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588 lines
12 KiB
588 lines
12 KiB
#!/bin/sh |
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# Un comment and use set +e to ignore and set -e to enable 'exit on error control' |
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set +e |
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# Un comment the line below to help debug scripts by printing a trace of the script commands |
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#set -x |
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# PX4FMU startup script. |
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# |
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# NOTE: environment variable references: |
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# If the dollar sign ('$') is followed by a left bracket ('{') then the |
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# variable name is terminated with the right bracket character ('}'). |
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# Otherwise, the variable name goes to the end of the argument. |
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# |
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# |
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# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS. |
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# |
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#------------------------------------------------------------------------------ |
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# |
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# Set default paramter values. |
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# Do not add intra word spaces |
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# it wastes flash |
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# |
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set R / |
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set FCONFIG /fs/microsd/etc/config.txt |
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set FEXTRAS /fs/microsd/etc/extras.txt |
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set FRC /fs/microsd/etc/rc.txt |
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set IOFW "/etc/extras/px4_io-v2_default.bin" |
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set IO_PRESENT no |
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set LOGGER_ARGS "" |
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set LOGGER_BUF 8 |
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set MIXER none |
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set MIXER_AUX none |
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set MIXER_FILE none |
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set MIXER_EXTRA none |
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set OUTPUT_MODE none |
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set PARAM_FILE "" |
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set PWM_OUT none |
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set PWM_MAIN_RATE p:PWM_MAIN_RATE |
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set PWM_AUX_OUT none |
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set PWM_AUX_RATE p:PWM_AUX_RATE |
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set PWM_EXTRA_OUT none |
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set PWM_EXTRA_RATE p:PWM_EXTRA_RATE |
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set EXTRA_MIXER_MODE none |
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set RC_INPUT_ARGS "" |
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set SDCARD_AVAILABLE no |
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set SDCARD_EXT_PATH /fs/microsd/ext_autostart |
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set SDCARD_FORMAT no |
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set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers |
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set STARTUP_TUNE 1 |
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set USE_IO no |
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set VEHICLE_TYPE none |
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# |
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# Print full system version. |
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# |
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ver all |
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# |
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# Try to mount the microSD card. |
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# |
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if [ -b "/dev/mmcsd0" ] |
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then |
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if mount -t vfat /dev/mmcsd0 /fs/microsd |
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then |
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if [ -f "/fs/microsd/.format" ] |
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then |
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echo "INFO [init] format /dev/mmcsd0 requested (/fs/microsd/.format)" |
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set SDCARD_FORMAT yes |
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rm /fs/microsd/.format |
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umount /fs/microsd |
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else |
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set SDCARD_AVAILABLE yes |
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fi |
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fi |
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if [ $SDCARD_AVAILABLE = no -o $SDCARD_FORMAT = yes ] |
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then |
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echo "INFO [init] formatting /dev/mmcsd0" |
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set STARTUP_TUNE 15 # tune 15 = SD_ERROR (overridden to SD_INIT if format + mount succeeds) |
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if mkfatfs -F 32 /dev/mmcsd0 |
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then |
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echo "INFO [init] card formatted" |
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if mount -t vfat /dev/mmcsd0 /fs/microsd |
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then |
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set SDCARD_AVAILABLE yes |
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set STARTUP_TUNE 14 # tune 14 = SD_INIT |
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else |
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echo "ERROR [init] card mount failed" |
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fi |
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else |
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echo "ERROR [init] format failed" |
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fi |
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fi |
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if [ $SDCARD_AVAILABLE = yes ] |
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then |
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if hardfault_log check |
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then |
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set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE |
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if hardfault_log commit |
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then |
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hardfault_log reset |
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fi |
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fi |
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fi |
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set PARAM_FILE /fs/microsd/params |
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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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# Disable autostart if the script found. |
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# |
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if [ -f $FRC ] |
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then |
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. $FRC |
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else |
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# |
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# Set the parameter file the board supports params on |
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# MTD device. |
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# |
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if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params |
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then |
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set PARAM_FILE /fs/mtd_params |
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fi |
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# |
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# Load parameters. |
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# |
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# if the board has a storage for (factory) calibration data |
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if mft query -q -k MTD -s MTD_CALDATA -v /fs/mtd_caldata |
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then |
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param load /fs/mtd_caldata |
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fi |
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param select $PARAM_FILE |
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if ! param import |
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then |
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echo "ERROR [init] param import failed" |
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set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE |
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param dump $PARAM_FILE |
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if [ -d "/fs/microsd" ] |
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then |
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dmesg >> /fs/microsd/param_import_fail.txt & |
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# try to make a backup copy |
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cp $PARAM_FILE /fs/microsd/param_import_fail.bson & |
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fi |
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# try importing from backup file |
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if [ -f "/fs/microsd/parameters_backup.bson" ] |
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then |
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echo "[init] importing from parameter backup" |
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# dump current backup file contents for comparison |
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param dump /fs/microsd/parameters_backup.bson |
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param import /fs/microsd/parameters_backup.bson |
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fi |
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fi |
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if [ $SDCARD_AVAILABLE = yes ] |
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then |
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param select-backup /fs/microsd/parameters_backup.bson |
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fi |
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if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X |
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then |
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netman update -i eth0 |
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fi |
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# |
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# If the airframe has been previously reset SYS_AUTCONFIG will have been set to 1 and other params will be reset on the next boot. |
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# |
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if param greater SYS_AUTOCONFIG 0 |
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then |
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# Reset params except Airframe, RC calibration, sensor calibration, flight modes, total flight time, and next flight UUID. |
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param reset_all SYS_AUTOSTART RC* CAL_* COM_FLTMODE* LND_FLIGHT* TC_* COM_FLIGHT* |
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fi |
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# |
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# Optional board architecture defaults: rc.board_arch_defaults |
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# |
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set BOARD_ARCH_RC_DEFAULTS ${R}etc/init.d/rc.board_arch_defaults |
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if [ -f $BOARD_ARCH_RC_DEFAULTS ] |
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then |
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echo "Board architecture defaults: ${BOARD_ARCH_RC_DEFAULTS}" |
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. $BOARD_ARCH_RC_DEFAULTS |
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fi |
