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Startup scripts major cleanup

sbg
Anton Babushkin 12 years ago
parent
41dfdfb1a4
commit
557d3f22de
14 changed files with 315 additions and 780 deletions
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  1. 52
      ROMFS/px4fmu_common/init.d/01_fmu_quad_x
  2. 88
      ROMFS/px4fmu_common/init.d/02_io_quad_x
  3. 73
      ROMFS/px4fmu_common/init.d/08_ardrone
  4. 67
      ROMFS/px4fmu_common/init.d/09_ardrone_flow
  5. 80
      ROMFS/px4fmu_common/init.d/10_io_f330
  6. 91
      ROMFS/px4fmu_common/init.d/15_io_tbs
  7. 64
      ROMFS/px4fmu_common/init.d/30_io_camflyer
  8. 93
      ROMFS/px4fmu_common/init.d/31_io_phantom
  9. 82
      ROMFS/px4fmu_common/init.d/40_io_segway
  10. 78
      ROMFS/px4fmu_common/init.d/666_fmu_q_x550
  11. 23
      ROMFS/px4fmu_common/init.d/rc.io
  12. 7
      ROMFS/px4fmu_common/init.d/rc.logging
  13. 10
      ROMFS/px4fmu_common/init.d/rc.multirotor
  14. 287
      ROMFS/px4fmu_common/init.d/rcS

52
ROMFS/px4fmu_common/init.d/01_fmu_quad_x
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@ -1,28 +1,6 @@ @@ -1,28 +1,6 @@
#!nsh
#
# Flight startup script for PX4FMU with PWM outputs.
#
# disable USB and autostart
set USB no
set MODE custom
echo "[init] doing PX4FMU Quad startup..."
#
# Start the ORB
#
uorb start
#
# Load microSD params
#
echo "[init] loading microSD params"
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
then
param load /fs/microsd/params
fi
echo "[init] 01_fmu_quad_x: PX4FMU Quad X with PWM outputs"
#
# Load default params for this platform
@ -52,11 +30,10 @@ fi @@ -52,11 +30,10 @@ fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
# MAV_TYPE 2 = quadrotor
#
param set MAV_TYPE 2
#
# Start MAVLink
#
@ -64,19 +41,24 @@ mavlink start -d /dev/ttyS0 -b 57600 @@ -64,19 +41,24 @@ mavlink start -d /dev/ttyS0 -b 57600
usleep 5000
#
# Start common for all multirotors apps
# Start PWM output
#
sh /etc/init.d/rc.multirotor
fmu mode_pwm
#
# Start PWM output
# Load mixer
#
fmu mode_pwm
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
#
# Set PWM output frequency
#
pwm -u 400 -m 0xff
# Try to get an USB console
nshterm /dev/ttyACM0 &
#
# Start common for all multirotors apps
#
sh /etc/init.d/rc.multirotor
# Exit, because /dev/ttyS0 is needed for MAVLink
#exit
exit

88
ROMFS/px4fmu_common/init.d/02_io_quad_x
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@ -1,26 +1,6 @@ @@ -1,26 +1,6 @@
#!nsh
#
# Flight startup script for PX4FMU+PX4IO
#
# disable USB and autostart
set USB no
set MODE custom
#
# Start the ORB (first app to start)
#
uorb start
#
# Load microSD params
#
echo "[init] loading microSD params"
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
then
param load /fs/microsd/params
fi
echo "[init] 02_io_quad_x: PX4FMU+PX4IO Quad X with PWM outputs"
#
# Load default params for this platform
@ -28,74 +8,40 @@ fi @@ -28,74 +8,40 @@ fi
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
# TODO
param set SYS_AUTOCONFIG 0
param save /fs/microsd/params
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
# MAV_TYPE 2 = quadrotor
#
param set MAV_TYPE 2
#
# Start MAVLink (depends on orb)
# Start MAVLink
#
mavlink start -d /dev/ttyS1 -b 57600
usleep 5000
#
# Start the commander (depends on orb, mavlink)
#
commander start
#
# Start PX4IO interface (depends on orb, commander)
#
px4io start
#
# Allow PX4IO to recover from midair restarts.
# this is very unlikely, but quite safe and robust.
px4io recovery
#
# Disable px4io topic limiting
#
px4io limit 200
#
# Start the sensors (depends on orb, px4io)
#
sh /etc/init.d/rc.sensors
#
# Start GPS interface (depends on orb)
#
gps start
#
# Start the attitude estimator (depends on orb)
# Start and configure PX4IO interface
#
attitude_estimator_ekf start
sh /etc/init.d/rc.io
#
# Load mixer and start controllers (depends on px4io)
# Load mixer
#
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
pwm -u 400 -m 0xff
multirotor_att_control start
#
# Start logging once armed
# Set PWM output frequency
#
sdlog2 start -r 50 -a -b 14
pwm -u 400 -m 0xff
#
# Start system state
# Start common for all multirotors apps
#
if blinkm start
then
blinkm systemstate
fi
sh /etc/init.d/rc.multirotor

