You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
73 lines
1.1 KiB
73 lines
1.1 KiB
#!nsh |
|
|
|
set USB no |
|
|
|
# |
|
# Start the object request broker |
|
# |
|
uorb start |
|
|
|
# |
|
# Init the EEPROM |
|
# |
|
echo "[init] eeprom" |
|
eeprom start |
|
if [ -f /eeprom/parameters ] |
|
then |
|
param load |
|
fi |
|
|
|
# |
|
# Enable / connect to PX4IO |
|
# |
|
px4io start |
|
|
|
# |
|
# Load an appropriate mixer. FMU_pass.mix is a passthru mixer |
|
# which is good for testing. See ROMFS/mixers for a full list of mixers. |
|
# |
|
mixer load /dev/pwm_output /etc/mixers/FMU_pass.mix |
|
|
|
# |
|
# Start the sensors. |
|
# |
|
sh /etc/init.d/rc.sensors |
|
|
|
# |
|
# Start MAVLink on UART1 (dev/ttyS0) at 57600 baud (CLI is now unusable) |
|
# |
|
mavlink start -d /dev/ttyS0 -b 57600 |
|
usleep 5000 |
|
|
|
# |
|
# Start the commander. |
|
# |
|
commander start |
|
|
|
# |
|
# Start the attitude estimator |
|
# |
|
attitude_estimator_ekf start |
|
|
|
# |
|
# Start the attitude and position controller |
|
# |
|
fixedwing_att_control start |
|
fixedwing_pos_control start |
|
|
|
# |
|
# Start GPS capture. Comment this out if you do not have a GPS. |
|
# |
|
gps start |
|
|
|
# |
|
# Start logging to microSD if we can |
|
# |
|
sh /etc/init.d/rc.logging |
|
|
|
# |
|
# startup is done; we don't want the shell because we |
|
# use the same UART for telemetry |
|
# |
|
echo "[init] startup done" |
|
exit
|
|
|