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Breakout rc.vehicle_setup from rcS. (#9892)

sbg
Mark Sauder 7 years ago committed by Daniel Agar
parent
21cc34befb
commit
bb86c5f200
2 changed files with 171 additions and 158 deletions
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  1. 167
      ROMFS/px4fmu_common/init.d/rc.vehicle_setup
  2. 162
      ROMFS/px4fmu_common/init.d/rcS

167
ROMFS/px4fmu_common/init.d/rc.vehicle_setup
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@ -0,0 +1,167 @@ @@ -0,0 +1,167 @@
#!nsh
#
# Vehicle configuration setup script.
#
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
#
# Fixed wing setup
#
if [ $VEHICLE_TYPE == fw ]
then
if [ $MIXER == none ]
then
# Set default mixer for fixed wing if not defined
set MIXER AERT
fi
if [ $MAV_TYPE == none ]
then
# Use MAV_TYPE = 1 (fixed wing) if not defined
set MAV_TYPE 1
fi
param set MAV_TYPE ${MAV_TYPE}
# Load mixer and configure outputs
sh /etc/init.d/rc.interface
# Start standard fixedwing apps
sh /etc/init.d/rc.fw_apps
fi
#
# Multicopters setup
#
if [ $VEHICLE_TYPE == mc ]
then
if [ $MIXER == none ]
then
echo "Mixer undefined"
fi
if [ $MAV_TYPE == none ]
then
# Use mixer to detect vehicle type
if [ $MIXER == quad_x -o $MIXER == quad_+ ]
then
set MAV_TYPE 2
fi
if [ $MIXER == quad_w -o $MIXER == quad_dc ]
then
set MAV_TYPE 2
fi
if [ $MIXER == quad_h ]
then
set MAV_TYPE 2
fi
if [ $MIXER == tri_y_yaw- -o $MIXER == tri_y_yaw+ ]
then
set MAV_TYPE 15
fi
if [ $MIXER == hexa_x -o $MIXER == hexa_+ ]
then
set MAV_TYPE 13
fi
if [ $MIXER == hexa_cox ]
then
set MAV_TYPE 13
fi
if [ $MIXER == octo_x -o $MIXER == octo_+ ]
then
set MAV_TYPE 14
fi
if [ $MIXER == octo_cox -o $MIXER == octo_cox_w ]
then
set MAV_TYPE 14
fi
if [ $MIXER == coax ]
then
set MAV_TYPE 3
fi
fi
# Still no MAV_TYPE found
if [ $MAV_TYPE == none ]
then
param set MAV_TYPE 2
else
param set MAV_TYPE ${MAV_TYPE}
fi
# Load mixer and configure outputs
sh /etc/init.d/rc.interface
# Start standard multicopter apps
sh /etc/init.d/rc.mc_apps
fi
#
# VTOL setup
#
if [ $VEHICLE_TYPE == vtol ]
then
if [ $MIXER == none ]
then
echo "VTOL mixer undefined"
fi
if [ $MAV_TYPE == none ]
then
# Use mixer to detect vehicle type
if [ $MIXER == caipirinha_vtol ]
then
set MAV_TYPE 19
fi
if [ $MIXER == firefly6 ]
then
set MAV_TYPE 21
fi
if [ $MIXER == quad_x_pusher_vtol ]
then
set MAV_TYPE 22
fi
fi
# Still no MAV_TYPE found
if [ $MAV_TYPE == none ]
then
echo "Unknown MAV_TYPE"
param set MAV_TYPE 19
else
param set MAV_TYPE ${MAV_TYPE}
fi
# Load mixer and configure outputs
sh /etc/init.d/rc.interface
# Start standard vtol apps
sh /etc/init.d/rc.vtol_apps
fi
#
# UGV setup
#
if [ $VEHICLE_TYPE == ugv ]
then
if [ $MIXER == none ]
then
# Set default mixer for UGV if not defined
set MIXER ugv_generic
fi
if [ $MAV_TYPE == none ]
then
# Use MAV_TYPE = 10 (UGV) if not defined
set MAV_TYPE 10
fi
param set MAV_TYPE ${MAV_TYPE}
# Load mixer and configure outputs
sh /etc/init.d/rc.interface
# Start standard UGV apps
sh /etc/init.d/rc.ugv_apps
fi

