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|
#!nsh
#
# PX4FMU startup script.
#
# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
#
#
# Start CDC/ACM serial driver
#
sercon
#
# Default to auto-start mode.
#
set MODE autostart
set FRC /fs/microsd/etc/rc.txt
set FCONFIG /fs/microsd/etc/config.txt
set TUNE_ERR ML<<CP4CP4CP4CP4CP4
#
# Try to mount the microSD card.
#
# REBOOTWORK this needs to start after the flight control loop
echo "[i] Looking for microSD..."
if mount -t vfat /dev/mmcsd0 /fs/microsd
then
set LOG_FILE /fs/microsd/bootlog.txt
echo "[i] microSD mounted: /fs/microsd"
# Start playing the startup tune
tone_alarm start
else
set LOG_FILE /dev/null
fi
#
# Look for an init script on the microSD card.
# Disable autostart if the script found.
#
if [ -f $FRC ]
then
echo "[i] Executing init script: $FRC"
sh $FRC
set MODE custom
else
echo "[i] Init script not found: $FRC"
fi
unset FRC
if [ $MODE == autostart ]
then
# Try to get an USB console
# REBOOTWORK this needs to start after the flight control loop
nshterm /dev/ttyACM0 &
#
# Start the ORB (first app to start)
#
uorb start
#
# Load parameters
#
set PARAM_FILE /fs/microsd/params
if mtd start
then
set PARAM_FILE /fs/mtd_params
fi
param select $PARAM_FILE
if param load
then
echo "[param] Loaded: $PARAM_FILE"
else
echo "[param] FAILED loading $PARAM_FILE"
if param reset
then
fi
fi
#
# Start system state indicator
#
if rgbled start
then
else
if blinkm start
then
blinkm systemstate
fi
fi
if pca8574 start
then
fi
#
# Set default values
#
set HIL no
set VEHICLE_TYPE none
set MIXER none
set MIXER_AUX none
set OUTPUT_MODE none
set PWM_OUT none
set PWM_RATE none
set PWM_DISARMED none
set PWM_MIN none
set PWM_MAX none
set PWM_AUX_OUT none
set PWM_AUX_RATE none
set PWM_AUX_DISARMED none
set PWM_AUX_MIN none
set PWM_AUX_MAX none
set MK_MODE none
set FMU_MODE pwm
set MAVLINK_F default
set EXIT_ON_END no
set MAV_TYPE none
set LOAD_DAPPS yes
set GPS yes
set GPS_FAKE no
set FAILSAFE none
#
# Set AUTOCNF flag to use it in AUTOSTART scripts
#
if param compare SYS_AUTOCONFIG 1
then
# Wipe out params except RC*
param reset_nostart RC*
set AUTOCNF yes
else
set AUTOCNF no
fi
#
# Set USE_IO flag
#
if param compare SYS_USE_IO 1
then
set USE_IO yes
else
set USE_IO no
fi
#
# Set parameters and env variables for selected AUTOSTART
#
if param compare SYS_AUTOSTART 0
then
echo "[i] No autostart"
else
sh /etc/init.d/rc.autostart
fi
unset MODE
#
# Override parameters from user configuration file
#
if [ -f $FCONFIG ]
then
echo "[i] Config: $FCONFIG"
sh $FCONFIG
else
echo "[i] Config not found: $FCONFIG"
fi
unset FCONFIG
#
# If autoconfig parameter was set, reset it and save parameters
#
if [ $AUTOCNF == yes ]
then
param set SYS_AUTOCONFIG 0
param save
fi
unset AUTOCNF
set IO_PRESENT no
if [ $USE_IO == yes ]
then
#
# 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
if px4io checkcrc ${IO_FILE}
then
echo "PX4IO CRC OK" >> $LOG_FILE
set IO_PRESENT yes
else
echo "PX4IO Trying to update" >> $LOG_FILE
tone_alarm MLL32CP8MB
if px4io start
then
# try to safe px4 io so motor outputs dont go crazy
if px4io safety_on
then
# success! no-op
else
# px4io did not respond to the safety command
px4io stop
fi
fi
if px4io forceupdate 14662 ${IO_FILE}
then
usleep 500000
if px4io checkcrc $IO_FILE
then
echo "PX4IO CRC OK after updating" >> $LOG_FILE
tone_alarm MLL8CDE
set IO_PRESENT yes
else
echo "PX4IO update failed" >> $LOG_FILE
tone_alarm $TUNE_ERR
fi
else
