You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
75 lines
1001 B
75 lines
1001 B
13 years ago
|
#!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
|