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609 lines
12 KiB
609 lines
12 KiB
#!/bin/sh |
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# Un comment and use set +e to ignore and set -e to enable 'exit on error control' |
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set +e |
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# Un comment the line below to help debug scripts by printing a trace of the script commands |
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#set -x |
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# PX4FMU startup script. |
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# |
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# NOTE: environment variable references: |
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# If the dollar sign ('$') is followed by a left bracket ('{') then the |
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# variable name is terminated with the right bracket character ('}'). |
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# Otherwise, the variable name goes to the end of the argument. |
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# |
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# |
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# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS. |
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# |
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#------------------------------------------------------------------------------ |
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# |
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# Set default paramter values. |
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# Do not add intra word spaces |
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# it wastes flash |
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# |
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set AUTOCNF no |
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set AUX_MODE pwm |
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set DATAMAN_OPT "" |
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set FAILSAFE none |
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set FAILSAFE_AUX none |
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set FCONFIG /fs/microsd/etc/config.txt |
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set FEXTRAS /fs/microsd/etc/extras.txt |
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set FMU_MODE pwm |
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set FRC /fs/microsd/etc/rc.txt |
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set IOFW "/etc/extras/px4_io-v2_default.bin" |
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set IO_PRESENT no |
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set LOG_FILE /fs/microsd/bootlog.txt |
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set LOGGER_ARGS "" |
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set LOGGER_BUF 14 |
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set MAV_TYPE none |
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set MIXER none |
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set MIXER_AUX none |
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set MIXER_FILE none |
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set MK_MODE none |
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set MKBLCTRL_ARG "" |
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set OUTPUT_MODE none |
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set PARAM_FILE /fs/microsd/params |
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set PWM_AUX_DISARMED p:PWM_AUX_DISARMED |
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set PWM_AUX_MAX p:PWM_AUX_MAX |
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set PWM_AUX_MIN p:PWM_AUX_MIN |
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set PWM_AUX_OUT none |
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set PWM_AUX_RATE p:PWM_AUX_RATE |
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set PWM_DISARMED p:PWM_DISARMED |
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set PWM_MAX p:PWM_MAX |
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set PWM_MIN p:PWM_MIN |
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set PWM_OUT none |
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set PWM_RATE p:PWM_RATE |
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set RC_INPUT_ARGS "" |
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set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers |
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set STARTUP_TUNE 1 |
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set USE_IO no |
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set VEHICLE_TYPE none |
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# Airframe parameter versioning: airframe maintainers can set this in the |
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# airframe startup script, and then increase it by one whenever an airframe |
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# parameter is updated - it will ensure that these parameters will be updated |
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# when the firmware is flashed. |
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set PARAM_DEFAULTS_VER 1 |
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# |
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# Mount the procfs. |
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# |
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mount -t procfs /proc |
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# |
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# Start CDC/ACM serial driver. |
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# |
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sercon |
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# |
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# Print full system version. |
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# |
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ver all |
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# |
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# Start the ORB (first app to start) |
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# tone_alarm and tune_control |
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# is dependent. |
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# |
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uorb start |
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# |
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# Try to mount the microSD card. |
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# |
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# REBOOTWORK this needs to start after the flight control loop. |
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if mount -t vfat /dev/mmcsd0 /fs/microsd |
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then |
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if hardfault_log check |
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then |
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# Error tune. |
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set STARTUP_TUNE 2 |
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if hardfault_log commit |
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then |
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hardfault_log reset |
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fi |
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fi |
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# Prevent MacOS and Ubuntu from creating unnecessary temporary files on the microSD card |
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# block MacOS Spotlight indexing (.Spotlight-V100 folder) |
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if [ ! -f "/fs/microsd/.metadata_never_index" ]; then |
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cat > /fs/microsd/.metadata_never_index |
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fi |
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# block MacOS trashes |
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if [ ! -f "/fs/microsd/.Trashes" ]; then |
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cat > /fs/microsd/.Trashes |
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fi |
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# block MacOS logging of filesystem events |
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if [ ! -d "/fs/microsd/.fseventsd" ]; then |
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mkdir /fs/microsd/.fseventsd |
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fi |
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if [ ! -f "/fs/microsd/.fseventsd/no_log" ]; then |
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cat > /fs/microsd/.fseventsd/no_log |
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fi |
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# block Ubuntu trash |
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if [ ! -f "/fs/microsd/.Trash-1000" ]; then |
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cat > /fs/microsd/.Trash-1000 |
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fi |
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else |
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# tune SD_INIT |
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set STARTUP_TUNE 16 |
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if mkfatfs /dev/mmcsd0 |
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then |
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if mount -t vfat /dev/mmcsd0 /fs/microsd |
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then |
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echo "INFO [init] card formatted" |
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else |
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set STARTUP_TUNE 17 |
