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310 lines
5.8 KiB
310 lines
5.8 KiB
#!nsh |
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# |
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# PX4FMU startup script. |
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# |
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# Default to auto-start mode. An init script on the microSD card |
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# can change this to prevent automatic startup of the flight script. |
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# |
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set MODE autostart |
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# |
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# Try to mount the microSD card. |
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# |
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echo "[init] looking for microSD..." |
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if mount -t vfat /dev/mmcsd0 /fs/microsd |
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then |
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echo "[init] card mounted at /fs/microsd" |
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# Start playing the startup tune |
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tone_alarm start |
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else |
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echo "[init] no microSD card found" |
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# Play SOS |
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tone_alarm error |
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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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# |
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# To prevent automatic startup in the current flight mode, |
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# the script should set MODE to some other value. |
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# |
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if [ -f /fs/microsd/etc/rc ] |
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then |
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echo "[init] reading /fs/microsd/etc/rc" |
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sh /fs/microsd/etc/rc |
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fi |
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# Also consider rc.txt files |
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if [ -f /fs/microsd/etc/rc.txt ] |
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then |
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echo "[init] reading /fs/microsd/etc/rc.txt" |
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sh /fs/microsd/etc/rc.txt |
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fi |
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# if this is an APM build then there will be a rc.APM script |
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# from an EXTERNAL_SCRIPTS build option |
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if [ -f /etc/init.d/rc.APM ] |
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then |
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if sercon |
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then |
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echo "[init] USB interface connected" |
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fi |
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echo "Running rc.APM" |
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# if APM startup is successful then nsh will exit |
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sh /etc/init.d/rc.APM |
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fi |
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if [ $MODE == autostart ] |
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then |
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# |
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# Start terminal |
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# |
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if sercon |
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then |
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echo "USB connected" |
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fi |
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# |
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# Start the ORB (first app to start) |
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# |
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uorb start |
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# |
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# Load microSD params |
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# |
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#if ramtron start |
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#then |
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# param select /ramtron/params |
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# if [ -f /ramtron/params ] |
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# then |
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# param load /ramtron/params |
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# fi |
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#else |
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param select /fs/microsd/params |
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if [ -f /fs/microsd/params ] |
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then |
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if param load /fs/microsd/params |
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then |
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echo "Parameters loaded" |
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else |
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echo "Parameter file corrupt - ignoring" |
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fi |
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fi |
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#fi |
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# |
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# Start system state indicator |
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# |
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if rgbled start |
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then |
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echo "Using external RGB Led" |
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else |
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if blinkm start |
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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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if param compare SYS_AUTOSTART 1000 |
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then |
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sh /etc/init.d/1000_rc_fw.hil |
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set MODE custom |
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else |
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if param compare SYS_AUTOSTART 1001 |
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then |
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sh /etc/init.d/1001_rc_quad.hil |
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set MODE custom |
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else |
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if param compare SYS_AUTOSTART 1002 |
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then |
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sh /etc/init.d/1002_rc_fw_state.hil |
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set MODE custom |
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else |
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# Try to get an USB console |
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nshterm /dev/ttyACM0 & |
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fi |
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fi |
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fi |
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# |
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# Upgrade PX4IO firmware |
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# |
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if px4io detect |
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then |
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echo "PX4IO running, not upgrading" |
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else |
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echo "Attempting to upgrade PX4IO" |
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if px4io update |
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then |
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if [ -d /fs/microsd ] |
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then |
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echo "Flashed PX4IO Firmware OK" > /fs/microsd/px4io.log |
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fi |
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# Allow IO to safely kick back to app |
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usleep 200000 |
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else |
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echo "No PX4IO to upgrade here" |
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fi |
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fi |
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# |
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# Check if auto-setup from one of the standard scripts is wanted |
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# SYS_AUTOSTART = 0 means no autostart (default) |
