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.
624 lines
12 KiB
624 lines
12 KiB
#!nsh |
|
# Un comment and use set +e to ignore and set -e to enable 'exit on error control' |
|
set +e |
|
# Un comment the line below to help debug scripts by printing a trace of the script commands |
|
#set -x |
|
# PX4FMU startup script. |
|
# |
|
# NOTE: environment variable references: |
|
# If the dollar sign ('$') is followed by a left bracket ('{') then the |
|
# variable name is terminated with the right bracket character ('}'). |
|
# Otherwise, the variable name goes to the end of the argument. |
|
# |
|
# |
|
# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS. |
|
# |
|
#------------------------------------------------------------------------------ |
|
# |
|
# UART mapping on FMUv2/3/4: |
|
# |
|
# UART1 /dev/ttyS0 IO debug (except v4, there ttyS0 is the wifi, |
|
# v4pro: TELEM3) |
|
# USART2 /dev/ttyS1 TELEM1 (flow control) |
|
# USART3 /dev/ttyS2 TELEM2 (flow control) |
|
# UART4 |
|
# UART7 CONSOLE |
|
# UART8 /dev/ttyS6 SERIAL4/TELEM4 |
|
# |
|
#------------------------------------------------------------------------------ |
|
# |
|
# UART mapping on FMUv5: |
|
# |
|
# UART1 /dev/ttyS0 GPS |
|
# USART2 /dev/ttyS1 TELEM1 (flow control) |
|
# USART3 /dev/ttyS2 TELEM2 (flow control) |
|
# UART4 /dev/ttyS3 TELEM4 |
|
# USART6 /dev/ttyS4 TELEM3 (flow control) |
|
# UART7 /dev/ttyS5 |
|
# UART8 /dev/ttyS6 CONSOLE |
|
# |
|
#------------------------------------------------------------------------------ |
|
# |
|
# UART mapping on OMNIBUSF4SD: |
|
# |
|
# USART1 /dev/ttyS0 SerialRX |
|
# (USART3 configured as I2C) |
|
# USART4 /dev/ttyS1 TELEM2 (TX=RSSI, RX=PWM out 5) |
|
# USART6 /dev/ttyS2 URT6 |
|
# |
|
|
|
#------------------------------------------------------------------------------ |
|
# |
|
# UART mapping on NXPhlitev3: |
|
# |
|
# LPUART0 /dev/ttyS0 P16 CONSOLE |
|
# UART0 /dev/ttyS1 P7 IR |
|
# UART1 /dev/ttyS2 P14-3, P15-2 RC input |
|
# UART2 /dev/ttyS3 P3 GPS |
|
# UART4 /dev/ttyS3 P10 TELEM1 (flow control) |
|
|
|
# |
|
# Set default paramter values. |
|
# Do not add intra word spaces |
|
# it wastes flash |
|
# |
|
set AUX_MODE pwm |
|
set DATAMAN_OPT "" |
|
set FAILSAFE none |
|
set FAILSAFE_AUX none |
|
set FCONFIG /fs/microsd/etc/config.txt |
|
set FEXTRAS /fs/microsd/etc/extras.txt |
|
set FRC /fs/microsd/etc/rc.txt |
|
set FMU_ARGS "" |
|
set FMU_MODE pwm |
|
set IOFW "/etc/extras/px4io-v2.bin" |
|
set IO_PRESENT no |
|
set LOG_FILE /fs/microsd/bootlog.txt |
|
set MAV_TYPE none |
|
set MIXER none |
|
set MIXER_AUX none |
|
set MIXER_FILE none |
|
set MK_MODE none |
|
set MKBLCTRL_ARG "" |
|
set OUTPUT_MODE none |
|
set PARAM_FILE /fs/microsd/params |
|
set PWM_AUX_DISARMED p:PWM_AUX_DISARMED |
|
set PWM_AUX_MAX p:PWM_AUX_MAX |
|
