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88 lines
1.2 KiB
88 lines
1.2 KiB
#!nsh |
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# |
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# PX4FMU startup script for logging purposes |
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# |
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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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uorb start |
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# |
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# Start sensor drivers here. |
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# |
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ms5611 start |
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adc start |
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# mag might be external |
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if hmc5883 start |
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then |
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echo "using HMC5883" |
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fi |
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if mpu6000 start |
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then |
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echo "using MPU6000" |
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fi |
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if l3gd20 start |
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then |
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echo "using L3GD20(H)" |
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fi |
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if lsm303d start |
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then |
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set BOARD fmuv2 |
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else |
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set BOARD fmuv1 |
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fi |
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# Start airspeed sensors |
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if meas_airspeed start |
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then |
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echo "using MEAS airspeed sensor" |
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else |
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if ets_airspeed start |
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then |
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echo "using ETS airspeed sensor (bus 3)" |
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else |
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if ets_airspeed start -b 1 |
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then |
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echo "Using ETS airspeed sensor (bus 1)" |
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fi |
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fi |
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fi |
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# |
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# Start the sensor collection task. |
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# IMPORTANT: this also loads param offsets |
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# ALWAYS start this task before the |
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# preflight_check. |
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# |
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if sensors start |
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then |
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echo "SENSORS STARTED" |
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fi |
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sdlog2 start -r 250 -e -b 16 |
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if sercon |
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then |
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echo "[init] USB interface connected" |
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# Try to get an USB console |
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nshterm /dev/ttyACM0 & |
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fi |