73
ROMFS/px4fmu_common/init.d/08_ardrone
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@ -1,86 +1,45 @@ @@ -1,86 +1,45 @@
#!nsh
#
# Flight startup script for PX4FMU on PX4IOAR carrier board.
#
echo "[init] doing PX4IOAR startup..."
#
# Start the ORB
#
uorb start
echo "[init] 08_ardrone: PX4FMU on PX4IOAR carrier board"
#
# Load microSD params
# Load default params for this platform
#
echo "[init] loading microSD params"
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
if param compare SYS_AUTOCONFIG 1
then
param load /fs/microsd/params
# Set all params here, then disable autoconfig
# TODO
param set SYS_AUTOCONFIG 0
param save /fs/microsd/params
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
# MAV_TYPE 2 = quadrotor
#
param set MAV_TYPE 2
#
# Configure PX4FMU for operation with PX4IOAR
#
fmu mode_gpio_serial
#
# Start the sensors.
#
sh /etc/init.d/rc.sensors
#
# Start MAVLink
#
mavlink start -d /dev/ttyS0 -b 57600
usleep 5000
#
# Start the commander.
#
commander start
#
# Start the attitude estimator
#
attitude_estimator_ekf start
#
# Fire up the multi rotor attitude controller
# Configure PX4FMU for operation with PX4IOAR
#
multirotor_att_control start
fmu mode_gpio_serial
#
# Fire up the AR.Drone interface.
#
ardrone_interface start -d /dev/ttyS1
#
# Start logging once armed
#
sdlog2 start -r 50 -a -b 14
#
# Start GPS capture
#
gps start
#
# startup is done; we don't want the shell because we
# use the same UART for telemetry
# Start common for all multirotors apps
#
echo "[init] startup done"
# Try to get an USB console
nshterm /dev/ttyACM0 &
sh /etc/init.d/rc.multirotor
# Exit, because /dev/ttyS0 is needed for MAVLink
exit

67
ROMFS/px4fmu_common/init.d/09_ardrone_flow
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@ -1,49 +1,47 @@ @@ -1,49 +1,47 @@
#!nsh
echo "[init] 09_ardrone_flow: PX4FMU on PX4IOAR carrier board with PX4FLOW"
#
# Flight startup script for PX4FMU on PX4IOAR carrier board.
#
echo "[init] doing PX4IOAR startup..."
#
# Start the ORB
#
uorb start
#
# Load microSD params
# Load default params for this platform
#
echo "[init] loading microSD params"
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
if param compare SYS_AUTOCONFIG 1
then
param load /fs/microsd/params
# Set all params here, then disable autoconfig
# TODO
param set SYS_AUTOCONFIG 0
param save /fs/microsd/params
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
# MAV_TYPE 2 = quadrotor
#
param set MAV_TYPE 2
#
# Start MAVLink and MAVLink Onboard (PX4FLOW Sensor)
#
mavlink start -d /dev/ttyS0 -b 57600
mavlink_onboard start -d /dev/ttyS3 -b 115200
usleep 5000
#
# Configure PX4FMU for operation with PX4IOAR
#
fmu mode_gpio_serial
#
# Fire up the AR.Drone interface.
#
ardrone_interface start -d /dev/ttyS1
#
# Start the sensors.
#
sh /etc/init.d/rc.sensors
#
# Start MAVLink and MAVLink Onboard (Flow Sensor)
#
mavlink start -d /dev/ttyS0 -b 57600
mavlink_onboard start -d /dev/ttyS3 -b 115200
usleep 5000
#
# Start the commander.
#
@ -73,25 +71,6 @@ flow_position_control start @@ -73,25 +71,6 @@ flow_position_control start
# Fire up the flow speed controller
#
flow_speed_control start
#
# Fire up the AR.Drone interface.
#
ardrone_interface start -d /dev/ttyS1
#
# Start logging once armed
#
sdlog2 start -r 50 -a -b 14
#
# startup is done; we don't want the shell because we
# use the same UART for telemetry
#
echo "[init] startup done"
# Try to get an USB console
nshterm /dev/ttyACM0 &
# Exit, because /dev/ttyS0 is needed for MAVLink
exit

