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|
#!nsh
#
# USB MAVLink start
#
echo "Starting MAVLink on this USB console"
# Stop tone alarm
tone_alarm stop
#
# Check for UORB
#
if uorb start
then
echo "uORB started"
fi
# Tell MAVLink that this link is "fast"
if mavlink stop
then
echo "stopped other MAVLink instance"
fi
mavlink start -b 230400 -d /dev/ttyACM0
# Stop commander
if commander stop
then
echo "Commander stopped"
fi
sleep 1
# Start the commander
if commander start
then
echo "Commander started"
fi
# Start px4io if present
if px4io start
then
echo "PX4IO driver started"
else
if fmu mode_serial
then
echo "FMU driver started"
fi
fi
# Start sensors
sh /etc/init.d/rc.sensors
# Start one of the estimators
if attitude_estimator_ekf status
then
echo "multicopter att filter running"
else
if att_pos_estimator_ekf status
then
echo "fixedwing att filter running"
else
attitude_estimator_ekf start
fi
fi
# Start GPS
if gps start
then
echo "GPS started"
fi
echo "MAVLink started, exiting shell.."
# Exit shell to make it available to MAVLink
exit
|