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# |
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if param compare SYS_AUTOSTART 8 |
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then |
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sh /etc/init.d/08_ardrone |
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set MODE custom |
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fi |
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if param compare SYS_AUTOSTART 9 |
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then |
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sh /etc/init.d/09_ardrone_flow |
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set MODE custom |
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fi |
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if param compare SYS_AUTOSTART 10 |
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then |
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sh /etc/init.d/10_dji_f330 |
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set MODE custom |
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fi |
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if param compare SYS_AUTOSTART 11 |
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then |
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sh /etc/init.d/11_dji_f450 |
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set MODE custom |
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fi |
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if param compare SYS_AUTOSTART 15 |
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then |
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sh /etc/init.d/15_tbs_discovery |
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set MODE custom |
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fi |
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if param compare SYS_AUTOSTART 16 |
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then |
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sh /etc/init.d/16_3dr_iris |
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set MODE custom |
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fi |
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# PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 X Frame |
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if param compare SYS_AUTOSTART 17 |
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then |
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set MKBLCTRL_MODE no |
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set MKBLCTRL_FRAME x |
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sh /etc/init.d/rc.custom_dji_f330_mkblctrl |
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set MODE custom |
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fi |
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# PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 + Frame |
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if param compare SYS_AUTOSTART 18 |
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then |
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set MKBLCTRL_MODE no |
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set MKBLCTRL_FRAME + |
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sh /etc/init.d/rc.custom_dji_f330_mkblctrl |
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set MODE custom |
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fi |
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# PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 X Frame Mikrokopter-Addressing |
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if param compare SYS_AUTOSTART 19 |
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then |
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set MKBLCTRL_MODE yes |
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set MKBLCTRL_FRAME x |
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sh /etc/init.d/rc.custom_dji_f330_mkblctrl |
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set MODE custom |
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fi |
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# PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 + Frame Mikrokopter-Addressing |
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if param compare SYS_AUTOSTART 20 |
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then |
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set MKBLCTRL_MODE yes |
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set MKBLCTRL_FRAME + |
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sh /etc/init.d/rc.custom_dji_f330_mkblctrl |
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set MODE custom |
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fi |
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# PX4FMU v1 with IO + PPM-based ESCs on Quad X-shape frame |
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if param compare SYS_AUTOSTART 21 |
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then |
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set FRAME_GEOMETRY x |
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set ESC_MAKER afro |
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sh /etc/init.d/rc.custom_io_esc |
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set MODE custom |
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fi |
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# PX4FMU v1 with IO + PPM-based ESCs on Quad X-shape frame |
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if param compare SYS_AUTOSTART 22 |
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then |
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set FRAME_GEOMETRY w |
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sh /etc/init.d/rc.custom_io_esc |
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set MODE custom |
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fi |
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if param compare SYS_AUTOSTART 30 |
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then |
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sh /etc/init.d/30_io_camflyer |
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set MODE custom |
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fi |
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if param compare SYS_AUTOSTART 31 |
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then |
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sh /etc/init.d/31_io_phantom |
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set MODE custom |
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fi |
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if param compare SYS_AUTOSTART 100 |
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then |
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sh /etc/init.d/100_mpx_easystar |
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set MODE custom |
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fi |
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if param compare SYS_AUTOSTART 101 |
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then |
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sh /etc/init.d/101_hk_bixler |
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set MODE custom |
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fi |
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# Start any custom extensions that might be missing |
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if [ -f /fs/microsd/etc/rc.local ] |
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then |
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sh /fs/microsd/etc/rc.local |
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fi |
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# If none of the autostart scripts triggered, get a minimal setup |
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if [ $MODE == autostart ] |
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then |
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# Telemetry port is on both FMU boards ttyS1 |
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# but the AR.Drone motors can be get 'flashed' |
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# if starting MAVLink on them - so do not |
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# start it as default (default link: USB) |
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# Start commander |
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commander start |
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# Start px4io if present |
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if px4io detect |
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then |
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px4io start |
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else |
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if fmu mode_serial |
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then |
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echo "FMU driver (no PWM) started" |
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fi |
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fi |
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# Start sensors |
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sh /etc/init.d/rc.sensors |
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# Start one of the estimators |
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attitude_estimator_ekf start |
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# Start GPS |
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gps start |
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fi |
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# End of autostart |
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fi
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