echo "PX4IO update failed" >> $LOG_FILE
tone_alarm $TUNE_ERR
fi
fi
unset IO_FILE
if [ $IO_PRESENT == no ]
then
echo "[i] ERROR: PX4IO not found"
tone_alarm $TUNE_ERR
fi
fi
#
# Set default output if not set
#
if [ $OUTPUT_MODE == none ]
then
if [ $USE_IO == yes ]
then
set OUTPUT_MODE io
else
set OUTPUT_MODE fmu
fi
fi
if [ $OUTPUT_MODE == io -a $IO_PRESENT != yes ]
then
# Need IO for output but it not present, disable output
set OUTPUT_MODE none
echo "[i] ERROR: PX4IO not found, disabling output"
# Avoid using ttyS0 for MAVLink on FMUv1
if ver hwcmp PX4FMU_V1
then
set FMU_MODE serial
fi
fi
if [ $OUTPUT_MODE == ardrone ]
then
set FMU_MODE gpio_serial
fi
if [ $HIL == yes ]
then
set OUTPUT_MODE hil
if ver hwcmp PX4FMU_V1
then
set FMU_MODE serial
fi
fi
unset HIL
# waypoint storage
# REBOOTWORK this needs to start in parallel
if dataman start
then
fi
# Needs to be this early for in-air-restarts
commander start
#
# Start primary output
#
set TTYS1_BUSY no
# If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output
if [ $OUTPUT_MODE != none ]
then
if [ $OUTPUT_MODE == uavcan_esc ]
then
if param compare UAVCAN_ENABLE 0
then
echo "[i] OVERRIDING UAVCAN_ENABLE = 1"
param set UAVCAN_ENABLE 1
fi
fi
if [ $OUTPUT_MODE == io -o $OUTPUT_MODE == uavcan_esc ]
then
if px4io start
then
echo "[i] PX4IO started"
sh /etc/init.d/rc.io
else
echo "[i] ERROR: PX4IO start failed"
tone_alarm $TUNE_ERR
fi
fi
if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == ardrone ]
then
if fmu mode_$FMU_MODE
then
echo "[i] FMU mode_$FMU_MODE started"
else
echo "[i] ERROR: FMU mode_$FMU_MODE start failed"
tone_alarm $TUNE_ERR
fi
if ver hwcmp PX4FMU_V1
then
if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ]
then
set TTYS1_BUSY yes
fi
if [ $FMU_MODE == pwm_gpio -o $OUTPUT_MODE == ardrone ]
then
set TTYS1_BUSY yes
fi
fi
fi
if [ $OUTPUT_MODE == mkblctrl ]
then
set MKBLCTRL_ARG ""
if [ $MKBLCTRL_MODE == x ]
then
set MKBLCTRL_ARG "-mkmode x"
fi
if [ $MKBLCTRL_MODE == + ]
then
set MKBLCTRL_ARG "-mkmode +"
fi
if mkblctrl $MKBLCTRL_ARG
then
echo "[i] MK started"
else
echo "[i] ERROR: MK start failed"
tone_alarm $TUNE_ERR
fi
unset MKBLCTRL_ARG
fi
unset MK_MODE
if [ $OUTPUT_MODE == hil ]
then
if hil mode_port2_pwm8
then
echo "[i] HIL output started"
else
echo "[i] ERROR: HIL output start failed"
tone_alarm $TUNE_ERR
fi
fi
#
# Start IO or FMU for RC PPM input if needed
#
if [ $IO_PRESENT == yes ]
then
if [ $OUTPUT_MODE != io ]
then
if px4io start
then
echo "[i] PX4IO started"
sh /etc/init.d/rc.io
else
echo "[i] ERROR: PX4IO start failed"
tone_alarm $TUNE_ERR
fi
fi
else
if [ $OUTPUT_MODE != fmu -a $OUTPUT_MODE != ardrone ]
then
if fmu mode_$FMU_MODE
then
echo "[i] FMU mode_$FMU_MODE started"
else
echo "[i] ERROR: FMU mode_$FMU_MODE start failed"
tone_alarm $TUNE_ERR
fi
if ver hwcmp PX4FMU_V1
then
if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ]
then
set TTYS1_BUSY yes
fi
if [ $FMU_MODE == pwm_gpio -o $OUTPUT_MODE == ardrone ]
then
set TTYS1_BUSY yes
fi
fi
fi
fi
fi
if [ $MAVLINK_F == default ]
then
# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s
if [ $TTYS1_BUSY == yes ]
then
# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else
set MAVLINK_F "-r 1000 -d /dev/ttyS0"
# Exit from nsh to free port for mavlink
set EXIT_ON_END yes
else
# Start MAVLink on default port: ttyS1
set MAVLINK_F "-r 1000"
fi
fi
mavlink start $MAVLINK_F
unset MAVLINK_F
#
# MAVLink onboard / TELEM2
#
if ver hwcmp PX4FMU_V2
then
