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451 lines
8.4 KiB
451 lines
8.4 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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set logfile /fs/microsd/bootlog.txt |
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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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# |
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# Start the Commander (needs to be this early for in-air-restarts) |
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# |
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commander start |
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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_easystar.hil |
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set MODE custom |
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fi |
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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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fi |
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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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fi |
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if param compare SYS_AUTOSTART 1003 |
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then |
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sh /etc/init.d/1003_rc_quad_+.hil |
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set MODE custom |
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fi |
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if param compare SYS_AUTOSTART 1004 |
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then |
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sh /etc/init.d/1004_rc_fw_Rascal110.hil |
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set MODE custom |
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fi |
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if [ $MODE != custom ] |
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then |
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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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# |
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# Upgrade PX4IO firmware |
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# |
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if [ -f /etc/extras/px4io-v2_default.bin ] |
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then |
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set io_file /etc/extras/px4io-v2_default.bin |
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else |
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set io_file /etc/extras/px4io-v1_default.bin |
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fi |
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if px4io start |
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then |
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echo "PX4IO OK" |
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echo "PX4IO OK" >> $logfile |
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fi |
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if px4io checkcrc $io_file |
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then |
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echo "PX4IO CRC OK" |
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echo "PX4IO CRC OK" >> $logfile |
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else |
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echo "PX4IO CRC failure" |
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echo "PX4IO CRC failure" >> $logfile |
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tone_alarm MBABGP |
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if px4io forceupdate 14662 $io_file |
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then |
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usleep 500000 |
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if px4io start |
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then |
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echo "PX4IO restart OK" |
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echo "PX4IO restart OK" >> $logfile |
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tone_alarm MSPAA |
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else |
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echo "PX4IO restart failed" |
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echo "PX4IO restart failed" >> $logfile |
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tone_alarm MNGGG |
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sleep 10 |
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reboot |
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fi |
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else |
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echo "PX4IO update failed" |
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echo "PX4IO update failed" >> $logfile |
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tone_alarm MNGGG |
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fi |
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fi |
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set EXIT_ON_END no |
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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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# AUTOSTART PARTITION: |
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# 0 .. 999 Reserved (historical) |
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# 1000 .. 1999 Simulation setups |
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# 2000 .. 2999 Standard planes |
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# 3000 .. 3999 Flying wing |
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# 4000 .. 4999 Quad X |
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# 5000 .. 5999 Quad + |
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# 6000 .. 6999 Hexa X |
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# 7000 .. 7999 Hexa + |
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# 8000 .. 8999 Octo X |
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# 9000 .. 9999 Octo + |
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# 10000 .. 19999 Wide arm / H frame |
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if param compare SYS_AUTOSTART 4008 8 |
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then |
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sh /etc/init.d/4008_ardrone |
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set MODE custom |
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fi |
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if param compare SYS_AUTOSTART 4009 9 |
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then |
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sh /etc/init.d/4009_ardrone_flow |
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set MODE custom |
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fi |
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if param compare SYS_AUTOSTART 4010 10 |
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then |
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set FRAME_GEOMETRY x |
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set FRAME_COUNT 4 |
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set PWM_MIN 1200 |
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set PWM_MAX 1900 |
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set PWM_DISARMED 900 |
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sh /etc/init.d/4010_dji_f330 |
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set MODE custom |
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fi |
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if param compare SYS_AUTOSTART 4011 11 |
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then |
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sh /etc/init.d/4011_dji_f450 |
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set MODE custom |
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fi |
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if param compare SYS_AUTOSTART 4012 |
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then |
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sh /etc/init.d/666_fmu_q_x550 |
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set MODE custom |
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fi |
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if param compare SYS_AUTOSTART 6012 12 |
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then |
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set MIXER /etc/mixers/FMU_hex_x.mix |
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sh /etc/init.d/rc.hexa |
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set MODE custom |
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fi |
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if param compare SYS_AUTOSTART 7013 13 |
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then |
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set MIXER /etc/mixers/FMU_hex_+.mix |
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sh /etc/init.d/rc.hexa |
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set MODE custom |
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fi |
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if param compare SYS_AUTOSTART 8001 |
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then |
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set MIXER /etc/mixers/FMU_octo_x.mix |
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sh /etc/init.d/rc.octo |
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set MODE custom |
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fi |
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if param compare SYS_AUTOSTART 9001 |
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then |
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set MIXER /etc/mixers/FMU_octo_+.mix |
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sh /etc/init.d/rc.octo |
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set MODE custom |
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fi |
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if param compare SYS_AUTOSTART 10015 15 |
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then |
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sh /etc/init.d/10015_tbs_discovery |
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set MODE custom |
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fi |
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if param compare SYS_AUTOSTART 10016 16 |
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then |
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sh /etc/init.d/10016_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 4017 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 5018 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 4019 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 5020 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 4021 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 10022 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 3030 30 |
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then |
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sh /etc/init.d/3030_io_camflyer |
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set MODE custom |
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fi |
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if param compare SYS_AUTOSTART 3031 31 |
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then |
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sh /etc/init.d/3031_io_phantom |
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set MODE custom |
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fi |
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if param compare SYS_AUTOSTART 3032 32 |
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then |
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sh /etc/init.d/3032_skywalker_x5 |
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set MODE custom |
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fi |
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if param compare SYS_AUTOSTART 3033 33 |
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then |
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sh /etc/init.d/3033_io_wingwing |
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set MODE custom |
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fi |
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if param compare SYS_AUTOSTART 3034 34 |
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then |
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sh /etc/init.d/3034_io_fx79 |
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set MODE custom |
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fi |
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if param compare SYS_AUTOSTART 40 |
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then |
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sh /etc/init.d/40_io_segway |
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set MODE custom |
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fi |
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if param compare SYS_AUTOSTART 2100 100 |
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then |
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sh /etc/init.d/2100_mpx_easystar |
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set MODE custom |
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fi |
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if param compare SYS_AUTOSTART 2101 101 |
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then |
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sh /etc/init.d/2101_hk_bixler |
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set MODE custom |
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fi |
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if param compare SYS_AUTOSTART 2102 102 |
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then |
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sh /etc/init.d/2102_3dr_skywalker |
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set MODE custom |
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fi |
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if param compare SYS_AUTOSTART 800 |
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then |
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sh /etc/init.d/800_sdlogger |
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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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if [ $EXIT_ON_END == yes ] |
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then |
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exit |
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fi |
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# End of autostart |
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fi
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