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|
#!nsh
# Disable USB and autostart
set USB no
set MODE camflyer
#
# Start the ORB
#
uorb start
#
# Load microSD params
#
echo "[init] loading microSD params"
param select /fs/microsd/parameters
if [ -f /fs/microsd/parameters ]
then
param load /fs/microsd/parameters
fi
#
# 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 1
#
# Start the sensors.
#
sh /etc/init.d/rc.sensors
#
# Start MAVLink
#
mavlink start -d /dev/ttyS1 -b 57600
usleep 5000
#
# Start the commander.
#
commander start
#
# Start GPS interface
#
gps start
#
# Start the attitude estimator
#
kalman_demo start
#
# Start PX4IO interface
#
px4io start
#
# Load mixer and start controllers
#
mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
control_demo start
#
# Start logging
#
sdlog start -s 10
#
# Start system state
#
if blinkm start
then
echo "using BlinkM for state indication"
blinkm systemstate
else
echo "no BlinkM found, OK."
fi
|