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echo "ERROR [init] format failed" |
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set LOG_FILE /dev/null |
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fi |
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else |
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set LOG_FILE /dev/null |
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fi |
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fi |
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# |
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# Look for an init script on the microSD card. |
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# Disable autostart if the script found. |
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# |
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if [ -f $FRC ] |
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then |
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sh $FRC |
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else |
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# |
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# Set the parameter file if mtd starts successfully. |
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# |
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if mtd start |
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then |
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set PARAM_FILE /fs/mtd_params |
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fi |
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# |
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# Load parameters. |
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# |
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param select $PARAM_FILE |
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if ! param load |
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then |
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param reset |
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fi |
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# |
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# Set AUTOCNF flag to use it in AUTOSTART scripts. |
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# |
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if param greater SYS_AUTOCONFIG 0 |
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then |
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if param compare SYS_AUTOCONFIG 1 |
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then |
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# Wipe out params except RC*, flight modes, total flight time, accel cal, gyro cal, next flight UUID |
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param reset_nostart RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT_UUID |
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fi |
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set AUTOCNF yes |
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fi |
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# |
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# Play the startup tune (if not disabled or there is an error) |
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# |
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param compare CBRK_BUZZER 782090 |
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if [ $? != 0 -o $STARTUP_TUNE != 1 ] |
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then |
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tune_control play -t $STARTUP_TUNE |
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fi |
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# |
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# Optional board defaults: rc.board_defaults |
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# |
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set BOARD_RC_DEFAULTS /etc/init.d/rc.board_defaults |
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if [ -f $BOARD_RC_DEFAULTS ] |
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then |
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echo "Board defaults: ${BOARD_RC_DEFAULTS}" |
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sh $BOARD_RC_DEFAULTS |
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fi |
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unset BOARD_RC_DEFAULTS |
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# |
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# Waypoint storage. |
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# REBOOTWORK this needs to start in parallel. |
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# |
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dataman start $DATAMAN_OPT |
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# |
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# Start the socket communication send_event handler. |
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# |
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send_event start |
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# |
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# Start the resource load monitor. |
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# |
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load_mon start |
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# |
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# Start system state indicator. |
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# |
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rgbled start -X |
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rgbled_ncp5623c start -X |
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if param greater LIGHT_EN_BLINKM 0 |
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then |
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if blinkm start -X |
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then |
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blinkm systemstate |
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fi |
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fi |
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# |
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# Start the tone_alarm driver. |
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# Needs to be started after the parameters are loaded (for CBRK_BUZZER). |
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# Note that this will still play the already published startup tone. |
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# |
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tone_alarm start |
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# |
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# Set parameters and env variables for selected AUTOSTART. |
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# |
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if ! param compare SYS_AUTOSTART 0 |
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then |
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sh /etc/init.d/rc.autostart |
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fi |
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# |
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# Override parameters from user configuration file. |
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# |
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if [ -f $FCONFIG ] |
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then |
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echo "Custom: ${FCONFIG}" |
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sh $FCONFIG |
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fi |
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# |
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# If autoconfig parameter was set, reset it and save parameters. |
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# |
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if [ $AUTOCNF = yes ] |
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then |
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param set SYS_AUTOCONFIG 0 |
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fi |
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# |
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# Check if PX4IO present and update firmware if needed. |
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# Assumption IOFW set to firmware file and IO_PRESENT = no |
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# |
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if [ -f $IOFW ] |
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then |
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# Check for the mini using build with px4io fw file |
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# but not a px4IO |
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if ver hwtypecmp V540 V560 |
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then |
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param set SYS_USE_IO 0 |
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else |
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if px4io checkcrc ${IOFW} |
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then |
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set IO_PRESENT yes |
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else |
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# tune Program PX4IO |
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tune_control play -t 18 |
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if px4io start |
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then |
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# Try to safety px4 io so motor outputs don't go crazy. |
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if ! px4io safety_on |
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then |
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# px4io did not respond to the safety command. |
