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ROMFS startup: Fix variable expansion for new NuttX scheme

sbg
Lorenz Meier 8 years ago committed by Lorenz Meier
parent
1e05520350
commit
9e2eac41ff
5 changed files with 51 additions and 49 deletions
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  1. 4
      ROMFS/px4fmu_common/init.d/rc.fw_apps
  2. 4
      ROMFS/px4fmu_common/init.d/rc.fw_defaults
  3. 32
      ROMFS/px4fmu_common/init.d/rc.interface
  4. 2
      ROMFS/px4fmu_common/init.d/rc.io
  5. 58
      ROMFS/px4fmu_common/init.d/rcS

4
ROMFS/px4fmu_common/init.d/rc.fw_apps
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@ -18,7 +18,3 @@ fw_pos_control_l1 start
# Start Land Detector # Start Land Detector
# #
land_detector start fixedwing land_detector start fixedwing
#
# Misc apps
#

4
ROMFS/px4fmu_common/init.d/rc.fw_defaults
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@ -11,10 +11,10 @@ then
param set RTL_DESCEND_ALT 100 param set RTL_DESCEND_ALT 100
param set RTL_LAND_DELAY -1 param set RTL_LAND_DELAY -1
# FW uses L1 distance for acceptance radius # FW uses L1 distance for acceptance radius
# set a smaller NAV_ACC_RAD for vertical acceptance distance # set a smaller NAV_ACC_RAD for vertical acceptance distance
param set NAV_ACC_RAD 10 param set NAV_ACC_RAD 10
param set MIS_LTRMIN_ALT 25 param set MIS_LTRMIN_ALT 25
param set MIS_TAKEOFF_ALT 25 param set MIS_TAKEOFF_ALT 25
fi fi

