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119 lines
1.7 KiB
119 lines
1.7 KiB
#!/bin/sh |
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# |
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# Vehicle configuration setup script. |
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# |
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# NOTE: Script variables are declared/initialized/unset in the rcS script. |
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# |
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# |
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# Fixed wing setup. |
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# |
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if [ $VEHICLE_TYPE = fw ] |
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then |
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if [ $MIXER = none ] |
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then |
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echo "FW mixer undefined" |
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fi |
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# Load mixer and configure outputs. |
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. ${R}etc/init.d/rc.interface |
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# Start standard fixedwing apps. |
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. ${R}etc/init.d/rc.fw_apps |
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fi |
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# |
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# Multicopter setup. |
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# |
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if [ $VEHICLE_TYPE = mc ] |
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then |
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if [ $MIXER = none ] |
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then |
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echo "MC mixer undefined" |
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fi |
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# Load mixer and configure outputs. |
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. ${R}etc/init.d/rc.interface |
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# Start standard multicopter apps. |
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. ${R}etc/init.d/rc.mc_apps |
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fi |
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# |
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# UGV setup. |
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# |
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if [ $VEHICLE_TYPE = rover ] |
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then |
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if [ $MIXER = none ] |
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then |
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echo "rover mixer undefined" |
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fi |
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# Load mixer and configure outputs. |
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. ${R}etc/init.d/rc.interface |
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# Start standard UGV apps. |
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. ${R}etc/init.d/rc.rover_apps |
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fi |
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# |
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# VTOL setup. |
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# |
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if [ $VEHICLE_TYPE = vtol ] |
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then |
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if [ $MIXER = none ] |
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then |
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echo "VTOL mixer undefined" |
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fi |
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# Load mixer and configure outputs. |
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. ${R}etc/init.d/rc.interface |
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# Start standard vtol apps. |
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. ${R}etc/init.d/rc.vtol_apps |
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fi |
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# |
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# Airship setup. |
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# |
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if [ $VEHICLE_TYPE = airship ] |
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then |
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if [ $MIXER = none ] |
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then |
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echo "Airship mixer undefined" |
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fi |
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# Load mixer and configure outputs. |
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. ${R}etc/init.d/rc.interface |
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# Start airship apps. |
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. ${R}etc/init.d/rc.airship_apps |
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fi |
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# |
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# UUV setup |
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# |
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if [ $VEHICLE_TYPE = uuv ] |
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then |
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if [ $MIXER = none ] |
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then |
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echo "UUV mixer undefined" |
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fi |
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# Load mixer and configure outputs. |
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. ${R}etc/init.d/rc.interface |
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# Start standard vtol apps. |
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. ${R}etc/init.d/rc.uuv_apps |
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fi |
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# |
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# Generic setup (autostart ID not found). |
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# |
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if [ $VEHICLE_TYPE = none ] |
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then |
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echo "No autostart ID found" |
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ekf2 start & |
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fi
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