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|
#!nsh
#
# PX4FMU startup script.
#
# Default to auto-start mode. An init script on the microSD card
# can change this to prevent automatic startup of the flight script.
#
set MODE autostart
set LOG_FILE /fs/microsd/bootlog.txt
set RC_FILE /fs/microsd/etc/rc.txt
set CONFIG_FILE /fs/microsd/etc/config.txt
set EXTRAS_FILE /fs/microsd/etc/extras.txt
#
# Try to mount the microSD card.
#
echo "[init] Looking for microSD..."
if mount -t vfat /dev/mmcsd0 /fs/microsd
then
echo "[init] microSD card mounted at /fs/microsd"
# Start playing the startup tune
tone_alarm start
else
echo "[init] No microSD card found"
# Play SOS
tone_alarm error
fi
#
# Look for an init script on the microSD card.
# Disable autostart if the script found.
#
if [ -f $RC_FILE ]
then
echo "[init] Executing init script: $RC_FILE"
sh $RC_FILE
set MODE custom
else
echo "[init] Init script not found: $RC_FILE"
fi
# if this is an APM build then there will be a rc.APM script
# from an EXTERNAL_SCRIPTS build option
if [ -f /etc/init.d/rc.APM ]
then
if sercon
then
echo "[init] USB interface connected"
fi
echo "[init] Running rc.APM"
# if APM startup is successful then nsh will exit
sh /etc/init.d/rc.APM
fi
if [ $MODE == autostart ]
then
echo "[init] AUTOSTART mode"
#
# Load parameters
#
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
then
if param load /fs/microsd/params
then
echo "[init] Parameters loaded"
else
echo "[init] Parameter file corrupt - ignoring"
fi
fi
#
# Start CDC/ACM serial driver
#
sercon
#
# Start the ORB (first app to start)
#
uorb start
#
# Start system state indicator
#
if rgbled start
then
echo "[init] Using external RGB Led"
else
if blinkm start
then
blinkm systemstate
fi
fi
#
# Check if PX4IO present and update firmware if needed
#
if [ -f /etc/extras/px4io-v2_default.bin ]
then
set IO_FILE /etc/extras/px4io-v2_default.bin
else
set IO_FILE /etc/extras/px4io-v1_default.bin
fi
set IO_PRESENT no
if px4io checkcrc $IO_FILE
then
echo "[init] PX4IO CRC OK"
echo "PX4IO CRC OK" >> $LOG_FILE
set IO_PRESENT yes
else
echo "[init] PX4IO CRC failure"
echo "PX4IO CRC failure" >> $LOG_FILE
tone_alarm MBABGP
if px4io forceupdate 14662 $IO_FILE
then
usleep 500000
if px4io start
then
echo "[init] PX4IO restart OK"
echo "PX4IO restart OK" >> $LOG_FILE
tone_alarm MSPAA
set IO_PRESENT yes
else
echo "[init] PX4IO restart failed"
echo "PX4IO restart failed" >> $LOG_FILE
if hw_ver compare PX4FMU_V2
then
tone_alarm MNGGG
sleep 10
reboot
fi
fi
else
echo "[init] PX4IO update failed"
echo "PX4IO update failed" >> $LOG_FILE
if hw_ver compare PX4FMU_V2
then
tone_alarm MNGGG
fi
fi
fi
#
# Set default values
#
set HIL no
set VEHICLE_TYPE none
set FRAME_GEOMETRY none
set PWM_RATE none
set PWM_DISARMED none
set PWM_MIN none
set PWM_MAX none
#
# Set default output
#
if [ $IO_PRESENT == yes ]
then
# If PX4IO present, use it as primary PWM output by default
set OUTPUT_MODE io_pwm
else
# Else use PX4FMU PWM output
set OUTPUT_MODE fmu_pwm
fi
set EXIT_ON_END no
#
# Set DO_AUTOCONFIG flag to use it in AUTOSTART scripts
#
if param compare SYS_AUTOCONFIG 1
then
set DO_AUTOCONFIG yes
else
set DO_AUTOCONFIG no
fi
#
# Set parameters and env variables for selected AUTOSTART
#
sh /etc/init.d/rc.autostart
#
# Override parameters from user configuration file
#
if [ -f $CONFIG_FILE ]