if param compare SYS_COMPANION 921600
then
mavlink start -d /dev/ttyS2 -b 921600 -m onboard -r 20000
fi
fi
# UAVCAN
#
sh /etc/init.d/rc.uavcan
#
# Sensors, Logging, GPS
#
sh /etc/init.d/rc.sensors
sh /etc/init.d/rc.logging
if [ $GPS == yes ]
then
if [ $GPS_FAKE == yes ]
then
echo "[i] Faking GPS"
gps start -f
else
gps start
fi
fi
unset GPS_FAKE
#
# Start up ARDrone Motor interface
#
if [ $OUTPUT_MODE == ardrone ]
then
ardrone_interface start -d /dev/ttyS1
fi
#
# Fixed wing setup
#
if [ $VEHICLE_TYPE == fw ]
then
echo "[i] FIXED WING"
if [ $MIXER == none ]
then
# Set default mixer for fixed wing if not defined
set MIXER AERT
fi
if [ $MAV_TYPE == none ]
then
# Use MAV_TYPE = 1 (fixed wing) if not defined
set MAV_TYPE 1
fi
param set MAV_TYPE $MAV_TYPE
# Load mixer and configure outputs
sh /etc/init.d/rc.interface
# Start standard fixedwing apps
if [ $LOAD_DAPPS == yes ]
then
sh /etc/init.d/rc.fw_apps
fi
fi
#
# Multicopters setup
#
if [ $VEHICLE_TYPE == mc ]
then
echo "[i] MULTICOPTER"
if [ $MIXER == none ]
then
echo "Mixer undefined"
fi
if [ $MAV_TYPE == none ]
then
# Use mixer to detect vehicle type
if [ $MIXER == quad_x -o $MIXER == quad_+ ]
then
set MAV_TYPE 2
fi
if [ $MIXER == quad_w -o $MIXER == sk450_deadcat ]
then
set MAV_TYPE 2
fi
if [ $MIXER == tri_y_yaw- -o $MIXER == tri_y_yaw+ ]
then
set MAV_TYPE 2
fi
if [ $MIXER == hexa_x -o $MIXER == hexa_+ ]
then
set MAV_TYPE 13
fi
if [ $MIXER == hexa_cox ]
then
set MAV_TYPE 13
fi
if [ $MIXER == octo_x -o $MIXER == octo_+ ]
then
set MAV_TYPE 14
fi
if [ $MIXER == octo_cox ]
then
set MAV_TYPE 14
fi
fi
# Still no MAV_TYPE found
if [ $MAV_TYPE == none ]
then
echo "Unknown MAV_TYPE"
else
param set MAV_TYPE $MAV_TYPE
fi
# Load mixer and configure outputs
sh /etc/init.d/rc.interface
# Start standard multicopter apps
if [ $LOAD_DAPPS == yes ]
then
sh /etc/init.d/rc.mc_apps
fi
fi
#
# VTOL setup
#
if [ $VEHICLE_TYPE == vtol ]
then
echo "[init] Vehicle type: VTOL"
if [ $MIXER == none ]
then
echo "Default mixer for vtol not defined"
fi
if [ $MAV_TYPE == none ]
then
# Use mixer to detect vehicle type
if [ $MIXER == caipirinha_vtol ]
then
set MAV_TYPE 19
fi
if [ $MIXER == firefly6_rotors ]
then
set MAV_TYPE 21
fi
fi
# Still no MAV_TYPE found
if [ $MAV_TYPE == none ]
then
echo "Unknown MAV_TYPE"
else
param set MAV_TYPE $MAV_TYPE
fi
# Load mixer and configure outputs
sh /etc/init.d/rc.interface
# Start standard vtol apps
if [ $LOAD_DAPPS == yes ]
then
sh /etc/init.d/rc.vtol_apps
fi
fi
#
# Rover setup
#
if [ $VEHICLE_TYPE == rover ]
then
# 10 is MAV_TYPE_GROUND_ROVER
set MAV_TYPE 10
# Load mixer and configure outputs
sh /etc/init.d/rc.interface
# Start standard rover apps
if [ $LOAD_DAPPS == yes ]
then
sh /etc/init.d/rc.rover_apps
fi
fi
unset MIXER
unset MAV_TYPE
unset OUTPUT_MODE
#
# Start the navigator
#
navigator start
#
# Generic setup (autostart ID not found)
#
if [ $VEHICLE_TYPE == none ]
then
echo "[i] No autostart ID found"
fi
# Start any custom addons
set FEXTRAS /fs/microsd/etc/extras.txt
if [ -f $FEXTRAS ]
then
echo "[i] Addons script: $FEXTRAS"
sh $FEXTRAS
else
echo "[i] No addons script: $FEXTRAS"
fi
unset FEXTRAS
if [ $EXIT_ON_END == yes ]
then
echo "Exit from nsh"
exit
fi
unset EXIT_ON_END
# Run no SD alarm last
if [ $LOG_FILE == /dev/null ]
then
echo "[i] No microSD card found"
# Play SOS
tone_alarm error
fi
# End of autostart
fi
# There is no further processing, so we can free some RAM
# XXX potentially unset all script variables.
unset TUNE_ERR
|