set PWM_AUX_MIN p:PWM_AUX_MIN |
|
set PWM_AUX_OUT none |
|
set PWM_AUX_RATE p:PWM_AUX_RATE |
|
set PWM_DISARMED p:PWM_DISARMED |
|
set PWM_MAX p:PWM_MAX |
|
set PWM_MIN p:PWM_MIN |
|
set PWM_OUT none |
|
set PWM_RATE p:PWM_RATE |
|
set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers |
|
set USE_IO no |
|
set VEHICLE_TYPE none |
|
|
|
# |
|
# Mount the procfs. |
|
# |
|
mount -t procfs /proc |
|
|
|
# |
|
# Start CDC/ACM serial driver. |
|
# |
|
sercon |
|
|
|
# |
|
# Print full system version. |
|
# |
|
ver all |
|
|
|
# |
|
# Start the ORB (first app to start) |
|
# tone_alarm and tune_control |
|
# is dependent. |
|
# |
|
uorb start |
|
|
|
# |
|
# Start the tone_alarm driver. |
|
# |
|
tone_alarm start |
|
|
|
# |
|
# Try to mount the microSD card. |
|
# |
|
# REBOOTWORK this needs to start after the flight control loop. |
|
if mount -t vfat /dev/mmcsd0 /fs/microsd |
|
then |
|
if hardfault_log check |
|
then |
|
# Error tune. |
|
tune_control play -t 2 |
|
if hardfault_log commit |
|
then |
|
hardfault_log reset |
|
fi |
|
else |
|
# Play the startup tune. |
|
tune_control play -t 1 |
|
fi |
|
else |
|
# tune SD_INIT |
|
tune_control play -t 16 |
|
if mkfatfs /dev/mmcsd0 |
|
then |
|
if mount -t vfat /dev/mmcsd0 /fs/microsd |
|
then |
|
echo "INFO [init] card formatted" |
|
else |
|
tune_control play -t 17 |
|
echo "ERROR [init] format failed" |
|
set LOG_FILE /dev/null |
|
fi |
|
else |
|
set LOG_FILE /dev/null |
|
fi |
|
fi |
|
|
|
# AEROCORE2 shouldn't have an sd card and CF2 may optionally have an sd card. |
|
if ! ver hwcmp CRAZYFLIE AEROCORE2 |
|
then |
|
# Run no SD alarm. |
|
if [ $LOG_FILE = /dev/null ] |
|
then |
|
# tune Make FS MBAGP |
|
tune_control play -t 2 |
|
fi |
|
fi |
|
|
|
# |
|
# Look for an init script on the microSD card. |
|
# Disable autostart if the script found. |
|
# |
|
if [ -f $FRC ] |
|
then |
|
sh $FRC |
|
else |
|
# |
|
# Waypoint storage. |
|
# REBOOTWORK this needs to start in parallel. |
|
# |
|
dataman start $DATAMAN_OPT |
|
|
|
# |
|
# Start the socket communication send_event handler. |
|
# |
|
send_event start |
|
|
|
# |
|
# Start the resource load monitor. |
|
# |
|
load_mon start |
|
|
|
# |
|
# Set the parameter file if mtd starts successfully. |
|
# |
|
if mtd start |
|
then |
|
set PARAM_FILE /fs/mtd_params |
|
fi |
|
|
|
# |
|
# Load parameters. |
|
# |
|
param select $PARAM_FILE |
|
if ! param load |
|
then |
|
param reset |
|
fi |
|
|
|
# |
|
# Bootloader upgrade |
|
# |
|
if ver hwcmp PX4FMU_V2 |
|
then |
|
set BL_FILE /etc/extras/px4fmuv3_bl.bin |
|
if [ -f $BL_FILE ] |
|
then |
|
if param compare SYS_BL_UPDATE 1 |
|
then |
|
param set SYS_BL_UPDATE 0 |
|
param save |
|
echo "BL update..." >> $LOG_FILE |
|
bl_update $BL_FILE |
|
echo "BL update done" >> $LOG_FILE |
|
reboot |
|
fi |
|
fi |
|
