From 3d3a68a7fb8315eb1d28b3f2906bb835f0e72994 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 17 Feb 2013 18:11:33 +0100 Subject: Removed confusing non-error message, updated start scripts to match wiki and most recent SW revs --- ROMFS/scripts/rc.FMU_quad_x | 83 +++++++++++++++++++++++++++--------------- ROMFS/scripts/rc.PX4IO | 87 ++++++++++++++++++++++++--------------------- ROMFS/scripts/rc.PX4IOAR | 36 ++++++++++++++----- 3 files changed, 129 insertions(+), 77 deletions(-) (limited to 'ROMFS') diff --git a/ROMFS/scripts/rc.FMU_quad_x b/ROMFS/scripts/rc.FMU_quad_x index d9c9a8457..8787443ea 100644 --- a/ROMFS/scripts/rc.FMU_quad_x +++ b/ROMFS/scripts/rc.FMU_quad_x @@ -1,40 +1,67 @@ +#!nsh +# +# Flight startup script for PX4FMU with PWM outputs. +# + +# Disable the USB interface +set USB no + +# Disable autostarting other apps +set MODE custom + +echo "[init] doing PX4FMU Quad startup..." + +# +# Start the ORB # -# Startup for X-quad on FMU1.5/1.6 -# - -echo "[init] uORB" uorb start - -echo "[init] eeprom" -eeprom start -if [ -f /eeprom/parameters ] + +# +# Load microSD params +# +echo "[init] loading microSD params" +param select /fs/microsd/parameters +if [ -f /fs/microsd/parameters ] then - param load + param load /fs/microsd/parameters fi - -echo "[init] sensors" -#bma180 start -#l3gd20 start -mpu6000 start -hmc5883 start -ms5611 start - -sensors start - -echo "[init] mavlink" + +# +# 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 + +# +# Start MAVLink +# mavlink start -d /dev/ttyS0 -b 57600 usleep 5000 - -echo "[init] commander" + +# +# Start the sensors and test them. +# +sh /etc/init.d/rc.sensors + +# +# Start the commander. +# commander start - -echo "[init] attitude control" + +# +# Start the attitude estimator +# attitude_estimator_ekf start -multirotor_att_control start - + echo "[init] starting PWM output" fmu mode_pwm mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix - + +# +# Start attitude control +# +multirotor_att_control start + echo "[init] startup done, exiting" -exit +exit \ No newline at end of file diff --git a/ROMFS/scripts/rc.PX4IO b/ROMFS/scripts/rc.PX4IO index 84e181a5a..1e3963b9a 100644 --- a/ROMFS/scripts/rc.PX4IO +++ b/ROMFS/scripts/rc.PX4IO @@ -1,73 +1,80 @@ #!nsh - + +# Disable USB and autostart set USB no - +set MODE camflyer + # -# Start the object request broker +# Start the ORB # uorb start - + # -# Init the EEPROM +# Load microSD params # -echo "[init] eeprom" -eeprom start -if [ -f /eeprom/parameters ] +echo "[init] loading microSD params" +param select /fs/microsd/parameters +if [ -f /fs/microsd/parameters ] then - param load + param load /fs/microsd/parameters fi - -# -# Enable / connect to PX4IO -# -px4io start - + # -# Load an appropriate mixer. FMU_pass.mix is a passthru mixer -# which is good for testing. See ROMFS/mixers for a full list of mixers. +# Force some key parameters to sane values +# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor +# see https://pixhawk.ethz.ch/mavlink/ # -mixer load /dev/pwm_output /etc/mixers/FMU_pass.mix - +param set MAV_TYPE 1 + # # Start the sensors. # sh /etc/init.d/rc.sensors - + # -# Start MAVLink on UART1 (dev/ttyS0) at 57600 baud (CLI is now unusable) +# Start MAVLink # -mavlink start -d /dev/ttyS0 -b 57600 +mavlink start -d /dev/ttyS1 -b 57600 usleep 5000 - + # # Start the commander. # commander start - + +# +# Start GPS interface +# +gps start + # # Start the attitude estimator # -attitude_estimator_ekf start - +kalman_demo start + # -# Start the attitude and position controller +# Start PX4IO interface # -fixedwing_att_control start -fixedwing_pos_control start - +px4io start + # -# Start GPS capture. Comment this out if you do not have a GPS. +# Load mixer and start controllers # -gps start - +mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix +control_demo start + +# +# Start logging # -# Start logging to microSD if we can -# -sh /etc/init.d/rc.logging +sdlog start -s 10 # -# startup is done; we don't want the shell because we -# use the same UART for telemetry +# Start system state # -echo "[init] startup done" -exit +if blinkm start +then + echo "using BlinkM for state indication" + blinkm systemstate +else + echo "no BlinkM found, OK." +fi diff --git a/ROMFS/scripts/rc.PX4IOAR b/ROMFS/scripts/rc.PX4IOAR index 640cdf541..72df68e35 100644 --- a/ROMFS/scripts/rc.PX4IOAR +++ b/ROMFS/scripts/rc.PX4IOAR @@ -17,7 +17,7 @@ echo "[init] doing PX4IOAR startup..." uorb start # -# Load microSD params +# Init the parameter storage # echo "[init] loading microSD params" param select /fs/microsd/parameters @@ -27,16 +27,23 @@ then fi # -# Start MAVLink +# Force some key parameters to sane values +# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor +# see https://pixhawk.ethz.ch/mavlink/ # -mavlink start -d /dev/ttyS0 -b 57600 -usleep 5000 +param set MAV_TYPE 2 # -# Start the sensors and test them. +# Start the sensors. # sh /etc/init.d/rc.sensors +# +# Start MAVLink +# +mavlink start -d /dev/ttyS0 -b 57600 +usleep 5000 + # # Start the commander. # @@ -62,15 +69,26 @@ multirotor_att_control start # ardrone_interface start -d /dev/ttyS1 +# +# Start GPS capture +# +gps start + # # Start logging # -#sdlog start - +sdlog start -s 10 + # -# Start GPS capture +# Start system state # -gps start +if blinkm start +then + echo "using BlinkM for state indication" + blinkm systemstate +else + echo "no BlinkM found, OK." +fi # # startup is done; we don't want the shell because we -- cgit v1.2.3