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|
#!nsh
#
# Flight startup script for PX4FMU with PX4IO carrier board.
#
echo "[init] doing PX4IO startup..."
#
# Start the ORB
#
uorb start
#
# Start the sensors.
#
sh /etc/init.d/rc.sensors
#
# Start MAVLink
#
mavlink -d /dev/ttyS0 -b 57600 &
#
# Start the commander.
#
# XXX this should be '<command> start'.
#
commander &
#
# Start the attitude estimator
#
# XXX this should be '<command> start'.
#
attitude_estimator_bm &
#position_estimator &
#
# Configure PX4FMU for operation with PX4IO
#
# XXX arguments?
#
px4fmu start
#
# Start the fixed-wing controller
#
# XXX this should be '<command> start'.
#
fixedwing_control &
#
# Fire up the PX4IO interface.
#
px4io start
#
# Start looking for a GPS.
#
# XXX this should not need to be backgrounded
#
gps -d /dev/ttyS3 -m all &
#
# Start logging to microSD if we can
#
sh /etc/init.d/rc.logging
#
# startup is done; we don't want the shell because we
# use the same UART for telemetry (dumb).
#
echo "[init] startup done, exiting."
exit
|
