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121 lines
2.2 KiB
121 lines
2.2 KiB
#!nsh |
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# |
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# Flight startup script for PX4FMU+PX4IO |
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# |
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# disable USB and autostart |
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set USB no |
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set MODE custom |
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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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echo "[init] loading microSD params" |
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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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param load /fs/microsd/params |
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fi |
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# |
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# Load default params for this platform |
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# |
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if param compare SYS_AUTOCONFIG 1 |
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then |
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# Set all params here, then disable autoconfig |
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param set SYS_AUTOCONFIG 0 |
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param save /fs/microsd/params |
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fi |
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# |
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# Force some key parameters to sane values |
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# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor |
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# see https://pixhawk.ethz.ch/mavlink/ |
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# |
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param set MAV_TYPE 1 |
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# |
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# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell) |
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# |
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if [ -f /fs/microsd/px4io.bin ] |
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then |
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echo "PX4IO Firmware found. Checking Upgrade.." |
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if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current |
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then |
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echo "No newer version, skipping upgrade." |
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else |
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echo "Loading /fs/microsd/px4io.bin" |
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if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log |
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then |
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cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current |
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echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log |
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else |
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echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log |
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echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode" |
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fi |
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fi |
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fi |
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# |
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# Start MAVLink (depends on orb) |
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# |
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mavlink start -d /dev/ttyS1 -b 57600 |
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usleep 5000 |
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# |
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# Start the commander (depends on orb, mavlink) |
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# |
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commander start |
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# Start PX4IO interface (depends on orb, commander) |
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# |
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px4io start |
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# |
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# Allow PX4IO to recover from midair restarts. |
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# this is very unlikely, but quite safe and robust. |
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px4io recovery |
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# |
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# Set actuator limit to 100 Hz update (50 Hz PWM) |
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px4io limit 100 |
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# |
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# Start the sensors (depends on orb, px4io) |
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# |
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sh /etc/init.d/rc.sensors |
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# |
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# Start GPS interface (depends on orb) |
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# |
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gps start |
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# |
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# Start the attitude estimator (depends on orb) |
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# |
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kalman_demo start |
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# |
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# Load mixer and start controllers (depends on px4io) |
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# |
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mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix |
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control_demo start |
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# |
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# Start logging |
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# |
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sdlog2 start -r 50 -a -b 14 |
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# |
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# Start system state |
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# |
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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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