions(-) (limited to 'ROMFS/px4fmu_common') diff --git a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery index c8379e3a1..7801bbed9 100644 --- a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery +++ b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery @@ -26,5 +26,5 @@ fi set MIXER FMU_quad_w -set PWM_OUTPUTS 1234 +set PWM_OUT 1234 set PWM_MIN 1200 diff --git a/ROMFS/px4fmu_common/init.d/10016_3dr_iris b/ROMFS/px4fmu_common/init.d/10016_3dr_iris index 0b422de7e..dc11192f1 100644 --- a/ROMFS/px4fmu_common/init.d/10016_3dr_iris +++ b/ROMFS/px4fmu_common/init.d/10016_3dr_iris @@ -29,7 +29,7 @@ fi set MIXER FMU_quad_w -set PWM_OUTPUTS 1234 +set PWM_OUT 1234 set PWM_MIN 1200 set PWM_MAX 1950 diff --git a/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d b/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d index a621de7ce..d79a52735 100644 --- a/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d +++ b/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d @@ -31,4 +31,4 @@ set MIXER FMU_quad_w set PWM_MIN 1210 set PWM_MAX 2100 -set PWM_OUTPUTS 1234 +set PWM_OUT 1234 diff --git a/ROMFS/px4fmu_common/init.d/11001_hexa_cox b/ROMFS/px4fmu_common/init.d/11001_hexa_cox index e4d96fbd5..50f717e3d 100644 --- a/ROMFS/px4fmu_common/init.d/11001_hexa_cox +++ b/ROMFS/px4fmu_common/init.d/11001_hexa_cox @@ -10,4 +10,4 @@ sh /etc/init.d/rc.mc_defaults set MIXER FMU_hexa_cox # Need to set all 8 channels -set PWM_OUTPUTS 12345678 +set PWM_OUT 12345678 diff --git a/ROMFS/px4fmu_common/init.d/12001_octo_cox b/ROMFS/px4fmu_common/init.d/12001_octo_cox index f820251ad..e0a838185 100644 --- a/ROMFS/px4fmu_common/init.d/12001_octo_cox +++ b/ROMFS/px4fmu_common/init.d/12001_octo_cox @@ -9,4 +9,4 @@ sh /etc/init.d/rc.mc_defaults set MIXER FMU_octo_cox -set PWM_OUTPUTS 12345678 +set PWM_OUT 12345678 diff --git a/ROMFS/px4fmu_common/init.d/3030_io_camflyer b/ROMFS/px4fmu_common/init.d/3030_io_camflyer index 0f0cb3a89..fe0269557 100644 --- a/ROMFS/px4fmu_common/init.d/3030_io_camflyer +++ b/ROMFS/px4fmu_common/init.d/3030_io_camflyer @@ -4,5 +4,5 @@ sh /etc/init.d/rc.fw_defaults set MIXER FMU_Q # Provide ESC a constant 1000 us pulse while disarmed -set PWM_OUTPUTS 4 +set PWM_OUT 4 set PWM_DISARMED 1000 diff --git a/ROMFS/px4fmu_common/init.d/3031_phantom b/ROMFS/px4fmu_common/init.d/3031_phantom index a7749cba6..d2b2f6c85 100644 --- a/ROMFS/px4fmu_common/init.d/3031_phantom +++ b/ROMFS/px4fmu_common/init.d/3031_phantom @@ -36,5 +36,5 @@ fi set MIXER phantom # Provide ESC a constant 1000 us pulse -set PWM_OUTPUTS 4 +set PWM_OUT 4 set PWM_DISARMED 1000 diff --git a/ROMFS/px4fmu_common/init.d/3033_wingwing b/ROMFS/px4fmu_common/init.d/3033_wingwing index 919eefb4a..64c3fb5fb 100644 --- a/ROMFS/px4fmu_common/init.d/3033_wingwing +++ b/ROMFS/px4fmu_common/init.d/3033_wingwing @@ -44,5 +44,5 @@ fi set MIXER wingwing # Provide ESC a constant 1000 us pulse -set PWM_OUTPUTS 4 +set PWM_OUT 4 set PWM_DISARMED 1000 diff --git a/ROMFS/px4fmu_common/init.d/4001_quad_x b/ROMFS/px4fmu_common/init.d/4001_quad_x index 8fe8961c5..4677f9fc3 100644 --- a/ROMFS/px4fmu_common/init.d/4001_quad_x +++ b/ROMFS/px4fmu_common/init.d/4001_quad_x @@ -9,4 +9,4 @@ sh /etc/init.d/rc.mc_defaults set MIXER FMU_quad_x -set PWM_OUTPUTS 1234 +set PWM_OUT 1234 diff --git a/ROMFS/px4fmu_common/init.d/5001_quad_+ b/ROMFS/px4fmu_common/init.d/5001_quad_+ index 5512aa738..c78911391 100644 --- a/ROMFS/px4fmu_common/init.d/5001_quad_+ +++ b/ROMFS/px4fmu_common/init.d/5001_quad_+ @@ -9,4 +9,4 @@ sh /etc/init.d/rc.mc_defaults set MIXER FMU_quad_+ -set PWM_OUTPUTS 1234 +set PWM_OUT 1234 diff --git a/ROMFS/px4fmu_common/init.d/6001_hexa_x b/ROMFS/px4fmu_common/init.d/6001_hexa_x index 1043ad8ad..0df25b11a 100644 --- a/ROMFS/px4fmu_common/init.d/6001_hexa_x +++ b/ROMFS/px4fmu_common/init.d/6001_hexa_x @@ -10,4 +10,4 @@ sh /etc/init.d/rc.mc_defaults set MIXER FMU_hexa_x # Need to set all 8 channels -set PWM_OUTPUTS 12345678 +set PWM_OUT 12345678 diff --git a/ROMFS/px4fmu_common/init.d/7001_hexa_+ b/ROMFS/px4fmu_common/init.d/7001_hexa_+ index 84ab88883..16c772ee1 100644 --- a/ROMFS/px4fmu_common/init.d/7001_hexa_+ +++ b/ROMFS/px4fmu_common/init.d/7001_hexa_+ @@ -10,4 +10,4 @@ sh /etc/init.d/rc.mc_defaults set MIXER FMU_hexa_+ # Need to set all 8 channels -set PWM_OUTPUTS 12345678 +set PWM_OUT 12345678 diff --git a/ROMFS/px4fmu_common/init.d/8001_octo_x b/ROMFS/px4fmu_common/init.d/8001_octo_x index 74e304cd9..bae36737f 100644 --- a/ROMFS/px4fmu_common/init.d/8001_octo_x +++ b/ROMFS/px4fmu_common/init.d/8001_octo_x @@ -9,4 +9,4 @@ sh /etc/init.d/rc.mc_defaults set MIXER FMU_octo_x -set PWM_OUTPUTS 12345678 +set PWM_OUT 12345678 diff --git a/ROMFS/px4fmu_common/init.d/9001_octo_+ b/ROMFS/px4fmu_common/init.d/9001_octo_+ index f7c06c6c8..ca5439f68 100644 --- a/ROMFS/px4fmu_common/init.d/9001_octo_+ +++ b/ROMFS/px4fmu_common/init.d/9001_octo_+ @@ -9,4 +9,4 @@ sh /etc/init.d/rc.mc_defaults set MIXER FMU_octo_+ -set PWM_OUTPUTS 12345678 \ No newline at end of file +set PWM_OUT 12345678 -- cgit v1.2.3 From 1b47f05b1409f5006f288458b5b176a855174e7f Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Mon, 17 Nov 2014 17:10:47 +0100 Subject: rename DO_AUTOCONFIG to AUTOCNF in all files --- ROMFS/px4fmu_common/init.d/10015_tbs_discovery | 2 +- ROMFS/px4fmu_common/init.d/10016_3dr_iris | 2 +- ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d | 2 +- ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil | 2 +- ROMFS/px4fmu_common/init.d/3031_phantom | 2 +- ROMFS/px4fmu_common/init.d/3032_skywalker_x5 | 2 +- ROMFS/px4fmu_common/init.d/3033_wingwing | 2 +- ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha | 4 ++-- ROMFS/px4fmu_common/init.d/4008_ardrone | 4 ++-- ROMFS/px4fmu_common/init.d/4010_dji_f330 | 2 +- ROMFS/px4fmu_common/init.d/4011_dji_f450 | 2 +- ROMFS/px4fmu_common/init.d/4012_quad_x_can | 2 +- ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb | 2 +- ROMFS/px4fmu_common/init.d/rc.fw_defaults | 4 ++-- ROMFS/px4fmu_common/init.d/rc.mc_defaults | 2 +- 15 files changed, 18 insertions(+), 18 deletions(-) (limited to 'ROMFS/px4fmu_common') diff --git a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery index 7801bbed9..c1b366de8 100644 --- a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery +++ b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery @@ -7,7 +7,7 @@ sh /etc/init.d/rc.mc_defaults -if [ $DO_AUTOCONFIG == yes ] +if [ $AUTOCNF == yes ] then # TODO review MC_YAWRATE_I param set MC_ROLL_P 8.0 diff --git a/ROMFS/px4fmu_common/init.d/10016_3dr_iris b/ROMFS/px4fmu_common/init.d/10016_3dr_iris index dc11192f1..3879737a8 100644 --- a/ROMFS/px4fmu_common/init.d/10016_3dr_iris +++ b/ROMFS/px4fmu_common/init.d/10016_3dr_iris @@ -7,7 +7,7 @@ sh /etc/init.d/rc.mc_defaults -if [ $DO_AUTOCONFIG == yes ] +if [ $AUTOCNF == yes ] then # TODO tune roll/pitch separately param set MC_ROLL_P 7.0 diff --git a/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d b/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d index d79a52735..57f77754c 100644 --- a/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d +++ b/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d @@ -7,7 +7,7 @@ sh /etc/init.d/rc.mc_defaults -if [ $DO_AUTOCONFIG == yes ] +if [ $AUTOCNF == yes ] then # TODO tune roll/pitch separately param set MC_ROLL_P 7.0 diff --git a/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil b/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil index 00b97d675..f208b692a 100644 --- a/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil +++ b/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil @@ -7,7 +7,7 @@ sh /etc/init.d/rc.fw_defaults -if [ $DO_AUTOCONFIG == yes ] +if [ $AUTOCNF == yes ] then param set FW_AIRSPD_MIN 12 param set FW_AIRSPD_TRIM 25 diff --git a/ROMFS/px4fmu_common/init.d/3031_phantom b/ROMFS/px4fmu_common/init.d/3031_phantom index d2b2f6c85..c7dd1dfc5 100644 --- a/ROMFS/px4fmu_common/init.d/3031_phantom +++ b/ROMFS/px4fmu_common/init.d/3031_phantom @@ -7,7 +7,7 @@ sh /etc/init.d/rc.fw_defaults -if [ $DO_AUTOCONFIG == yes ] +if [ $AUTOCNF == yes ] then param set FW_AIRSPD_MIN 13 param set FW_AIRSPD_TRIM 15 diff --git a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 index 26c7c95e6..94363bf6a 100644 --- a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 +++ b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 @@ -7,7 +7,7 @@ sh /etc/init.d/rc.fw_defaults -if [ $DO_AUTOCONFIG == yes ] +if [ $AUTOCNF == yes ] then param set FW_AIRSPD_MIN 15 param set FW_AIRSPD_TRIM 20 diff --git a/ROMFS/px4fmu_common/init.d/3033_wingwing b/ROMFS/px4fmu_common/init.d/3033_wingwing index 64c3fb5fb..add905b11 100644 --- a/ROMFS/px4fmu_common/init.d/3033_wingwing +++ b/ROMFS/px4fmu_common/init.d/3033_wingwing @@ -7,7 +7,7 @@ sh /etc/init.d/rc.fw_defaults -if [ $DO_AUTOCONFIG == yes ] +if [ $AUTOCNF == yes ] then param set BAT_N_CELLS 2 param set FW_AIRSPD_MAX 15 diff --git a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha index 9bfd9d9ed..9eafac1c5 100644 --- a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha +++ b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha @@ -7,9 +7,9 @@ sh /etc/init.d/rc.fw_defaults -if [ $DO_AUTOCONFIG == yes ] +if [ $AUTOCNF == yes ] then - + # TODO: these are the X5 default parameters, update them to the caipi param set FW_AIRSPD_MIN 15 diff --git a/ROMFS/px4fmu_common/init.d/4008_ardrone b/ROMFS/px4fmu_common/init.d/4008_ardrone index 