80
ROMFS/px4fmu_common/init.d/10_io_f330
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@ -1,12 +1,6 @@ @@ -1,12 +1,6 @@
#!nsh
#
# Flight startup script for PX4FMU+PX4IO on an F330 quad.
#
#
# Start the ORB (first app to start)
#
uorb start
echo "[init] 10_io_f330: PX4FMU+PX4IO on a DJI F330 quad frame"
#
# Load default params for this platform
@ -35,8 +29,7 @@ fi @@ -35,8 +29,7 @@ fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
# MAV_TYPE 2 = quadrotor
#
param set MAV_TYPE 2
@ -47,71 +40,28 @@ mavlink start @@ -47,71 +40,28 @@ mavlink start
usleep 5000
#
# Start the commander (depends on orb, mavlink)
# Start and configure PX4IO interface
#
commander start
sh /etc/init.d/rc.io
#
# Start PX4IO interface (depends on orb, commander)
# Set PWM values for DJI ESCs
#
if px4io start
then
#
# This sets a PWM right after startup (regardless of safety button)
#
px4io idle 900 900 900 900
pwm -u 400 -m 0xff
#
# Allow PX4IO to recover from midair restarts.
# this is very unlikely, but quite safe and robust.
px4io recovery
#
# The values are for spinning motors when armed using DJI ESCs
#
px4io min 1200 1200 1200 1200
#
# Upper limits could be higher, this is on the safe side
#
px4io max 1800 1800 1800 1800
px4io idle 900 900 900 900
px4io min 1200 1200 1200 1200
px4io max 1800 1800 1800 1800
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
else
# SOS
tone_alarm 6
fi
#
# Start the sensors (depends on orb, px4io)
#
sh /etc/init.d/rc.sensors
#
# Start GPS interface (depends on orb)
# Load mixer
#
gps start
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
#
# Start the attitude estimator (depends on orb)
# Set PWM output frequency
#
attitude_estimator_ekf start
multirotor_att_control start
pwm -u 400 -m 0xff
#
# Disable px4io topic limiting and start logging
# Start common for all multirotors apps
#
if [ $BOARD == fmuv1 ]
then
px4io limit 200
sdlog2 start -r 50 -a -b 16
else
px4io limit 400
sdlog2 start -r 200 -a -b 16
fi
sh /etc/init.d/rc.multirotor