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px4io stop |
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fi |
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fi |
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if px4io forceupdate 14662 ${IOFW} |
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then |
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usleep 10000 |
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tune_control stop |
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if px4io checkcrc ${IOFW} |
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then |
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echo "PX4IO CRC OK after updating" >> $LOG_FILE |
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#tune MLL8CDE Program PX4IO success |
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tune_control play -t 19 |
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set IO_PRESENT yes |
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fi |
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fi |
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if [ $IO_PRESENT = no ] |
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then |
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echo "PX4IO update failed" >> $LOG_FILE |
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# Error tune. |
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tune_control play -t 20 |
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fi |
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fi |
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fi |
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fi |
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# |
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# Set USE_IO flag. |
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# |
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if param compare -s SYS_USE_IO 1 |
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then |
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set USE_IO yes |
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fi |
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if [ $USE_IO = yes -a $IO_PRESENT = no ] |
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then |
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echo "PX4IO not found" >> $LOG_FILE |
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# Error tune. |
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tune_control play -t 2 |
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fi |
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# |
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# RC update (map raw RC input to calibrate manual control) |
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# start before commander |
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# |
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rc_update start |
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# |
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# Sensors System (start before Commander so Preflight checks are properly run). |
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# Commander needs to be this early for in-air-restarts. |
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# |
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if param greater SYS_HITL 0 |
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then |
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set OUTPUT_MODE hil |
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sensors start -h |
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commander start -h |
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# disable GPS |
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param set GPS_1_CONFIG 0 |
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# start the simulator in hardware if needed |
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if param compare SYS_HITL 2 |
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then |
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sih start |
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fi |
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else |
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# |
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# board sensors: rc.sensors |
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# |
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set BOARD_RC_SENSORS /etc/init.d/rc.board_sensors |
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if [ -f $BOARD_RC_SENSORS ] |
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then |
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echo "Board sensors: ${BOARD_RC_SENSORS}" |
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sh $BOARD_RC_SENSORS |
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fi |
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unset BOARD_RC_SENSORS |
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sh /etc/init.d/rc.sensors |
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if param compare -s BAT1_SOURCE 2 |
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then |
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esc_battery start |
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fi |
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if ! param compare BAT1_SOURCE 1 |
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then |
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battery_status start |
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fi |
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commander start |
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fi |
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# Sensors on the PWM interface bank. |
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if param compare -s SENS_EN_LL40LS 1 |
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then |
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# Clear pins 5 and 6. |
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set FMU_MODE pwm4 |
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set AUX_MODE pwm4 |
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fi |
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# Check if ATS is enabled |
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if param compare FD_EXT_ATS_EN 1 |
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then |
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# Clear pins 5 and 6. |
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set FMU_MODE pwm4 |
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set AUX_MODE pwm4 |
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fi |
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if param greater TRIG_MODE 0 |
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then |
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# We ONLY support trigger on pins 5 and 6 when simultanously using AUX for actuator output. |
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if param compare TRIG_PINS 56 |
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then |
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# clear pins 5 and 6 |
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set FMU_MODE pwm4 |
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set AUX_MODE pwm4 |
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else |
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set FMU_MODE none |
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set AUX_MODE none |
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fi |
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camera_trigger start |
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camera_feedback start |
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fi |
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# |
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# Check if UAVCAN is enabled, default to it for ESCs. |
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# |
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if param greater -s UAVCAN_ENABLE 0 |
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then |
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# Start core UAVCAN module. |
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if uavcan start |
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then |
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if param greater UAVCAN_ENABLE 1 |
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then |
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# Start UAVCAN firmware update server and dynamic node ID allocation server. |
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uavcan start fw |
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if param greater UAVCAN_ENABLE 2 |
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then |
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set OUTPUT_MODE uavcan_esc |
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fi |
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fi |
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else |
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# Error tune. |
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tune_control play -t 2 |
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fi |
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fi |
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# |
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# Optional board mavlink streams: rc.board_mavlink |
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# |
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set BOARD_RC_MAVLINK /etc/init.d/rc.board_mavlink |
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if [ -f $BOARD_RC_MAVLINK ] |
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then |
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echo "Board extras: ${BOARD_RC_MAVLINK}" |
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sh $BOARD_RC_MAVLINK |
