blob: c4abd07d2ecd7c8ff87be41d8f9348e6f02a92fe (
plain) (
blame)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
|
#!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
#
# Try to mount the microSD card.
#
echo "[init] looking for microSD..."
if mount -t vfat /dev/mmcsd0 /fs/microsd
then
echo "[init] card mounted at /fs/microsd"
# Start playing the startup tune
tone_alarm start
else
echo "[init] no microSD card found"
# Play SOS
tone_alarm 2
fi
#
# Look for an init script on the microSD card.
#
# To prevent automatic startup in the current flight mode,
# the script should set MODE to some other value.
#
if [ -f /fs/microsd/etc/rc ]
then
echo "[init] reading /fs/microsd/etc/rc"
sh /fs/microsd/etc/rc
fi
# Also consider rc.txt files
if [ -f /fs/microsd/etc/rc.txt ]
then
echo "[init] reading /fs/microsd/etc/rc.txt"
sh /fs/microsd/etc/rc.txt
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 "Running rc.APM"
# if APM startup is successful then nsh will exit
sh /etc/init.d/rc.APM
fi
if [ $MODE == autostart ]
then
#
# Start terminal
#
if sercon
then
echo "USB connected"
else
# second attempt
sercon &
fi
#
# Start the ORB (first app to start)
#
uorb start
#
# Load microSD params
#
if ramtron start
then
param select /ramtron/params
if [ -f /ramtron/params ]
then
param load /ramtron/params
fi
else
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
then
param load /fs/microsd/params
fi
fi
#
# Start system state indicator
#
if rgbled start
then
echo "Using external RGB Led"
else
if blinkm start
then
blinkm systemstate
fi
fi
# Try to get an USB console
nshterm /dev/ttyACM0 &
#
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
#
if [ -f /fs/microsd/px4io.bin ]
then
echo "PX4IO Firmware found. Checking Upgrade.."
if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.cur
then
echo "No newer version, skipping upgrade."
else
echo "Loading /fs/microsd/px4io.bin"
if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io.log
then
cp /fs/microsd/px4io.bin /fs/microsd/px4io.cur
echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io.log
else
echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io.log
echo "Failed to upgrade px4io firmware - check if px4io is in bootloader mode"
fi
fi
fi
#
# Check if auto-setup from one of the standard scripts is wanted
# SYS_AUTOSTART = 0 means no autostart (default)
#
if param compare SYS_AUTOSTART 1
then
sh /etc/init.d/01_fmu_quad_x
set MODE custom
fi
if param compare SYS_AUTOSTART 2
then
sh /etc/init.d/02_io_quad_x
set MODE custom
fi
if param compare SYS_AUTOSTART 8
then
sh /etc/init.d/08_ardrone
set MODE custom
fi
if param compare SYS_AUTOSTART 9
then
sh /etc/init.d/09_ardrone_flow
set MODE custom
fi
if param compare SYS_AUTOSTART 10
then
sh /etc/init.d/10_io_f330
set MODE custom
fi
if param compare SYS_AUTOSTART 15
then
sh /etc/init.d/15_io_tbs
set MODE custom
fi
if param compare SYS_AUTOSTART 30
then
sh /etc/init.d/30_io_camflyer
set MODE custom
fi
if param compare SYS_AUTOSTART 31
then
sh /etc/init.d/31_io_phantom
set MODE custom
fi
# Start any custom extensions that might be missing
if [ -f /fs/microsd/etc/rc.local ]
then
sh /fs/microsd/etc/rc.local
fi
# If none of the autostart scripts triggered, get a minimal setup
if [ $MODE == autostart ]
then
# Telemetry port is on both FMU boards ttyS1
mavlink start -b 57600 -d /dev/ttyS1
usleep 5000
# Start commander
commander start
# 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
attitude_estimator_ekf start
# Start GPS
gps start
fi
# End of autostart
fi
|
