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74 lines
1005 B
74 lines
1005 B
#!nsh |
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# Flight startup script for PX4FMU with PX4IO carrier board. |
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echo "[init] doing PX4IO startup..." |
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# Start the ORB |
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uorb start |
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# Start the sensors. |
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sh /etc/init.d/rc.sensors |
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# Start MAVLink |
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mavlink start -d /dev/ttyS0 -b 57600 |
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# Start the commander. |
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# XXX this should be '<command> start'. |
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commander & |
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# Start the attitude estimator |
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# XXX this should be '<command> start'. |
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attitude_estimator_bm & |
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#position_estimator & |
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# Configure PX4FMU for operation with PX4IO |
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# XXX arguments? |
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px4fmu start |
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# Start the fixed-wing controller |
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# XXX this should be '<command> start'. |
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fixedwing_control & |
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# Fire up the PX4IO interface. |
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px4io start |
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# Start looking for a GPS. |
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# XXX this should not need to be backgrounded |
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gps -d /dev/ttyS3 -m all & |
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# Start logging to microSD if we can |
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sh /etc/init.d/rc.logging |
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# startup is done; we don't want the shell because we |
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# use the same UART for telemetry (dumb). |
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echo "[init] startup done, exiting." |
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exit
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