then
echo "[init] Reading config: $CONFIG_FILE"
sh $CONFIG_FILE
else
echo "[init] Config file not found: $CONFIG_FILE"
fi
if [ $HIL == yes ]
then
set OUTPUT_MODE hil
else
# Try to get an USB console if not in HIL mode
nshterm /dev/ttyACM0 &
fi
#
# If autoconfig parameter was set, reset it and save parameters
#
if [ $DO_AUTOCONFIG == yes ]
then
param set SYS_AUTOCONFIG 0
param save
fi
#
# Start the Commander (needs to be this early for in-air-restarts)
#
commander start
#
# Start primary output
#
if [ $OUTPUT_MODE == io_pwm ]
then
echo "[init] Use PX4IO PWM as primary output"
if px4io start
then
echo "[init] PX4IO started"
sh /etc/init.d/rc.io
else
echo "[init] PX4IO start error"
tone_alarm MNGGG
fi
fi
if [ $OUTPUT_MODE == fmu_pwm ]
then
echo "[init] Use PX4FMU PWM as primary output"
if fmu mode_pwm
then
echo "[init] PX4FMU PWM output started"
sh /etc/init.d/rc.io
else
echo "[init] PX4FMU PWM output start error"
tone_alarm MNGGG
fi
fi
if [ $OUTPUT_MODE == mkblctrl ]
then
echo "[init] Use MKBLCTRL as primary output"
if mkblctrl
then
echo "[init] MKBLCTRL started"
else
echo "[init] MKBLCTRL start error"
tone_alarm MNGGG
fi
fi
if [ $OUTPUT_MODE == hil ]
then
echo "[init] Use HIL as primary output"
if hil mode_pwm
then
echo "[init] HIL output started"
else
echo "[init] HIL output error"
tone_alarm MNGGG
fi
fi
#
# Start PX4IO as secondary output if needed
#
if [ $IO_PRESENT == yes -a $OUTPUT_MODE != io_pwm ]
then
echo "[init] Use PX4IO PWM as secondary output"
if px4io start
then
echo "[init] PX4IO started"
sh /etc/init.d/rc.io
else
echo "[init] PX4IO start error"
tone_alarm MNGGG
fi
fi
#
# MAVLink
#
if [ $HIL == yes ]
then
mavlink start -b 230400 -d /dev/ttyACM0
usleep 5000
else
if [ $OUTPUT_MODE == fmu_pwm -a hw_ver compare PX4FMU_V1 ]
then
# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as PWM output
mavlink start -d /dev/ttyS0
usleep 5000
# Exit from nsh to free port for mavlink
set EXIT_ON_END yes
else
# Start MAVLink on default port: ttyS1
mavlink start
usleep 5000
fi
fi
#
# Sensors, Logging, GPS
#
echo "[init] Start sensors"
sh /etc/init.d/rc.sensors
if [ $HIL == no ]
then
echo "[init] Start logging"
sh /etc/init.d/rc.logging
echo "[init] Start GPS"
gps start
fi
#
# Fixed wing setup
#
if [ $VEHICLE_TYPE == fw ]
then
echo "[init] Vehicle type: FIXED WING"
if [ $FRAME_GEOMETRY == none ]
then
# Set default frame geometry for fixed wing
set FRAME_GEOMETRY AERT
fi
# Load mixer and configure outputs
sh /etc/init.d/rc.fw_interface
# Start standard fixedwing apps
sh /etc/init.d/rc.mc_apps
fi
#
# Multicopters setup
#
if [ $VEHICLE_TYPE == mc ]
then
echo "[init] Vehicle type: MULTICOPTER"
if [ $FRAME_GEOMETRY == none ]
then
# Set default frame geometry for multicopter
set FRAME_GEOMETRY quad_x
fi
# Load mixer and configure outputs
sh /etc/init.d/rc.mc_interface
# Start standard multicopter apps
sh /etc/init.d/rc.mc_apps
fi
#
# Generic setup (autostart ID not found)
#
if [ $VEHICLE_TYPE == none ]
then
echo "[init] Vehicle type: GENERIC"
attitude_estimator_ekf start
position_estimator_inav start
fi
# Start any custom addons
if [ -f $EXTRAS_FILE ]
then
echo "[init] Starting addons script: $EXTRAS_FILE"
sh $EXTRAS_FILE
else
echo "[init] Addons script not found: $EXTRAS_FILE"
fi
if [ $EXIT_ON_END == yes ]
then
exit
fi
# End of autostart
fi
|