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70 lines
982 B
70 lines
982 B
13 years ago
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#!nsh
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#
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# Flight startup script for PX4FMU on PX4IOAR carrier board.
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#
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echo "[init] doing PX4IOAR startup..."
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#
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# Start the ORB
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#
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uorb start
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#
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# Start the sensors.
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#
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sh /etc/init.d/rc.sensors
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#
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# Start MAVLink
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#
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mavlink -d /dev/ttyS0 -b 57600 &
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#
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# Start the commander.
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#
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# XXX this should be '<command> start'.
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#
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commander &
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#
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# Start the attitude estimator
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#
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# XXX this should be '<command> start'.
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#
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attitude_estimator_bm &
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#position_estimator &
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#
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# Configure PX4FMU for operation with PX4IOAR
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#
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# XXX arguments?
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#
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px4fmu start
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#
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# Fire up the AR.Drone controller.
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#
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# XXX this should be '<command> start'.
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#
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ardrone_control -d /dev/ttyS1 -m attitude &
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#
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# Start looking for a GPS.
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#
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# XXX this should not need to be backgrounded
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#
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gps -d /dev/ttyS3 -m all &
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#
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# Start logging to microSD if we can
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#
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sh /etc/init.d/rc.logging
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#
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# startup is done; we don't want the shell because we
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# use the same UART for telemetry (dumb).
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#
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echo "[init] startup done, exiting."
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exit
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