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87 lines
1.4 KiB
87 lines
1.4 KiB
12 years ago
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#!nsh
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echo "[init] PX4FMU v1, v2 with or without IO on Skywalker X5"
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#
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# Load default params for this platform
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#
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if param compare SYS_AUTOCONFIG 1
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then
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# Set all params here, then disable autoconfig
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# TODO
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param set SYS_AUTOCONFIG 0
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param save
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fi
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#
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# Force some key parameters to sane values
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# MAV_TYPE 1 = fixed wing
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#
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param set MAV_TYPE 1
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set EXIT_ON_END no
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#
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# Start and configure PX4IO or FMU interface
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#
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if px4io detect
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then
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# Start MAVLink (depends on orb)
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mavlink start
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commander start
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sh /etc/init.d/rc.io
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# Limit to 100 Hz updates and (implicit) 50 Hz PWM
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px4io limit 100
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else
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# Start MAVLink (on UART1 / ttyS0)
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mavlink start -d /dev/ttyS0
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commander start
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fmu mode_pwm
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param set BAT_V_SCALING 0.004593
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set EXIT_ON_END yes
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fi
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#
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# Start the sensors and test them.
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#
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sh /etc/init.d/rc.sensors
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#
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# Start logging (depends on sensors)
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#
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sh /etc/init.d/rc.logging
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#
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# Start GPS interface (depends on orb)
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#
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gps start
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#
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# Start the attitude and position estimator
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#
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att_pos_estimator_ekf start
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#
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# Load mixer and start controllers (depends on px4io)
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#
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if [ -f /fs/microsd/etc/mixers/FMU_delta.mix ]
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then
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echo "Using FMU_delta mixer from sd card"
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mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_delta.mix
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else
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echo "Using standard FMU_delta mixer"
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mixer load /dev/pwm_output /etc/mixers/FMU_delta.mix
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fi
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fw_att_control start
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fw_pos_control_l1 start
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if [ $EXIT_ON_END == yes ]
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then
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exit
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fi
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