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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 terminal
#
if sercon
then
echo "USB connected"
fi
#
# Start the ORB (first app to start)
#
uorb start
#
# Load microSD params
#
if mtd start
then
param select /fs/mtd_params
if param load /fs/mtd_params
then
else
echo "FAILED LOADING 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
#
# Start the Commander (needs to be this early for in-air-restarts)
#
commander start
if param compare SYS_AUTOSTART 1000
then
sh /etc/init.d/1000_rc_fw_easystar.hil
set MODE custom
fi
if param compare SYS_AUTOSTART 1001
then
sh /etc/init.d/1001_rc_quad.hil
set MODE custom
fi
if param compare SYS_AUTOSTART 1002
then
sh /etc/init.d/1002_rc_fw_state.hil
set MODE custom
fi
if param compare SYS_AUTOSTART 1003
then
sh /etc/init.d/1003_rc_quad_+.hil
set MODE custom
fi
if param compare SYS_AUTOSTART 1004
then
sh /etc/init.d/1004_rc_fw_Rascal110.hil
set MODE custom
fi
if [ $MODE != custom ]
then
# Try to get an USB console
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
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
else
echo "PX4IO restart failed"
echo "PX4IO restart failed" >> $logfile
tone_alarm MNGGG
sleep 10
reboot
fi
else
echo "PX4IO update failed"
echo "PX4IO update failed" >> $logfile
tone_alarm MNGGG
fi
fi
set EXIT_ON_END no
#
# Check if auto-setup from one of the standard scripts is wanted
# SYS_AUTOSTART = 0 means no autostart (default)
#
# AUTOSTART PARTITION:
# 0 .. 999 Reserved (historical)
# 1000 .. 1999 Simulation setups
# 2000 .. 2999 Standard planes
# 3000 .. 3999 Flying wing
# 4000 .. 4999 Quad X
# 5000 .. 5999 Quad +
# 6000 .. 6999 Hexa X
# 7000 .. 7999 Hexa +
# 8000 .. 8999 Octo X
# 9000 .. 9999 Octo +
# 10000 .. 10999 Wide arm / H frame
# 11000 .. 11999 Hexa Cox
# 12000 .. 12999 Octo Cox
if param compare SYS_AUTOSTART 4008 8
then
sh /etc/init.d/4008_ardrone
set MODE custom
fi
if param compare SYS_AUTOSTART 4009 9
then
sh /etc/init.d/4009_ardrone_flow
set MODE custom
fi
if param compare SYS_AUTOSTART 4010 10
then
set FRAME_GEOMETRY x
set FRAME_COUNT 4
set PWM_MIN 1200
set PWM_MAX 1900
set PWM_DISARMED 900
sh /etc/init.d/4010_dji_f330
set MODE custom
fi
if param compare SYS_AUTOSTART 4011 11
then
sh /etc/init.d/4011_dji_f450
set MODE custom
fi
if param compare SYS_AUTOSTART 4012
then
sh /etc/init.d/666_fmu_q_x550
set MODE custom
fi
if param compare SYS_AUTOSTART 6012 12
then
set MIXER /etc/mixers/FMU_hex_x.mix
sh /etc/init.d/rc.hexa
set MODE custom
fi
if param compare SYS_AUTOSTART 7013 13
then
set MIXER /etc/mixers/FMU_hex_+.mix
sh /etc/init.d/rc.hexa
set MODE custom
fi
if param compare SYS_AUTOSTART 8001
then
set MIXER /etc/mixers/FMU_octo_x.mix
sh /etc/init.d/rc.octo
set MODE custom
fi
if param compare SYS_AUTOSTART 9001
then
set MIXER /etc/mixers/FMU_octo_+.mix
sh /etc/init.d/rc.octo
set MODE custom
fi
if param compare SYS_AUTOSTART 12001
then
set MIXER /etc/mixers/FMU_octo_cox.mix
sh /etc/init.d/rc.octo
set MODE custom
fi
if param compare SYS_AUTOSTART 10015 15
then
sh /etc/init.d/10015_tbs_discovery
set MODE custom
fi
if param compare SYS_AUTOSTART 10016 16
then
sh /etc/init.d/10016_3dr_iris
set MODE custom
fi
# PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 X Frame
if param compare SYS_AUTOSTART 4017 17
then
set MKBLCTRL_MODE no
set MKBLCTRL_FRAME x
sh /etc/init.d/rc.custom_dji_f330_mkblctrl
set MODE custom
fi
# PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 + Frame
if param compare SYS_AUTOSTART 5018 18
then
set MKBLCTRL_MODE no
set MKBLCTRL_FRAME +
sh /etc/init.d/rc.custom_dji_f330_mkblctrl
set MODE custom
fi
# PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 X Frame Mikrokopter-Addressing
if param compare SYS_AUTOSTART 4019 19
then
set MKBLCTRL_MODE yes
set MKBLCTRL_FRAME x
sh /etc/init.d/rc.custom_dji_f330_mkblctrl
set MODE custom
fi
# PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 + Frame Mikrokopter-Addressing
if param compare SYS_AUTOSTART 5020 20
then
set MKBLCTRL_MODE yes
set MKBLCTRL_FRAME +
sh /etc/init.d/rc.custom_dji_f330_mkblctrl
set MODE custom
fi
# PX4FMU v1 with IO + PPM-based ESCs on Quad X-shape frame
if param compare SYS_AUTOSTART 4021 21
then
set FRAME_GEOMETRY x
set ESC_MAKER afro
sh /etc/init.d/rc.custom_io_esc
set MODE custom
fi
# PX4FMU v1 with IO + PPM-based ESCs on Quad X-shape frame
if param compare SYS_AUTOSTART 10022 22
then
set FRAME_GEOMETRY w
sh /etc/init.d/rc.custom_io_esc
set MODE custom
fi
if param compare SYS_AUTOSTART 3030 30
then
sh /etc/init.d/3030_io_camflyer
set MODE custom
fi
if param compare SYS_AUTOSTART 3031 31
then
sh /etc/init.d/3031_io_phantom
set MODE custom
fi
if param compare SYS_AUTOSTART 3032 32
then
sh /etc/init.d/3032_skywalker_x5
set MODE custom
fi
if param compare SYS_AUTOSTART 3033 33
then
sh /etc/init.d/3033_io_wingwing
set MODE custom
fi
if param compare SYS_AUTOSTART 3034 34
then
sh /etc/init.d/3034_io_fx79
set MODE custom
fi
if param compare SYS_AUTOSTART 40
then
sh /etc/init.d/40_io_segway
set MODE custom
fi
if param compare SYS_AUTOSTART 2100 100
then
sh /etc/init.d/2100_mpx_easystar
set MODE custom
fi
if param compare SYS_AUTOSTART 2101 101
then
sh /etc/init.d/2101_hk_bixler
set MODE custom
fi
if param compare SYS_AUTOSTART 2102 102
then
sh /etc/init.d/2102_3dr_skywalker
set MODE custom
fi
if param compare SYS_AUTOSTART 800
then
sh /etc/init.d/800_sdlogger
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
# 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
|