unset BL_FILE |
|
fi |
|
|
|
# |
|
# Start system state indicator. |
|
# |
|
if ! rgbled start |
|
then |
|
if blinkm start |
|
then |
|
blinkm systemstate |
|
fi |
|
fi |
|
|
|
# |
|
# FMUv5 may have both PWM I2C RGB LED support. |
|
# |
|
rgbled_pwm start |
|
|
|
# |
|
# Set AUTOCNF flag to use it in AUTOSTART scripts. |
|
# |
|
if param compare SYS_AUTOCONFIG 1 |
|
then |
|
# Wipe out params except RC*, flight modes and total flight time. |
|
param reset_nostart RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* |
|
set AUTOCNF yes |
|
else |
|
set AUTOCNF no |
|
|
|
# |
|
# Release 1.4.0 transitional support: set to old default if unconfigured, |
|
# this preserves the previous behaviour. |
|
# |
|
if param compare BAT_N_CELLS 0 |
|
then |
|
param set BAT_N_CELLS 3 |
|
fi |
|
fi |
|
|
|
############################################################################### |
|
# Begin setup for board specific configurations. # |
|
############################################################################### |
|
|
|
if ver hwcmp AEROCORE2 |
|
then |
|
set DATAMAN_OPT "-f /fs/mtd_dataman" |
|
fi |
|
|
|
if ver hwcmp AEROFC_V1 |
|
then |
|
if param compare SYS_AUTOSTART 0 |
|
then |
|
set AUTOCNF yes |
|
fi |
|
|
|
# We don't allow changing AUTOSTART as it doesn't work in |
|
# other configurations. |
|
param set SYS_AUTOSTART 4070 |
|
|
|
set DATAMAN_OPT -i |
|
fi |
|
|
|
if ver hwcmp CRAZYFLIE |
|
then |
|
if param compare SYS_AUTOSTART 0 |
|
then |
|
param set SYS_AUTOSTART 4900 |
|
set AUTOCNF yes |
|
fi |
|
fi |
|
|
|
if ver hwcmp NXPHLITE_V3 |
|
then |
|
param set SYS_FMU_TASK 1 |
|
fi |
|
|
|
############################################################################### |
|
# End Setup for board specific configurations. # |
|
############################################################################### |
|
|
|
if param compare SYS_FMU_TASK 1 |
|
then |
|
set FMU_ARGS "-t" |
|
fi |
|
|
|
# |
|
# Set parameters and env variables for selected AUTOSTART. |
|
# |
|
if ! param compare SYS_AUTOSTART 0 |
|
then |
|
sh /etc/init.d/rc.autostart |
|
fi |
|
|
|
# |
|
# Override parameters from user configuration file. |
|
# |
|
if [ -f $FCONFIG ] |
|
then |
|
echo "Custom: ${FCONFIG}" |
|
sh $FCONFIG |
|
fi |
|
|
|
# |
|
# If autoconfig parameter was set, reset it and save parameters. |
|
# |
|
if [ $AUTOCNF = yes ] |
|
then |
|
# Run FMU as task on Pixracer and on boards with enough RAM. |
|
if ver hwcmp PX4FMU_V4 PX4FMU_V4PRO PX4FMU_V5 |
|
then |
|
param set SYS_FMU_TASK 1 |
|
fi |
|
|
|
# Disable safety switch by default on Pixracer and OmnibusF4SD. |
|
if ver hwcmp PX4FMU_V4 OMNIBUS_F4SD |
|
then |
|
param set CBRK_IO_SAFETY 22027 |
|
fi |
|
|
|
if ver hwcmp OMNIBUS_F4SD |
|
then |
|
param set SYS_FMU_TASK 1 |
|
param set SYS_HAS_MAG 0 |
|