162
ROMFS/px4fmu_common/init.d/rcS
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@ -550,165 +550,11 @@ then @@ -550,165 +550,11 @@ then
fi
#
# Fixed wing setup
# Configure vehicle type specific parameters.
# Note: rc.vehicle_setup is the entry point for rc.interface,
# rc.fw_apps, rc.mc_apps, rc.ugv_apps, and rc.vtol_apps.
#
if [ $VEHICLE_TYPE == fw ]
then
if [ $MIXER == none ]
then
# Set default mixer for fixed wing if not defined
set MIXER AERT
fi
if [ $MAV_TYPE == none ]
then
# Use MAV_TYPE = 1 (fixed wing) if not defined
set MAV_TYPE 1
fi
param set MAV_TYPE ${MAV_TYPE}
# Load mixer and configure outputs
sh /etc/init.d/rc.interface
# Start standard fixedwing apps
sh /etc/init.d/rc.fw_apps
fi
#
# Multicopters setup
#
if [ $VEHICLE_TYPE == mc ]
then
if [ $MIXER == none ]
then
echo "Mixer undefined"
fi
if [ $MAV_TYPE == none ]
then
# Use mixer to detect vehicle type
if [ $MIXER == quad_x -o $MIXER == quad_+ ]
then
set MAV_TYPE 2
fi
if [ $MIXER == quad_w -o $MIXER == quad_dc ]
then
set MAV_TYPE 2
fi
if [ $MIXER == quad_h ]
then
set MAV_TYPE 2
fi
if [ $MIXER == tri_y_yaw- -o $MIXER == tri_y_yaw+ ]
then
set MAV_TYPE 15
fi
if [ $MIXER == hexa_x -o $MIXER == hexa_+ ]
then
set MAV_TYPE 13
fi
if [ $MIXER == hexa_cox ]
then
set MAV_TYPE 13
fi
if [ $MIXER == octo_x -o $MIXER == octo_+ ]
then
set MAV_TYPE 14
fi
if [ $MIXER == octo_cox -o $MIXER == octo_cox_w ]
then
set MAV_TYPE 14
fi
if [ $MIXER == coax ]
then
set MAV_TYPE 3
fi
fi
# Still no MAV_TYPE found
if [ $MAV_TYPE == none ]
then
param set MAV_TYPE 2
else
param set MAV_TYPE ${MAV_TYPE}
fi
# Load mixer and configure outputs
sh /etc/init.d/rc.interface
# Start standard multicopter apps
sh /etc/init.d/rc.mc_apps
fi
#
# VTOL setup
#
if [ $VEHICLE_TYPE == vtol ]
then
if [ $MIXER == none ]
then
echo "VTOL mixer undefined"
fi
if [ $MAV_TYPE == none ]
then
# Use mixer to detect vehicle type
if [ $MIXER == caipirinha_vtol ]
then
set MAV_TYPE 19
fi
if [ $MIXER == firefly6 ]
then
set MAV_TYPE 21
fi
if [ $MIXER == quad_x_pusher_vtol ]
then
set MAV_TYPE 22
fi
fi
# Still no MAV_TYPE found
if [ $MAV_TYPE == none ]
then
echo "Unknown MAV_TYPE"
param set MAV_TYPE 19
else
param set MAV_TYPE ${MAV_TYPE}
fi
# Load mixer and configure outputs
sh /etc/init.d/rc.interface
# Start standard vtol apps
sh /etc/init.d/rc.vtol_apps
fi
#
# UGV setup
#
if [ $VEHICLE_TYPE == ugv ]
then
if [ $MIXER == none ]
then
# Set default mixer for UGV if not defined
set MIXER ugv_generic
fi
if [ $MAV_TYPE == none ]
then
# Use MAV_TYPE = 10 (UGV) if not defined
set MAV_TYPE 10
fi
param set MAV_TYPE ${MAV_TYPE}
# Load mixer and configure outputs
sh /etc/init.d/rc.interface
# Start standard UGV apps
sh /etc/init.d/rc.ugv_apps
fi
sh /etc/init.d/rc.vehicle_setup
#
# Start the navigator.

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