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.
53 lines
853 B
53 lines
853 B
#!nsh |
|
|
|
echo "[init] PX4FMU v1, v2 init to log only |
|
|
|
# |
|
# Load default params for this platform |
|
# |
|
if param compare SYS_AUTOCONFIG 1 |
|
then |
|
# Set all params here, then disable autoconfig |
|
param set SYS_AUTOCONFIG 0 |
|
|
|
param save |
|
fi |
|
|
|
# |
|
# Start and configure PX4IO or FMU interface |
|
# |
|
if px4io detect |
|
then |
|
# Start MAVLink (depends on orb) |
|
mavlink start |
|
usleep 5000 |
|
|
|
sh /etc/init.d/rc.io |
|
# Set PWM values for DJI ESCs |
|
else |
|
# Start MAVLink (on UART1 / ttyS0) |
|
mavlink start -d /dev/ttyS0 |
|
usleep 5000 |
|
param set BAT_V_SCALING 0.004593 |
|
set EXIT_ON_END yes |
|
fi |
|
|
|
sh /etc/init.d/rc.sensors |
|
|
|
gps start |
|
|
|
attitude_estimator_ekf start |
|
|
|
position_estimator_inav start |
|
|
|
if [ -d /fs/microsd ] |
|
then |
|
if hw_ver compare PX4FMU_V1 |
|
then |
|
echo "Start sdlog2 at 50Hz" |
|
sdlog2 start -r 50 -e -b 16 |
|
else |
|
echo "Start sdlog2 at 200Hz" |
|
sdlog2 start -r 200 -e -b 16 |
|
fi |
|
fi
|
|
|