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fi |
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unset BOARD_RC_MAVLINK |
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# |
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# Start UART/Serial device drivers. |
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# Note: rc.serial is auto-generated from Tools/serial/generate_config.py |
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# |
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sh /etc/init.d/rc.serial |
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if [ $IO_PRESENT = no ] |
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then |
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# Must be started after the serial config is read |
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rc_input start $RC_INPUT_ARGS |
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fi |
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# |
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# Configure vehicle type specific parameters. |
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# Note: rc.vehicle_setup is the entry point for rc.interface, |
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# rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps. |
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# |
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sh /etc/init.d/rc.vehicle_setup |
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# Camera capture driver |
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if param greater -s CAM_CAP_FBACK 0 |
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then |
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if camera_capture start |
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then |
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camera_capture on |
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fi |
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fi |
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# |
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# Start the navigator. |
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# |
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navigator start |
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# |
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# Start a thermal calibration if required. |
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# |
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sh /etc/init.d/rc.thermal_cal |
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# |
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# Start vmount to control mounts such as gimbals, disabled by default. |
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# |
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if ! param compare MNT_MODE_IN -1 |
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then |
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vmount start |
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fi |
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# Check for flow sensor |
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if param compare SENS_EN_PX4FLOW 1 |
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then |
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px4flow start -X |
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fi |
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# Blacksheep telemetry |
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if param greater TEL_BST_EN 0 |
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then |
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bst start -X |
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fi |
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# |
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# Optional board supplied extras: rc.board_extras |
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# |
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set BOARD_RC_EXTRAS /etc/init.d/rc.board_extras |
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if [ -f $BOARD_RC_EXTRAS ] |
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then |
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echo "Board extras: ${BOARD_RC_EXTRAS}" |
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sh $BOARD_RC_EXTRAS |
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fi |
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unset BOARD_RC_EXTRAS |
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# |
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# Start any custom addons from the sdcard. |
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# |
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if [ -f $FEXTRAS ] |
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then |
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echo "Addons script: ${FEXTRAS}" |
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sh $FEXTRAS |
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fi |
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# |
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# Start the logger. |
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# |
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sh /etc/init.d/rc.logging |
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# |
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# Set additional parameters and env variables for selected AUTOSTART. |
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# |
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if ! param compare SYS_AUTOSTART 0 |
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then |
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sh /etc/init.d/rc.autostart.post |
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fi |
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if ! param compare SYS_PARAM_VER ${PARAM_DEFAULTS_VER} |
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then |
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echo "Switched to different parameter version. Resetting parameters." |
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param set SYS_PARAM_VER ${PARAM_DEFAULTS_VER} |
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param set SYS_AUTOCONFIG 2 |
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param save |
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reboot |
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fi |
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# |
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# End of autostart. |
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# |
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fi |
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# |
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# Unset all script parameters to free RAM. |
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# |
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unset AUTOCNF |
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unset AUX_MODE |
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unset DATAMAN_OPT |
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unset FAILSAFE |
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unset FAILSAFE_AUX |
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unset FCONFIG |
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unset FEXTRAS |
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unset FMU_MODE |
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unset FRC |
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unset IO_PRESENT |
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unset IOFW |
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unset LOG_FILE |
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unset LOGGER_ARGS |
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unset LOGGER_BUF |
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unset MAV_TYPE |
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unset MIXER |
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unset MIXER_AUX |
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unset MIXER_FILE |
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unset MK_MODE |
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unset MKBLCTRL_ARG |
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unset OUTPUT_MODE |
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unset PARAM_DEFAULTS_VER |
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unset PARAM_FILE |
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unset PWM_AUX_DISARMED |
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unset PWM_AUX_MAX |
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unset PWM_AUX_MIN |
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unset PWM_AUX_OUT |
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unset PWM_AUX_RATE |
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unset PWM_DISARMED |
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unset PWM_MAX |
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unset PWM_MIN |
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unset PWM_OUT |
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unset PWM_RATE |
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unset RC_INPUT_ARGS |
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unset SDCARD_MIXERS_PATH |
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unset STARTUP_TUNE |
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unset USE_IO |
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unset VEHICLE_TYPE |
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# |
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# Boot is complete, inform MAVLink app(s) that the system is now fully up and running. |
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# |
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mavlink boot_complete
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