91
ROMFS/px4fmu_common/init.d/15_io_tbs
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@ -1,27 +1,6 @@ @@ -1,27 +1,6 @@
#!nsh
#
# Flight startup script for PX4FMU+PX4IO on a Team Blacksheep Discovery quad
# with stock DJI ESCs, motors and props.
#
# disable USB and autostart
set USB no
set MODE custom
#
# Start the ORB (first app to start)
#
uorb start
#
# Load microSD params
#
echo "[init] loading microSD params"
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
then
param load /fs/microsd/params
fi
echo "[init] 15_io_tbs: PX4FMU+PX4IO on a Team Blacksheep Discovery quad"
#
# Load default params for this platform
@ -47,11 +26,10 @@ then @@ -47,11 +26,10 @@ then
param save /fs/microsd/params
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
# MAV_TYPE 2 = quadrotor
#
param set MAV_TYPE 2
@ -62,77 +40,28 @@ mavlink start @@ -62,77 +40,28 @@ mavlink start
usleep 5000
#
# Start the commander (depends on orb, mavlink)
#
commander start
#
# Start PX4IO interface (depends on orb, commander)
#
px4io start
pwm -u 400 -m 0xff
# Start and configure PX4IO interface
#
# Allow PX4IO to recover from midair restarts.
# This is very unlikely, but quite safe and robust.
px4io recovery
sh /etc/init.d/rc.io
#
# This sets a PWM right after startup (regardless of safety button)
# Set PWM values for DJI ESCs
#
px4io idle 900 900 900 900
#
# The values are for spinning motors when armed using DJI ESCs
#
px4io min 1180 1180 1180 1180
#
# Upper limits could be higher, this is on the safe side
#
px4io max 1800 1800 1800 1800
#
# Load the mixer for a quad with wide arms
#
mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix
#
# Start the sensors (depends on orb, px4io)
#
sh /etc/init.d/rc.sensors
#
# Start GPS interface (depends on orb)
#
gps start
#
# Start the attitude estimator (depends on orb)
#
attitude_estimator_ekf start
#
# Start the controllers (depends on orb)
# Set PWM output frequency
#
multirotor_att_control start
pwm -u 400 -m 0xff
#
# Disable px4io topic limiting and start logging
# Start common for all multirotors apps
#
if [ $BOARD == fmuv1 ]
then
px4io limit 200
sdlog2 start -r 50 -a -b 16
if blinkm start
then
blinkm systemstate
fi
else
px4io limit 400
sdlog2 start -r 200 -a -b 16
if rgbled start
then
#rgbled systemstate
fi
fi
sh /etc/init.d/rc.multirotor

64
ROMFS/px4fmu_common/init.d/30_io_camflyer
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@ -1,26 +1,6 @@ @@ -1,26 +1,6 @@
#!nsh
#
# Flight startup script for PX4FMU+PX4IO
#
# disable USB and autostart
set USB no
set MODE custom
#
# Start the ORB (first app to start)
#
uorb start
#
# Load microSD params
#
echo "[init] loading microSD params"
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
then
param load /fs/microsd/params
fi
cho "[init] 30_io_camflyer: PX4FMU+PX4IO on Camflyer"
#
# Load default params for this platform
@ -28,39 +8,18 @@ fi @@ -28,39 +8,18 @@ fi
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
# TODO
param set SYS_AUTOCONFIG 0
param save /fs/microsd/params
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
# MAV_TYPE 1 = fixed wing
#
param set MAV_TYPE 1
#
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
#
if [ -f /fs/microsd/px4io.bin ]
then
echo "PX4IO Firmware found. Checking Upgrade.."
if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
then
echo "No newer version, skipping upgrade."
else
echo "Loading /fs/microsd/px4io.bin"
if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
then
cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
else
echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
fi
fi
fi
#
# Start MAVLink (depends on orb)
#
@ -106,16 +65,3 @@ kalman_demo start @@ -106,16 +65,3 @@ kalman_demo start
#
mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
control_demo start
#
# Start logging
#
sdlog2 start -r 50 -a -b 14
#
# Start system state
#
if blinkm start
then
blinkm systemstate
fi

