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126 lines
1.5 KiB
126 lines
1.5 KiB
#!nsh |
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# |
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# Standard startup script for PX4FMU v1, v2, v3 onboard sensor drivers. |
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# |
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if ms5611 start |
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then |
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fi |
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if adc start |
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then |
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fi |
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if ver hwcmp PX4FMU_V2 |
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then |
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# External I2C bus |
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if hmc5883 -C -T -X start |
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then |
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fi |
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# Internal I2C bus |
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if hmc5883 -C -T -I -R 4 start |
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then |
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fi |
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# external MPU6K is rotated 180 degrees yaw |
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if mpu6000 -X -R 4 start |
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then |
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set BOARD_FMUV3 true |
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else |
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set BOARD_FMUV3 false |
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fi |
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if [ $BOARD_FMUV3 == true ] |
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then |
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# external L3GD20H is rotated 180 degrees yaw |
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if l3gd20 -X -R 4 start |
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then |
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fi |
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# external LSM303D is rotated 270 degrees yaw |
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if lsm303d -X -R 6 start |
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then |
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fi |
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# internal MPU6000 is rotated 180 deg roll, 270 deg yaw |
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if mpu6000 -R 14 start |
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then |
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fi |
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if hmc5883 -C -T -S -R 8 start |
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then |
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fi |
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else |
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# FMUv2 |
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if mpu6000 start |
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then |
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fi |
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if l3gd20 start |
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then |
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fi |
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if lsm303d start |
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then |
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fi |
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fi |
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else |
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# FMUv1 |
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if mpu6000 start |
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then |
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fi |
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if l3gd20 start |
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then |
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fi |
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# MAG selection |
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if param compare SENS_EXT_MAG 2 |
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then |
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if hmc5883 -C -I start |
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then |
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fi |
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else |
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# Use only external as primary |
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if param compare SENS_EXT_MAG 1 |
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then |
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if hmc5883 -C -X start |
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then |
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fi |
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else |
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# auto-detect the primary, prefer external |
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if hmc5883 start |
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then |
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fi |
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fi |
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fi |
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fi |
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if meas_airspeed start |
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then |
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else |
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if ets_airspeed start |
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then |
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else |
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if ets_airspeed start -b 1 |
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then |
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fi |
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fi |
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fi |
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# Check for flow sensor |
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if px4flow start |
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then |
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fi |
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if ll40ls start |
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then |
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fi |
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# |
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# Start sensors |
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# |
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sensors start |
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