32
ROMFS/px4fmu_common/init.d/rc.interface
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@ -19,7 +19,7 @@ then
if [ $MIXER_AUX == none -a $USE_IO == yes ] if [ $MIXER_AUX == none -a $USE_IO == yes ]
then then
set MIXER_AUX $MIXER.aux set MIXER_AUX ${MIXER}.aux
fi fi
# Use the mixer file from the SD-card if it exists # Use the mixer file from the SD-card if it exists
@ -54,13 +54,13 @@ then
set OUTPUT_DEV /dev/tap_esc set OUTPUT_DEV /dev/tap_esc
fi fi
if mixer load $OUTPUT_DEV $MIXER_FILE if mixer load ${OUTPUT_DEV} ${MIXER_FILE}
then then
echo "INFO [init] Mixer: ${MIXER_FILE} on ${OUTPUT_DEV}" echo "INFO [init] Mixer: ${MIXER_FILE} on ${OUTPUT_DEV}"
else else
echo "ERROR [init] Failed loading mixer: ${MIXER_FILE}" echo "ERROR [init] Failed loading mixer: ${MIXER_FILE}"
echo "ERROR [init] Failed loading mixer: ${MIXER_FILE}" >> $LOG_FILE echo "ERROR [init] Failed loading mixer: ${MIXER_FILE}" >> $LOG_FILE
tone_alarm $TUNE_ERR tone_alarm ${TUNE_ERR}
fi fi
unset MIXER_FILE unset MIXER_FILE
@ -69,7 +69,7 @@ else
then then
echo "ERROR [init] Mixer undefined" echo "ERROR [init] Mixer undefined"
echo "ERROR [init] Mixer undefined" >> $LOG_FILE echo "ERROR [init] Mixer undefined" >> $LOG_FILE
tone_alarm $TUNE_ERR tone_alarm ${TUNE_ERR}
fi fi
fi fi
@ -82,7 +82,7 @@ then
# #
if [ $PWM_RATE != none ] if [ $PWM_RATE != none ]
then then
pwm rate -c $PWM_OUT -r $PWM_RATE pwm rate -c ${PWM_OUT} -r ${PWM_RATE}
fi fi
# #
@ -90,21 +90,21 @@ then
# #
if [ $PWM_DISARMED != none ] if [ $PWM_DISARMED != none ]
then then
pwm disarmed -c $PWM_OUT -p $PWM_DISARMED pwm disarmed -c ${PWM_OUT} -p ${PWM_DISARMED}
fi fi
if [ $PWM_MIN != none ] if [ $PWM_MIN != none ]
then then
pwm min -c $PWM_OUT -p $PWM_MIN pwm min -c ${PWM_OUT} -p ${PWM_MIN}
fi fi
if [ $PWM_MAX != none ] if [ $PWM_MAX != none ]
then then
pwm max -c $PWM_OUT -p $PWM_MAX pwm max -c ${PWM_OUT} -p ${PWM_MAX}
fi fi
fi fi
if [ $FAILSAFE != none ] if [ $FAILSAFE != none ]
then then
pwm failsafe -d $OUTPUT_DEV $FAILSAFE pwm failsafe -d ${OUTPUT_DEV} ${FAILSAFE}
fi fi
fi fi
@ -157,7 +157,7 @@ then
# Append aux mixer to main device # Append aux mixer to main device
if [ $OUTPUT_MODE == hil ] if [ $OUTPUT_MODE == hil ]
then then
if mixer append $OUTPUT_DEV $MIXER_AUX_FILE if mixer append ${OUTPUT_DEV} ${MIXER_AUX_FILE}
then then
echo "INFO [init] Mixer: ${MIXER_AUX_FILE} appended to ${OUTPUT_DEV}" echo "INFO [init] Mixer: ${MIXER_AUX_FILE} appended to ${OUTPUT_DEV}"
else else
@ -167,7 +167,7 @@ then
fi fi
if [ -e $OUTPUT_AUX_DEV -a $OUTPUT_MODE != hil ] if [ -e $OUTPUT_AUX_DEV -a $OUTPUT_MODE != hil ]
then then
if mixer load $OUTPUT_AUX_DEV $MIXER_AUX_FILE if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
then then
echo "INFO [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}" echo "INFO [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
else else
@ -180,7 +180,7 @@ then
fi fi
else else
echo "ERROR: Could not start: fmu mode_pwm" >> $LOG_FILE echo "ERROR: Could not start: fmu mode_pwm" >> $LOG_FILE
tone_alarm $TUNE_ERR tone_alarm ${TUNE_ERR}
set PWM_AUX_OUT none set PWM_AUX_OUT none
set FAILSAFE_AUX none set FAILSAFE_AUX none
fi fi
@ -193,16 +193,16 @@ then
# #
if [ $PWM_AUX_RATE != none ] if [ $PWM_AUX_RATE != none ]
then then
pwm rate -c $PWM_AUX_OUT -r $PWM_AUX_RATE -d $OUTPUT_AUX_DEV pwm rate -c ${PWM_AUX_OUT} -r ${PWM_AUX_RATE} -d ${OUTPUT_AUX_DEV}
fi fi
if [ $PWM_AUX_MIN != none ] if [ $PWM_AUX_MIN != none ]
then then
pwm min -c $PWM_AUX_OUT -p $PWM_AUX_MIN -d $OUTPUT_AUX_DEV pwm min -c ${PWM_AUX_OUT} -p ${PWM_AUX_MIN} -d ${OUTPUT_AUX_DEV}
fi fi
if [ $PWM_AUX_MAX != none ] if [ $PWM_AUX_MAX != none ]
then then
pwm max -c $PWM_AUX_OUT -p $PWM_AUX_MAX -d $OUTPUT_AUX_DEV pwm max -c ${PWM_AUX_OUT} -p ${PWM_AUX_MAX} -d ${OUTPUT_AUX_DEV}
fi fi
fi fi
@ -225,7 +225,7 @@ then
if [ $FAILSAFE_AUX != none ] if [ $FAILSAFE_AUX != none ]
then then
pwm failsafe -d $OUTPUT_AUX_DEV $FAILSAFE pwm failsafe -d ${OUTPUT_AUX_DEV} ${FAILSAFE}
fi fi
fi fi

2
ROMFS/px4fmu_common/init.d/rc.io
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@ -16,6 +16,6 @@ then
set PX4IO_LIMIT 200 set PX4IO_LIMIT 200
fi fi
if px4io limit $PX4IO_LIMIT if px4io limit ${PX4IO_LIMIT}
then then
fi fi