0488e3928..c3358ef4c 100644 --- a/ROMFS/px4fmu_common/init.d/4008_ardrone +++ b/ROMFS/px4fmu_common/init.d/4008_ardrone @@ -8,7 +8,7 @@ sh /etc/init.d/rc.mc_defaults # # Load default params for this platform # -if [ $DO_AUTOCONFIG == yes ] +if [ $AUTOCNF == yes ] then # Set all params here, then disable autoconfig param set MC_ROLL_P 6.0 @@ -24,7 +24,7 @@ then param set MC_YAWRATE_I 0.2 param set MC_YAWRATE_D 0.0 param set MC_YAW_FF 0.8 - + param set BAT_V_SCALING 0.00838095238 fi diff --git a/ROMFS/px4fmu_common/init.d/4010_dji_f330 b/ROMFS/px4fmu_common/init.d/4010_dji_f330 index f0cc05207..8e5dc76b1 100644 --- a/ROMFS/px4fmu_common/init.d/4010_dji_f330 +++ b/ROMFS/px4fmu_common/init.d/4010_dji_f330 @@ -7,7 +7,7 @@ sh /etc/init.d/4001_quad_x -if [ $DO_AUTOCONFIG == yes ] +if [ $AUTOCNF == yes ] then param set MC_ROLL_P 7.0 param set MC_ROLLRATE_P 0.1 diff --git a/ROMFS/px4fmu_common/init.d/4011_dji_f450 b/ROMFS/px4fmu_common/init.d/4011_dji_f450 index 1ca716a6b..ea35b3ba9 100644 --- a/ROMFS/px4fmu_common/init.d/4011_dji_f450 +++ b/ROMFS/px4fmu_common/init.d/4011_dji_f450 @@ -7,7 +7,7 @@ sh /etc/init.d/4001_quad_x -if [ $DO_AUTOCONFIG == yes ] +if [ $AUTOCNF == yes ] then # TODO REVIEW param set MC_ROLL_P 7.0 diff --git a/ROMFS/px4fmu_common/init.d/4012_quad_x_can b/ROMFS/px4fmu_common/init.d/4012_quad_x_can index 5c4a6497a..b1db1dd9a 100644 --- a/ROMFS/px4fmu_common/init.d/4012_quad_x_can +++ b/ROMFS/px4fmu_common/init.d/4012_quad_x_can @@ -7,7 +7,7 @@ sh /etc/init.d/4001_quad_x -if [ $DO_AUTOCONFIG == yes ] +if [ $AUTOCNF == yes ] then # TODO REVIEW param set MC_ROLL_P 7.0 diff --git a/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb b/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb index 9fe310dde..a1de19d5d 100644 --- a/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb +++ b/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb @@ -9,7 +9,7 @@ echo "HK Micro PCB Quad" sh /etc/init.d/4001_quad_x -if [ $DO_AUTOCONFIG == yes ] +if [ $AUTOCNF == yes ] then param set MC_ROLL_P 7.0 param set MC_ROLLRATE_P 0.1 diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_defaults b/ROMFS/px4fmu_common/init.d/rc.fw_defaults index 3c336f295..fab2a7f18 100644 --- a/ROMFS/px4fmu_common/init.d/rc.fw_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults @@ -2,7 +2,7 @@ set VEHICLE_TYPE fw -if [ $DO_AUTOCONFIG == yes ] +if [ $AUTOCNF == yes ] then # # Default parameters for FW @@ -15,4 +15,4 @@ then param set FW_T_RLL2THR 15 param set FW_T_SRATE_P 0.01 param set FW_T_TIME_CONST 5 -fi \ No newline at end of file +fi diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults index 0df320f49..307a64c4d 100644 --- a/ROMFS/px4fmu_common/init.d/rc.mc_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults @@ -2,7 +2,7 @@ set VEHICLE_TYPE mc -if [ $DO_AUTOCONFIG == yes ] +if [ $AUTOCNF == yes ] then param set MC_ROLL_P 7.0 param set MC_ROLLRATE_P 0.1 -- cgit v1.2.3 From 4bb07514c86d020bc2b16058e75de3074f89aa4b Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 12 Dec 2014 23:22:21 +0100 Subject: Give Skywalker its own mixer --- ROMFS/px4fmu_common/init.d/2102_3dr_skywalker | 2 +- ROMFS/px4fmu_common/mixers/skywalker.mix | 64 +++++++++++++++++++++++++++ 2 files changed, 65 insertions(+), 1 deletion(-) create mode 100644 ROMFS/px4fmu_common/mixers/skywalker.mix (limited to 'ROMFS/px4fmu_common') diff --git a/ROMFS/px4fmu_common/init.d/2102_3dr_skywalker b/ROMFS/px4fmu_common/init.d/2102_3dr_skywalker index dcc5db824..906f4b1cc 100644 --- a/ROMFS/px4fmu_common/init.d/2102_3dr_skywalker +++ b/ROMFS/px4fmu_common/init.d/2102_3dr_skywalker @@ -2,4 +2,4 @@ sh /etc/init.d/rc.fw_defaults -set MIXER FMU_AERT \ No newline at end of file +set MIXER skywalker \ No newline at end of file diff --git a/ROMFS/px4fmu_common/mixers/skywalker.mix b/ROMFS/px4fmu_common/mixers/skywalker.mix new file mode 100644 index 000000000..04d677e56 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/skywalker.mix @@ -0,0 +1,64 @@ +Mixer for Skywalker Airframe +================================================== + +This file defines mixers suitable for controlling a fixed wing aircraft with +aileron, rudder, elevator and throttle controls using PX4FMU. The configuration +assumes the aileron servo(s) are connected to PX4FMU servo output 0, the +elevator to output 1, the rudder to output 2 and the throttle to output 3. + +Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 +(roll), 1 (pitch) and 3 (thrust). + +Aileron mixer +------------- +Two scalers total (output, roll). + +This mixer assumes that the aileron servos are set up correctly mechanically; +depending on the actual configuration it may be necessary to reverse the scaling +factors (to reverse the servo movement) and adjust the offset, scaling and +endpoints to suit. + +As there is only one output, if using two servos adjustments to compensate for +differences between the servos must be made mechanically. To obtain the correct +motion using a Y cable, the servos can be positioned reversed from one another. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 0 -10000 -10000 0 -10000 10000 + +Elevator mixer +------------ +Two scalers total (output, roll). + +This mixer assumes that the elevator servo is set up correctly mechanically; +depending on the actual configuration it may be necessary to reverse the scaling +factors (to reverse the servo movement) and adjust the offset, scaling and +endpoints to suit. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 1 10000 10000 0 -10000 10000 + +Rudder mixer +------------ +Two scalers total (output, yaw). + +This mixer assumes that the rudder servo is set up correctly mechanically; +depending on the actual configuration it may be necessary to reverse the scaling +factors (to reverse the servo movement) and adjust the offset, scaling and +endpoints to suit. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 2 10000 10000 0 -10000 10000 + +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 -- cgit v1.2.3 From e1c12bf67cbe8a628fd5319541d7df9f318f5942 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 13 Dec 2014 15:33:42 +0100 Subject: ROMFS: rc.interface: Make output less verbose to clutter boot log less --- ROMFS/px4fmu_common/init.d/rc.interface | 4 ---- 1 file changed, 4 deletions(-) (limited to 'ROMFS/px4fmu_common') diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface index 0f703c3b3..bab71be93 100644 --- a/ROMFS/px4fmu_common/init.d/rc.interface +++ b/ROMFS/px4fmu_common/init.d/rc.interface @@ -55,7 +55,6 @@ then # if [ $PWM_RATE != none ] then - echo "[i] PWM rate: $PWM_RATE" pwm rate -c $PWM_OUT -r $PWM_RATE fi @@ -64,17 +63,14 @@ then # if [ $PWM_DISARMED != none ] then - echo "[i] PWM disarmed: $PWM_DISARMED" pwm disarmed -c $PWM_OUT -p $PWM_DISARMED fi if [ $PWM_MIN != none ] then - echo "[i] PWM min: $PWM_MIN" pwm min -c $PWM_OUT -p $PWM_MIN fi if [ $PWM_MAX != none ] then - echo "[i] PWM max: $PWM_MAX" pwm max -c $PWM_OUT -p $PWM_MAX fi fi -- cgit v1.2.3 From 24fd099e58029dd275d2f30fc65bb9209bb26983 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 13 Dec 2014 15:57:38 +0100 Subject: ROMFS: Better commenting, save some more RAM --- ROMFS/px4fmu_common/init.d/rcS | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) (limited to 'ROMFS/px4fmu_common') diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 7532d3811..94c462439 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -1,6 +1,9 @@ #!nsh # # PX4FMU startup script. +# +# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS. +# # # Default to auto-start mode. @@ -480,7 +483,7 @@ then set MAV_TYPE 1 fi - #param set MAV_TYPE $MAV_TYPE + param set MAV_TYPE $MAV_TYPE # Load mixer and configure outputs sh /etc/init.d/rc.interface @@ -580,6 +583,11 @@ then echo "Exit from nsh" exit fi + unset EXIT_ON_END # End of autostart fi + +# There is no further processing, so we can free some RAM +# XXX potentially unset all script variables. +unset TUNE_ERR -- cgit v1.2.3 From 29eab8ebd44f96d222c3e8ea6952f8584c17eb63 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sun, 14 Dec 2014 11:28:25 +0100 Subject: change [init] to [i] This change was introduced in pull #1461. This fixes some missed occurrences. --- ROMFS/px4fmu_common/init.d/rc.io | 2 +- ROMFS/px4fmu_common/init.d/rc.sensors | 2 +- ROMFS/px4fmu_common/init.d/rc.uavcan | 4 ++-- ROMFS/px4fmu_test/init.d/rc.standalone | 4 ++-- ROMFS/px4fmu_test/init.d/rcS | 10 +++++----- 5 files changed, 11 insertions(+), 11 deletions(-) (limited to 'ROMFS/px4fmu_common') diff --git a/ROMFS/px4fmu_common/init.d/rc.io b/ROMFS/px4fmu_common/init.d/rc.io index e23aebd87..e957626ce 100644 --- a/ROMFS/px4fmu_common/init.d/rc.io +++ b/ROMFS/px4fmu_common/init.d/rc.io @@ -16,5 +16,5 @@ then set PX4IO_LIMIT 200 fi -echo "[init] Set PX4IO update rate limit: $PX4IO_LIMIT Hz" +echo "[i] Set PX4IO update rate limit: $PX4IO_LIMIT Hz" px4io limit $PX4IO_LIMIT diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors index fbac50cf7..461cc856b 100644 --- a/ROMFS/px4fmu_common/init.d/rc.sensors +++ b/ROMFS/px4fmu_common/init.d/rc.sensors @@ -56,7 +56,7 @@ fi if meas_airspeed start then - echo "[init] Using MEAS airspeed sensor" + echo "[i] Using MEAS airspeed sensor" else if ets_airspeed start then diff --git a/ROMFS/px4fmu_common/init.d/rc.uavcan b/ROMFS/px4fmu_common/init.d/rc.uavcan index 55a372609..08ba86d78 100644 --- a/ROMFS/px4fmu_common/init.d/rc.uavcan +++ b/ROMFS/px4fmu_common/init.d/rc.uavcan @@ -10,9 +10,9 @@ then # First sensor publisher to initialize takes lowest instance ID # This delay ensures that UAVCAN-interfaced sensors would be allocated on lowest instance IDs sleep 1 - echo "[init] UAVCAN started" + echo "[i] UAVCAN started" else - echo "[init] ERROR: Could not start UAVCAN" + echo "[i] ERROR: Could not start UAVCAN" tone_alarm $TUNE_ERR fi fi diff --git a/ROMFS/px4fmu_test/init.d/rc.standalone b/ROMFS/px4fmu_test/init.d/rc.standalone index 67e95215b..5c7470d12 100644 --- a/ROMFS/px4fmu_test/init.d/rc.standalone +++ b/ROMFS/px4fmu_test/init.d/rc.standalone @@ -3,11 +3,11 @@ # Flight startup script for PX4FMU standalone configuration. # -echo "[init] doing standalone PX4FMU startup..." +echo "[i] doing standalone PX4FMU startup..." # # Start the ORB # uorb start -echo "[init] startup done" +echo "[i] startup done" diff --git a/ROMFS/px4fmu_test/init.d/rcS b/ROMFS/px4fmu_test/init.d/rcS index bc248ac04..ef032de5c 100644 --- a/ROMFS/px4fmu_test/init.d/rcS +++ b/ROMFS/px4fmu_test/init.d/rcS @@ -6,7 +6,7 @@ uorb start if sercon then - echo "[init] USB interface connected" + echo "[i] USB interface connected" # Try to get an USB console nshterm /dev/ttyACM0 & @@ -15,14 +15,14 @@ fi # # Try to mount the microSD card. # -echo "[init] looking for microSD..." +echo "[i] looking for microSD..." if mount -t vfat /dev/mmcsd0 /fs/microsd then - echo "[init] card mounted at /fs/microsd" + echo "[i] card mounted at /fs/microsd" # Start playing the startup tune tone_alarm start else - echo "[init] no microSD card found" + echo "[i] no microSD card found" # Play SOS tone_alarm error fi @@ -104,4 +104,4 @@ then else echo echo "Some Unit Tests FAILED:${unit_test_failure_list}" -fi \ No newline at end of file +fi -- cgit v1.2.3 From 642b2088c3175cca24134233c181ad5331222f07 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sun, 14 Dec 2014 11:37:12 +0100 Subject: autostart ll40ls --- ROMFS/px4fmu_common/init.d/rc.sensors | 4 ++++ 1 file changed, 4 insertions(+) (limited to 'ROMFS/px4fmu_common') diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors index 461cc856b..e6fc535a6 100644 --- a/ROMFS/px4fmu_common/init.d/rc.sensors +++ b/ROMFS/px4fmu_common/init.d/rc.sensors @@ -71,6 +71,10 @@ if px4flow start then fi +if ll40ls start +then +fi + # # Start sensors -> preflight_check # -- cgit v1.2.3 From aa40c69853be0dc7e79bc3084472b77f9667c1f1 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 15 Dec 2014 15:34:19 +0100 Subject: Ensure no SD alarm always plays. Fixes #1500 --- ROMFS/px4fmu_common/init.d/rcS | 11 ++++++++--- 1 file changed, 8 insertions(+), 3 deletions(-) (limited to 'ROMFS/px4fmu_common') diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 94c462439..b027107c8 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -28,9 +28,6 @@ then tone_alarm start else set LOG_FILE /dev/null - echo "[i] No microSD card found" - # Play SOS - tone_alarm error fi # @@ -585,6 +582,14 @@ then fi unset EXIT_ON_END + # Run no SD alarm last + if [ $LOG_FILE == /dev/null ] + then + echo "[i] No microSD card found" + # Play SOS + tone_alarm error + fi + # End of autostart fi -- cgit v1.2.3