93
ROMFS/px4fmu_common/init.d/31_io_phantom
Unescape View File

@ -1,26 +1,6 @@ @@ -1,26 +1,6 @@
#!nsh
#
# Flight startup script for PX4FMU+PX4IO
#
# disable USB and autostart
set USB no
set MODE custom
#
# Start the ORB (first app to start)
#
uorb start
#
# Load microSD params
#
echo "[init] loading microSD params"
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
then
param load /fs/microsd/params
fi
echo "[init] 31_io_phantom: PX4FMU+PX4IO on Phantom"
#
# Load default params for this platform
@ -28,76 +8,50 @@ fi @@ -28,76 +8,50 @@ fi
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
# TODO
param set SYS_AUTOCONFIG 0
param save /fs/microsd/params
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
# MAV_TYPE 1 = fixed wing
#
param set MAV_TYPE 1
#
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
#
if [ -f /fs/microsd/px4io.bin ]
then
echo "PX4IO Firmware found. Checking Upgrade.."
if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
then
echo "No newer version, skipping upgrade."
else
echo "Loading /fs/microsd/px4io.bin"
if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
then
cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
else
echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
fi
fi
fi
#
# Start MAVLink (depends on orb)
#
mavlink start -d /dev/ttyS1 -b 57600
usleep 5000
#
# Start the commander (depends on orb, mavlink)
#
commander start
#
# Start PX4IO interface (depends on orb, commander)
#
px4io start
# Start and configure PX4IO interface
#
# Allow PX4IO to recover from midair restarts.
# this is very unlikely, but quite safe and robust.
px4io recovery
sh /etc/init.d/rc.io
#
# Set actuator limit to 100 Hz update (50 Hz PWM)
px4io limit 100
#
# Start the sensors (depends on orb, px4io)
# Start the commander
#
commander start
#
# Start the sensors
#
sh /etc/init.d/rc.sensors
#
# Start GPS interface (depends on orb)
# Start GPS interface
#
gps start
#
# Start the attitude estimator (depends on orb)
# Start the attitude estimator
#
kalman_demo start
@ -106,16 +60,3 @@ kalman_demo start @@ -106,16 +60,3 @@ kalman_demo start
#
mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
control_demo start
#
# Start logging
#
sdlog2 start -r 50 -a -b 14
#
# Start system state
#
if blinkm start
then
blinkm systemstate
fi

82
ROMFS/px4fmu_common/init.d/40_io_segway
Unescape View File

@ -1,26 +1,4 @@ @@ -1,26 +1,4 @@
#!nsh
#
# Flight startup script for PX4FMU+PX4IO
#
# disable USB and autostart
set USB no
set MODE custom
#
# Start the ORB (first app to start)
#
uorb start
#
# Load microSD params
#
echo "[init] loading microSD params"
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
then
param load /fs/microsd/params
fi
#
# Load default params for this platform
@ -28,39 +6,18 @@ fi @@ -28,39 +6,18 @@ fi
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
# TODO
param set SYS_AUTOCONFIG 0
param save /fs/microsd/params
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
# MAV_TYPE 10 = ground rover
#
param set MAV_TYPE 10
#
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
#
if [ -f /fs/microsd/px4io.bin ]
then
echo "PX4IO Firmware found. Checking Upgrade.."
if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
then
echo "No newer version, skipping upgrade."
else
echo "Loading /fs/microsd/px4io.bin"
if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
then
cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
else
echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
fi
fi
fi
#
# Start MAVLink (depends on orb)
#
@ -68,25 +25,15 @@ mavlink start -d /dev/ttyS1 -b 57600 @@ -68,25 +25,15 @@ mavlink start -d /dev/ttyS1 -b 57600
usleep 5000
#
# Start the commander (depends on orb, mavlink)
# Start and configure PX4IO interface
#
commander start
sh /etc/init.d/rc.io
#
# Start PX4IO interface (depends on orb, commander)
#
px4io start
# Start the commander (depends on orb, mavlink)
#
# Allow PX4IO to recover from midair restarts.
# this is very unlikely, but quite safe and robust.
px4io recovery
commander start
#
# Disable px4io topic limiting
#
px4io limit 200
#
# Start the sensors (depends on orb, px4io)
#
@ -107,16 +54,3 @@ attitude_estimator_ekf start @@ -107,16 +54,3 @@ attitude_estimator_ekf start
#
md25 start 3 0x58
segway start
#
# Start logging
#
sdlog2 start -r 50 -a -b 14
#
# Start system state
#
if blinkm start
then
blinkm systemstate
fi