58
ROMFS/px4fmu_common/init.d/rcS
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@ -2,7 +2,13 @@
# #
# PX4FMU startup script. # PX4FMU startup script.
# #
# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS. # NOTE: environment variable references:
# If the dollar sign ('$') is followed by a left bracket ('{') then the
# variable name is terminated with the right bracket character ('}').
# Otherwise, the variable name goes to the end of the argument.
#
#
# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
# #
# UART mapping on FMUv1/2/3/4: # UART mapping on FMUv1/2/3/4:
# #
@ -85,7 +91,7 @@ fi
set FRC /fs/microsd/etc/rc.txt set FRC /fs/microsd/etc/rc.txt
if [ -f $FRC ] if [ -f $FRC ]
then then
echo "INFO [init] Executing script: $FRC" echo "INFO [init] Executing script: ${FRC}"
sh $FRC sh $FRC
set MODE custom set MODE custom
fi fi
@ -271,7 +277,7 @@ then
set FCONFIG /fs/microsd/etc/config.txt set FCONFIG /fs/microsd/etc/config.txt
if [ -f $FCONFIG ] if [ -f $FCONFIG ]
then then
echo "Custom: $FCONFIG" echo "Custom: ${FCONFIG}"
sh $FCONFIG sh $FCONFIG
fi fi
unset FCONFIG unset FCONFIG
@ -322,7 +328,7 @@ then
if px4io forceupdate 14662 ${IO_FILE} if px4io forceupdate 14662 ${IO_FILE}
then then
usleep 10000 usleep 10000
if px4io checkcrc $IO_FILE if px4io checkcrc ${IO_FILE}
then then
echo "PX4IO CRC OK after updating" >> $LOG_FILE echo "PX4IO CRC OK after updating" >> $LOG_FILE
tone_alarm MLL8CDE tone_alarm MLL8CDE
@ -330,11 +336,11 @@ then
set IO_PRESENT yes set IO_PRESENT yes
else else
echo "PX4IO update failed" >> $LOG_FILE echo "PX4IO update failed" >> $LOG_FILE
tone_alarm $TUNE_ERR tone_alarm ${TUNE_ERR}
fi fi
else else
echo "PX4IO update failed" >> $LOG_FILE echo "PX4IO update failed" >> $LOG_FILE
tone_alarm $TUNE_ERR tone_alarm ${TUNE_ERR}
fi fi
fi fi
unset IO_FILE unset IO_FILE
@ -342,7 +348,7 @@ then
if [ $IO_PRESENT == no ] if [ $IO_PRESENT == no ]
then then
echo "PX4IO not found" >> $LOG_FILE echo "PX4IO not found" >> $LOG_FILE
tone_alarm $TUNE_ERR tone_alarm ${TUNE_ERR}
fi fi
fi fi
@ -539,10 +545,10 @@ then
else else
if [ $OUTPUT_MODE != fmu -a $OUTPUT_MODE != ardrone ] if [ $OUTPUT_MODE != fmu -a $OUTPUT_MODE != ardrone ]
then then
if fmu mode_$FMU_MODE if fmu mode_${FMU_MODE}
then then
else else
echo "FMU mode_$FMU_MODE start failed" >> $LOG_FILE echo "FMU mode_${FMU_MODE} start failed" >> $LOG_FILE
tone_alarm $TUNE_ERR tone_alarm $TUNE_ERR
fi fi
@ -597,7 +603,7 @@ then
if [ "x$MAVLINK_F" == xnone ] if [ "x$MAVLINK_F" == xnone ]
then then
else else
mavlink start $MAVLINK_F mavlink start ${MAVLINK_F}
fi fi
unset MAVLINK_F unset MAVLINK_F
@ -611,7 +617,7 @@ then
# but this works for now # but this works for now
if param compare SYS_COMPANION 10 if param compare SYS_COMPANION 10
then then
frsky_telemetry start -d $MAVLINK_COMPANION_DEVICE frsky_telemetry start -d ${MAVLINK_COMPANION_DEVICE}
fi fi
if param compare SYS_COMPANION 20 if param compare SYS_COMPANION 20
then then
@ -620,31 +626,31 @@ then
fi fi
if param compare SYS_COMPANION 921600 if param compare SYS_COMPANION 921600
then then
mavlink start -d $MAVLINK_COMPANION_DEVICE -b 921600 -m onboard -r 80000 -x mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -m onboard -r 80000 -x
fi fi
if param compare SYS_COMPANION 57600 if param compare SYS_COMPANION 57600
then then
