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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 logfile /fs/microsd/bootlog.txt
#
# 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 error
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 CDC/ACM serial driver
#
sercon
#
# 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
if param load /fs/microsd/params
then
echo "Parameters loaded"
else
echo "Parameter file corrupt - ignoring"
fi
fi
#fi
#
# Start system state indicator
#
if rgbled start
then
echo "Using external RGB Led"
else
if blinkm start
then
blinkm systemstate
fi
fi
set USE_IO no
set FRAME_TYPE none
set PWM_RATE none
set PWM_DISARMED none
set PWM_MIN none
set PWM_MAX none
if param compare SYS_AUTOCONFIG 1
then
set DO_AUTOCONFIG yes
else
set DO_AUTOCONFIG no
fi
#
# Start the Commander (needs to be this early for in-air-restarts)
#
commander start
#
# Set parameters and env variables for selected AUTOSTART (HIL setups)
#
sh /etc/init.d/rc.autostart_hil
if [ $MODE == hil ]
then
#
# Do common HIL setup depending on env variables
#
# Allow USB some time to come up
sleep 1
# Start MAVLink on USB port
mavlink start -b 230400 -d /dev/ttyACM0
usleep 5000
# Create a fake HIL /dev/pwm_output interface
hil mode_pwm
# Sensors
echo "Start sensors"
sh /etc/init.d/rc.sensors
#
# Fixed wing setup
#
if [ $FRAME_TYPE == fw ]
then
echo "Setup FIXED WING"
fi
#
# Multicopters setup
#
if [ $FRAME_TYPE == mc ]
then
echo "Setup MULTICOPTER"
# Load mixer and configure outputs
sh /etc/init.d/rc.mc_interface
# Start common multicopter apps
sh /etc/init.d/rc.mc_apps
fi
else
# Try to get an USB console if not in HIL mode
nshterm /dev/ttyACM0 &
fi
#
# Upgrade PX4IO firmware
#
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
if px4io start
then
echo "PX4IO OK"
echo "PX4IO OK" >> $logfile
fi
if px4io checkcrc $io_file
then
echo "PX4IO CRC OK"
echo "PX4IO CRC OK" >> $logfile
set USE_IO yes
else
echo "PX4IO CRC failure"
echo "PX4IO CRC failure" >> $logfile
tone_alarm MBABGP
if px4io forceupdate 14662 $io_file
then
usleep 500000
if px4io start
then
echo "PX4IO restart OK"
echo "PX4IO restart OK" >> $logfile
tone_alarm MSPAA
set USE_IO yes
else
echo "PX4IO restart failed"
echo "PX4IO restart failed" >> $logfile
if hw_ver compare PX4FMU_V2
then
tone_alarm MNGGG
sleep 10
reboot
fi
fi
else
echo "PX4IO update failed"
echo "PX4IO update failed" >> $logfile
tone_alarm MNGGG
fi
fi
set EXIT_ON_END no
#
# Set parameters and env variables for selected AUTOSTART
#
sh /etc/init.d/rc.autostart
#
# If autoconfig parameter was set, reset it and save parameters
#
if [ $DO_AUTOCONFIG == yes ]
then
param set SYS_AUTOCONFIG 0
param save
fi
if [ $MODE == autostart ]
then
#
# Do common setup depending on env variables
#
if [ $USE_IO == yes ]
then
echo "Use IO"
# Start MAVLink on default port: ttyS1
mavlink start
usleep 5000
sh /etc/init.d/rc.io
else
echo "Don't use IO"
# Start MAVLink on ttyS0
mavlink start -d /dev/ttyS0
usleep 5000
# Configure FMU for PWM outputs
fmu mode_pwm
# Exit from nsh to free port for mavlink
set EXIT_ON_END yes
fi
# Sensors
echo "Start sensors"
sh /etc/init.d/rc.sensors
# Logging
sh /etc/init.d/rc.logging
# GPS interface
gps start
#
# Fixed wing setup
#
if [ $FRAME_TYPE == fw ]
then
echo "Setup FIXED WING"
fi
#
# Multicopters setup
#
if [ $FRAME_TYPE == mc ]
then
echo "Setup MULTICOPTER"
# Load mixer and configure outputs
sh /etc/init.d/rc.mc_interface
# Start common multicopter apps
sh /etc/init.d/rc.mc_apps
fi
fi
# Start any custom extensions
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
# but the AR.Drone motors can be get 'flashed'
# if starting MAVLink on them - so do not
# start it as default (default link: USB)
# Start commander
commander start
# Start px4io if present
if px4io detect
then
px4io start
else
if fmu mode_serial
then
echo "FMU driver (no PWM) 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
if [ $EXIT_ON_END == yes ]
then
exit
fi
# End of autostart
fi
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