78
ROMFS/px4fmu_common/init.d/666_fmu_quad_x550 → ROMFS/px4fmu_common/init.d/666_fmu_q_x550
Unescape View File

@ -1,28 +1,6 @@ @@ -1,28 +1,6 @@
#!nsh
#
# Flight startup script for PX4FMU with PWM outputs.
#
# disable USB and autostart
set USB no
set MODE custom
echo "[init] doing PX4FMU Quad startup 666_fmu_quad_X550..."
#
# Start the ORB
#
uorb start
#
# Load microSD params
#
echo "[init] loading microSD params"
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
then
param load /fs/microsd/params
fi
echo "[init] 666_fmu_q_x550: PX4FMU Quad X550 with PWM outputs"
#
# Load default params for this platform
@ -52,8 +30,7 @@ fi @@ -52,8 +30,7 @@ fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
# MAV_TYPE 2 = quadrotor
#
param set MAV_TYPE 2
@ -62,55 +39,26 @@ param set MAV_TYPE 2 @@ -62,55 +39,26 @@ param set MAV_TYPE 2
#
mavlink start -d /dev/ttyS0 -b 57600
usleep 5000
#
# Start the sensors and test them.
#
sh /etc/init.d/rc.sensors
#
# Start the commander.
#
commander start
#
# Start GPS interface (depends on orb)
#
gps start
#
# Start the attitude estimator
#
attitude_estimator_ekf start
# Start PWM output
#
# Start the position estimator
#
position_estimator_inav start
echo "[init] starting PWM output"
fmu mode_pwm
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
pwm -u 400 -m 0xff
#
# Start attitude control
# Load mixer
#
multirotor_att_control start
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
#
# Start position control
# Set PWM output frequency
#
multirotor_pos_control start
pwm -u 400 -m 0xff
#
# Start logging
# Start common for all multirotors apps
#
sdlog2 start -r 50 -a -b 14
sh /etc/init.d/rc.multirotor
#
# Start system state
#
if blinkm start
then
blinkm systemstate
fi
# Exit, because /dev/ttyS0 is needed for MAVLink
exit

23
ROMFS/px4fmu_common/init.d/rc.io
Unescape View File

@ -0,0 +1,23 @@ @@ -0,0 +1,23 @@
#
# Start PX4IO interface (depends on orb, commander)
#
if px4io start
then
#
# Allow PX4IO to recover from midair restarts.
# this is very unlikely, but quite safe and robust.
px4io recovery
#
# Disable px4io topic limiting
#
if [ $BOARD == fmuv1 ]
then
px4io limit 200
else
px4io limit 400
fi
else
# SOS
tone_alarm 6
fi

7
ROMFS/px4fmu_common/init.d/rc.logging
Unescape View File

@ -5,5 +5,10 @@ @@ -5,5 +5,10 @@
if [ -d /fs/microsd ]
then
sdlog start
if [ $BOARD == fmuv1 ]
then
sdlog2 start -r 50 -a -b 16
else
sdlog2 start -r 200 -a -b 16
fi
fi

10
ROMFS/px4fmu_common/init.d/rc.multirotor
Unescape View File

@ -37,13 +37,3 @@ multirotor_att_control start @@ -37,13 +37,3 @@ multirotor_att_control start
# Start position control
#
multirotor_pos_control start
#
# Start logging
#
if [ $BOARD == fmuv1 ]
then
sdlog2 start -r 50 -a -b 16
else
sdlog2 start -r 200 -a -b 16
fi

