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#!nsh
echo "[init] 31_io_phantom: PX4FMU+PX4IO on Phantom"
#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
# TODO
param set SYS_AUTOCONFIG 0
param save /fs/microsd/params
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing
#
param set MAV_TYPE 1
#
# Start MAVLink (depends on orb)
#
mavlink start -d /dev/ttyS1 -b 57600
usleep 5000
#
# Start and configure PX4IO interface
#
sh /etc/init.d/rc.io
#
# Set actuator limit to 100 Hz update (50 Hz PWM)
px4io limit 100
#
# Start the commander
#
commander start
#
# Start the sensors
#
sh /etc/init.d/rc.sensors
#
# Start GPS interface
#
gps start
#
# Start the attitude estimator
#
kalman_demo start
#
# Load mixer and start controllers (depends on px4io)
#
mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
control_demo start
|