# use the Q attitude estimator, it works w/o mag or GPS. |
|
param set SYS_MC_EST_GROUP 1 |
|
param set ATT_ACC_COMP 0 |
|
param set ATT_W_ACC 0.4000 |
|
param set ATT_W_GYRO_BIAS 0.0000 |
|
fi |
|
|
|
param set SYS_AUTOCONFIG 0 |
|
fi |
|
|
|
# |
|
# Check if PX4IO present and update firmware if needed. |
|
# Assumption IOFW set to firware file and IO_PRESENT = no |
|
# |
|
|
|
if [ -f $IOFW ] |
|
then |
|
# Check for the mini using build with px4io fw file |
|
# but not a px4IO |
|
if ver hwtypecmp V540 |
|
then |
|
param set SYS_USE_IO 0 |
|
else |
|
if px4io checkcrc ${IOFW} |
|
then |
|
set IO_PRESENT yes |
|
else |
|
# tune Program PX4IO |
|
tune_control play -t 18 |
|
|
|
if px4io start |
|
then |
|
# Try to safety px4 io so motor outputs don't go crazy. |
|
if ! px4io safety_on |
|
then |
|
# px4io did not respond to the safety command. |
|
px4io stop |
|
fi |
|
fi |
|
|
|
if px4io forceupdate 14662 ${IOFW} |
|
then |
|
usleep 10000 |
|
tune_control stop |
|
if px4io checkcrc ${IOFW} |
|
then |
|
echo "PX4IO CRC OK after updating" >> $LOG_FILE |
|
#tune MLL8CDE Program PX4IO success |
|
tune_control play -t 19 |
|
set IO_PRESENT yes |
|
fi |
|
fi |
|
|
|
if [ $IO_PRESENT = no ] |
|
then |
|
echo "PX4IO update failed" >> $LOG_FILE |
|
# Error tune. |
|
tune_control play -t 20 |
|
fi |
|
fi |
|
fi |
|
fi |
|
|
|
# |
|
# Set USE_IO flag. |
|
# |
|
if param compare SYS_USE_IO 1 |
|
then |
|
set USE_IO yes |
|
fi |
|
|
|
if [ $USE_IO = yes -a $IO_PRESENT = no ] |
|
then |
|
echo "PX4IO not found" >> $LOG_FILE |
|
# Error tune. |
|
tune_control play -t 2 |
|
fi |
|
|
|
if [ $IO_PRESENT = no -o $USE_IO = no ] |
|
then |
|
rc_input start |
|
fi |
|
|
|
# |
|
# Sensors System (start before Commander so Preflight checks are properly run). |
|
# Commander needs to be this early for in-air-restarts. |
|
# |
|
if param compare SYS_HITL 1 |
|
then |
|
set OUTPUT_MODE hil |
|
sensors start -h |
|
commander start --hil |
|
# disable GPS |
|
param set GPS_1_CONFIG 0 |
|
else |
|
sh /etc/init.d/rc.sensors |
|
commander start |
|
fi |
|
|
|
# Sensors on the PWM interface bank. |
|
if param compare SENS_EN_LL40LS 1 |
|
then |
|
# Clear pins 5 and 6. |
|
set FMU_MODE pwm4 |
|
set AUX_MODE pwm4 |
|
fi |
|
|
|
if param greater TRIG_MODE 0 |
|
then |
|
# We ONLY support trigger on pins 5 and 6 when simultanously using AUX for actuator output. |
|
if param compare TRIG_PINS 56 |
|
then |
|
# clear pins 5 and 6 |
|
set FMU_MODE pwm4 |
|
set AUX_MODE pwm4 |
|
else |
|
set FMU_MODE none |
|
set AUX_MODE none |
|
fi |
|
|
|
camera_trigger start |
|
param set CAM_FBACK_MODE 1 |
|
camera_feedback start |
|
fi |
|
|
|
# |
|
# Check if UAVCAN is enabled, default to it for ESCs. |
|
# |
|
if param greater UAVCAN_ENABLE 0 |
|
then |
|
# Start core UAVCAN module. |
|
if uavcan start |
|
then |