287
ROMFS/px4fmu_common/init.d/rcS
Unescape View File

@ -57,162 +57,165 @@ fi @@ -57,162 +57,165 @@ fi
if [ $MODE == autostart ]
then
#
# Start terminal
#
if sercon
then
echo "USB connected"
else
# second attempt
sercon &
fi
#
# Start the ORB (first app to start)
#
uorb start
#
# Load microSD params
#
if ramtron start
then
param select /ramtron/params
if [ -f /ramtron/params ]
#
# Start terminal
#
if sercon
then
param load /ramtron/params
echo "USB connected"
else
# second attempt
sercon &
fi
else
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
#
# Start the ORB (first app to start)
#
uorb start
#
# Load microSD params
#
if ramtron start
then
param load /fs/microsd/params
param select /ramtron/params
if [ -f /ramtron/params ]
then
param load /ramtron/params
fi
else
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
then
param load /fs/microsd/params
fi
fi
fi
#
# Start system state indicator
#
if rgbled start
then
echo "Using external RGB Led"
else
if blinkm start
#
# Start system state indicator
#
if rgbled start
then
blinkm systemstate
echo "Using external RGB Led"
else
if blinkm start
then
blinkm systemstate
fi
fi
fi
#
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
#
if [ -f /fs/microsd/px4io.bin ]
then
echo "PX4IO Firmware found. Checking Upgrade.."
if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.cur
#
# Start logging
#
sh /etc/init.d/rc.logging
#
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
#
if [ -f /fs/microsd/px4io.bin ]
then
echo "No newer version, skipping upgrade."
else
echo "Loading /fs/microsd/px4io.bin"
if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io.log
echo "PX4IO Firmware found. Checking Upgrade.."
if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.cur
then
cp /fs/microsd/px4io.bin /fs/microsd/px4io.cur
echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io.log
echo "No newer version, skipping upgrade."
else
echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io.log
echo "Failed to upgrade px4io firmware - check if px4io is in bootloader mode"
echo "Loading /fs/microsd/px4io.bin"
if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io.log
then
cp /fs/microsd/px4io.bin /fs/microsd/px4io.cur
echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io.log
else
echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io.log
echo "Failed to upgrade px4io firmware - check if px4io is in bootloader mode"
fi
fi
fi
fi
#
# Check if auto-setup from one of the standard scripts is wanted
# SYS_AUTOSTART = 0 means no autostart (default)
#
if param compare SYS_AUTOSTART 1
then
sh /etc/init.d/01_fmu_quad_x
set MODE custom
fi
if param compare SYS_AUTOSTART 2
then
sh /etc/init.d/02_io_quad_x
set MODE custom
fi
if param compare SYS_AUTOSTART 8
then
sh /etc/init.d/08_ardrone
set MODE custom
fi
if param compare SYS_AUTOSTART 9
then
sh /etc/init.d/09_ardrone_flow
set MODE custom
fi
if param compare SYS_AUTOSTART 10
then
sh /etc/init.d/10_io_f330
set MODE custom
fi
if param compare SYS_AUTOSTART 15
then
sh /etc/init.d/15_io_tbs
set MODE custom
fi
if param compare SYS_AUTOSTART 30
then
sh /etc/init.d/30_io_camflyer
set MODE custom
fi
if param compare SYS_AUTOSTART 31
then
sh /etc/init.d/31_io_phantom
set MODE custom
fi
# Try to get an USB console
nshterm /dev/ttyACM0 &
# If none of the autostart scripts triggered, get a minimal setup
if [ $MODE == autostart ]
then
# Telemetry port is on both FMU boards ttyS1
mavlink start -b 57600 -d /dev/ttyS1
usleep 5000
# Start commander
commander start
# Start px4io if present
if px4io start
#
# Check if auto-setup from one of the standard scripts is wanted
# SYS_AUTOSTART = 0 means no autostart (default)
#
if param compare SYS_AUTOSTART 1
then
echo "PX4IO driver started"
else
if fmu mode_serial
sh /etc/init.d/01_fmu_quad_x
set MODE custom
fi
if param compare SYS_AUTOSTART 2
then
sh /etc/init.d/02_io_quad_x
set MODE custom
fi
if param compare SYS_AUTOSTART 8
then
sh /etc/init.d/08_ardrone
set MODE custom
fi
if param compare SYS_AUTOSTART 9
then
sh /etc/init.d/09_ardrone_flow
set MODE custom
fi
if param compare SYS_AUTOSTART 10
then
sh /etc/init.d/10_io_f330
set MODE custom
fi
if param compare SYS_AUTOSTART 15
then
sh /etc/init.d/15_io_tbs
set MODE custom
fi
if param compare SYS_AUTOSTART 30
then
sh /etc/init.d/30_io_camflyer
set MODE custom
fi
if param compare SYS_AUTOSTART 31
then
sh /etc/init.d/31_io_phantom
set MODE custom
fi
# Try to get an USB console
nshterm /dev/ttyACM0 &
# If none of the autostart scripts triggered, get a minimal setup
if [ $MODE == autostart ]
then
# Telemetry port is on both FMU boards ttyS1
mavlink start -b 57600 -d /dev/ttyS1
usleep 5000
# Start commander
commander start
# Start px4io if present
if px4io start
then
echo "FMU driver started"
echo "PX4IO driver started"
else
if fmu mode_serial
then
echo "FMU driver started"
fi
fi
# Start sensors
sh /etc/init.d/rc.sensors
# Start one of the estimators
attitude_estimator_ekf start
# Start GPS
gps start
fi
# Start sensors
sh /etc/init.d/rc.sensors
# Start one of the estimators
attitude_estimator_ekf start
# Start GPS
gps start
fi
# End of autostart
fi

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