mavlink start -d $MAVLINK_COMPANION_DEVICE -b 57600 -m onboard -r 5000 -x mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m onboard -r 5000 -x
fi fi
if param compare SYS_COMPANION 157600 if param compare SYS_COMPANION 157600
then then
mavlink start -d $MAVLINK_COMPANION_DEVICE -b 57600 -m osd -r 1000 mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m osd -r 1000
fi fi
if param compare SYS_COMPANION 257600 if param compare SYS_COMPANION 257600
then then
mavlink start -d $MAVLINK_COMPANION_DEVICE -b 57600 -m magic -r 5000 -x mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m magic -r 5000 -x
fi fi
if param compare SYS_COMPANION 319200 if param compare SYS_COMPANION 319200
then then
mavlink start -d $MAVLINK_COMPANION_DEVICE -b 19200 -r 1000 mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 19200 -r 1000
fi fi
if param compare SYS_COMPANION 338400 if param compare SYS_COMPANION 338400
then then
mavlink start -d $MAVLINK_COMPANION_DEVICE -b 38400 -r 1000 mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 38400 -r 1000
fi fi
if param compare SYS_COMPANION 357600 if param compare SYS_COMPANION 357600
then then
mavlink start -d $MAVLINK_COMPANION_DEVICE -b 57600 -r 1000 mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -r 1000
fi fi
if param compare SYS_COMPANION 419200 if param compare SYS_COMPANION 419200
then then
@ -653,11 +659,11 @@ then
fi fi
if param compare SYS_COMPANION 1921600 if param compare SYS_COMPANION 1921600
then then
mavlink start -d $MAVLINK_COMPANION_DEVICE -b 921600 -r 20000 mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -r 20000
fi fi
if param compare SYS_COMPANION 1500000 if param compare SYS_COMPANION 1500000
then then
mavlink start -d $MAVLINK_COMPANION_DEVICE -b 1500000 -m onboard -r 10000 -x mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 1500000 -m onboard -r 10000 -x
fi fi
fi fi
@ -672,7 +678,7 @@ then
then then
uavcan start fw uavcan start fw
else else
tone_alarm $TUNE_ERR tone_alarm ${TUNE_ERR}
fi fi
fi fi
@ -780,7 +786,7 @@ then
set LOGGER_ARGS "-f" set LOGGER_ARGS "-f"
fi fi
if logger start -b 12 -t $LOGGER_ARGS if logger start -b 12 -t ${LOGGER_ARGS}
then then
fi fi
unset LOGGER_ARGS unset LOGGER_ARGS
@ -812,7 +818,7 @@ then
set MAV_TYPE 1 set MAV_TYPE 1
fi fi
param set MAV_TYPE $MAV_TYPE param set MAV_TYPE ${MAV_TYPE}
# Load mixer and configure outputs # Load mixer and configure outputs
sh /etc/init.d/rc.interface sh /etc/init.d/rc.interface
@ -878,7 +884,7 @@ then
echo "Unknown MAV_TYPE" echo "Unknown MAV_TYPE"
param set MAV_TYPE 2 param set MAV_TYPE 2
else else
param set MAV_TYPE $MAV_TYPE param set MAV_TYPE ${MAV_TYPE}
fi fi
# Load mixer and configure outputs # Load mixer and configure outputs
@ -921,7 +927,7 @@ then
echo "Unknown MAV_TYPE" echo "Unknown MAV_TYPE"
param set MAV_TYPE 19 param set MAV_TYPE 19
else else
param set MAV_TYPE $MAV_TYPE param set MAV_TYPE ${MAV_TYPE}
fi fi
# Load mixer and configure outputs # Load mixer and configure outputs
@ -1009,7 +1015,7 @@ then
set FEXTRAS /fs/microsd/etc/extras.txt set FEXTRAS /fs/microsd/etc/extras.txt
if [ -f $FEXTRAS ] if [ -f $FEXTRAS ]
then then
echo "Addons script: $FEXTRAS" echo "Addons script: ${FEXTRAS}"
sh $FEXTRAS sh $FEXTRAS
fi fi
unset FEXTRAS unset FEXTRAS

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