|
if param greater UAVCAN_ENABLE 1 |
|
then |
|
# Start UAVCAN firmware update server and dynamic node ID allocation server. |
|
uavcan start fw |
|
|
|
if param greater UAVCAN_ENABLE 2 |
|
then |
|
set OUTPUT_MODE uavcan_esc |
|
fi |
|
fi |
|
else |
|
# Error tune. |
|
tune_control play -t 2 |
|
fi |
|
fi |
|
|
|
# |
|
# Start mavlink streams that are not configurable (e.g. on USB). |
|
# |
|
sh /etc/init.d/rc.mavlink |
|
|
|
# |
|
# Start UART/Serial device drivers. |
|
# Note: rc.serial is auto-generated from Tools/serial/generate_config.py |
|
# |
|
sh /etc/init.d/rc.serial |
|
|
|
if ver hwcmp PX4FMU_V4 |
|
then |
|
# Run FrSky Telemetry on Pixracer on the FrSky port if not enabled already |
|
if param compare TEL_FRSKY_CONFIG 0 |
|
then |
|
frsky_telemetry start -d /dev/ttyS6 -t 15 |
|
fi |
|
fi |
|
|
|
# |
|
# Configure vehicle type specific parameters. |
|
# Note: rc.vehicle_setup is the entry point for rc.interface, |
|
# rc.fw_apps, rc.mc_apps, rc.ugv_apps, and rc.vtol_apps. |
|
# |
|
sh /etc/init.d/rc.vehicle_setup |
|
|
|
# |
|
# Start the navigator. |
|
# |
|
navigator start |
|
|
|
# |
|
# Start the standalone wind estimator. |
|
# |
|
if param compare WEST_EN 1 |
|
then |
|
wind_estimator start |
|
fi |
|
|
|
# |
|
# Start a thermal calibration if required. |
|
# |
|
sh /etc/init.d/rc.thermal_cal |
|
|
|
# |
|
# Start the logger. |
|
# |
|
sh /etc/init.d/rc.logging |
|
|
|
# |
|
# Start vmount to control mounts such as gimbals, disabled by default. |
|
# |
|
if ! param compare MNT_MODE_IN -1 |
|
then |
|
vmount start |
|
fi |
|
|
|
# |
|
# Launch the flow sensor as a background task. |
|
# |
|
if ver hwcmp PX4FMU_V2 PX4FMU_V4 PX4FMU_V4PRO MINDPX_V2 PX4FMU_V5 OMNIBUS_F4SD |
|
then |
|
px4flow start & |
|
fi |
|
|
|
# |
|
# Start any custom addons. |
|
# |
|
if [ -f $FEXTRAS ] |
|
then |
|
echo "Addons script: ${FEXTRAS}" |
|
sh $FEXTRAS |
|
fi |
|
# |
|
# End of autostart. |
|
# |
|
fi |
|
|
|
# |
|
# Unset all script parameters to free RAM. |
|
# |
|
unset AUX_MODE |
|
unset DATAMAN_OPT |
|
unset FAILSAFE |
|
unset FAILSAFE_AUX |
|
unset FCONFIG |
|
unset FEXTRAS |
|
unset FRC |
|
unset FMU_ARGS |
|
unset FMU_MODE |
|
unset IOFW |
|
unset IO_PRESENT |
|
unset LOG_FILE |
|
unset MAV_TYPE |
|
unset MIXER |
|
unset MIXER_AUX |
|
unset MIXER_FILE |
|
unset MK_MODE |
|
unset MKBLCTRL_ARG |
|
unset OUTPUT_MODE |
|
unset PARAM_FILE |
|
unset PWM_AUX_DISARMED |
|
unset PWM_AUX_MAX |
|
unset PWM_AUX_MIN |
|
unset PWM_AUX_OUT |
|
unset PWM_AUX_RATE |
|
unset PWM_OUT |
|
unset PWM_RATE |
|
unset PWM_DISARMED |
|
unset PWM_MAX |
|
unset PWM_MIN |
|
unset SDCARD_MIXERS_PATH |
|
unset USE_IO |
|
unset VEHICLE_TYPE |
|
|
|
# |
|
# Boot is complete, inform MAVLink app(s) that the system is now fully up and running. |
|
# |
|
mavlink boot_complete
|
|
|