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88 lines
1.2 KiB
88 lines
1.2 KiB
11 years ago
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#!nsh
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#
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# PX4FMU startup script for logging purposes
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#
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#
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# Try to mount the microSD card.
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#
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echo "[init] looking for microSD..."
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if mount -t vfat /dev/mmcsd0 /fs/microsd
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then
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echo "[init] card mounted at /fs/microsd"
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# Start playing the startup tune
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tone_alarm start
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else
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echo "[init] no microSD card found"
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# Play SOS
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tone_alarm error
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fi
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uorb start
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#
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# Start sensor drivers here.
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#
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ms5611 start
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adc start
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# mag might be external
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if hmc5883 start
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then
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echo "using HMC5883"
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fi
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if mpu6000 start
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then
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echo "using MPU6000"
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fi
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if l3gd20 start
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then
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echo "using L3GD20(H)"
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fi
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if lsm303d start
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then
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set BOARD fmuv2
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else
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set BOARD fmuv1
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fi
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# Start airspeed sensors
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if meas_airspeed start
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then
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echo "using MEAS airspeed sensor"
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else
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if ets_airspeed start
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then
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echo "using ETS airspeed sensor (bus 3)"
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else
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if ets_airspeed start -b 1
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then
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echo "Using ETS airspeed sensor (bus 1)"
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fi
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fi
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fi
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#
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# Start the sensor collection task.
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# IMPORTANT: this also loads param offsets
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# ALWAYS start this task before the
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# preflight_check.
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#
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if sensors start
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then
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echo "SENSORS STARTED"
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fi
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sdlog2 start -r 250 -e -b 16
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if sercon
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then
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echo "[init] USB interface connected"
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# Try to get an USB console
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nshterm /dev/ttyACM0 &
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fi
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