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unset BOARD_ARCH_RC_DEFAULTS |
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# |
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# Optional board defaults: rc.board_defaults |
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# |
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set BOARD_RC_DEFAULTS ${R}etc/init.d/rc.board_defaults |
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if [ -f $BOARD_RC_DEFAULTS ] |
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then |
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echo "Board defaults: ${BOARD_RC_DEFAULTS}" |
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. $BOARD_RC_DEFAULTS |
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fi |
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unset BOARD_RC_DEFAULTS |
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# |
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# Set parameters and env variables for selected SYS_AUTOSTART. |
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# |
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set AUTOSTART_PATH etc/init.d/rc.autostart |
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if ! param compare SYS_AUTOSTART 0 |
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then |
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if param greater SYS_AUTOSTART 1000000 |
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then |
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# Use external startup file |
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if [ $SDCARD_AVAILABLE = yes ] |
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then |
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set AUTOSTART_PATH etc/init.d/rc.autostart_ext |
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else |
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echo "ERROR [init] SD card not mounted - trying to load airframe from ROMFS" |
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fi |
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fi |
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. ${R}$AUTOSTART_PATH |
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fi |
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unset AUTOSTART_PATH |
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# |
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# Start the tone_alarm driver. |
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# Needs to be started after the parameters are loaded (for CBRK_BUZZER). |
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# |
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tone_alarm start |
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# |
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# Waypoint storage. |
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# REBOOTWORK this needs to start in parallel. |
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# |
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if param compare SYS_DM_BACKEND 1 |
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then |
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dataman start -r |
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else |
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if param compare SYS_DM_BACKEND 0 |
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then |
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# dataman start default |
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dataman start |
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fi |
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fi |
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# |
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# Start the socket communication send_event handler. |
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# |
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send_event start |
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# |
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# Start the resource load monitor. |
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# |
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load_mon start |
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# |
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# Start system state indicator. |
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# |
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rgbled start -X -q |
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rgbled_ncp5623c start -X -q |
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# |
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# Override parameters from user configuration file. |
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# |
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if [ -f $FCONFIG ] |
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then |
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echo "Custom: ${FCONFIG}" |
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. $FCONFIG |
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fi |
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# |
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# Check if UAVCAN is enabled, default to it for ESCs. |
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# |
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if param greater -s UAVCAN_ENABLE 0 |
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then |
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# Start core UAVCAN module. |
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if uavcan start |
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then |
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if param greater UAVCAN_ENABLE 2 |
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then |
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set OUTPUT_MODE uavcan_esc |
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fi |
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else |
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tune_control play error |
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fi |
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else |
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if param greater -s CYPHAL_ENABLE 0 |
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then |
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cyphal start |
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fi |
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fi |
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# |
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# Check if PX4IO present and update firmware if needed. |
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# Assumption IOFW set to firmware file and IO_PRESENT = no |
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# |
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if [ -f $IOFW ] |
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then |
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# Check for the mini using build with px4io fw file |
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# but not a px4IO |
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if ver hwtypecmp V5004000 V5006000 |
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then |
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param set SYS_USE_IO 0 |
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else |
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if px4io checkcrc ${IOFW} |
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then |
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set IO_PRESENT yes |
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else |
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# tune Program PX4IO |
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tune_control play -t 16 # tune 16 = PROG_PX4IO |
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if px4io update ${IOFW} |
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then |
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usleep 10000 |
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tune_control stop |
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if px4io checkcrc ${IOFW} |
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then |
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tune_control play -t 17 # tune 17 = PROG_PX4IO_OK |
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set IO_PRESENT yes |
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else |
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tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR |
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fi |
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else |
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tune_control stop |
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fi |
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fi |
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fi |
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fi |
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# |
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# Set USE_IO flag. |
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# |
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if param compare -s SYS_USE_IO 1 |
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then |
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set USE_IO yes |
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fi |
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if [ $USE_IO = yes -a $IO_PRESENT = no ] |
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then |
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echo "PX4IO not found" |
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set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE |
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fi |
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# |
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# RC update (map raw RC input to calibrate manual control) |
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# start before commander |
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# |
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rc_update start |
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manual_control start |
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# |
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# Sensors System (start before Commander so Preflight checks are properly run). |
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# Commander needs to be this early for in-air-restarts. |
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# |
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if param greater SYS_HITL 0 |
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then |
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set OUTPUT_MODE hil |
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sensors start -h |
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commander start -h |
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# disable GPS |
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param set GPS_1_CONFIG 0 |
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# start the simulator in hardware if needed |
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if param compare SYS_HITL 2 |
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then |
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sih start |
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fi |
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else |
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# |
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# board sensors: rc.sensors |
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# |
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set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors |
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if [ -f $BOARD_RC_SENSORS ] |
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then |
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echo "Board sensors: ${BOARD_RC_SENSORS}" |
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. $BOARD_RC_SENSORS |
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fi |
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unset BOARD_RC_SENSORS |
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. ${R}etc/init.d/rc.sensors |
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if param compare -s BAT1_SOURCE 2 |
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then |
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esc_battery start |
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fi |
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if ! param compare BAT1_SOURCE 1 |
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then |
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battery_status start |
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fi |
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sensors start |
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commander start |
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fi |
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# |
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# Configure vehicle type specific parameters. |
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# Note: rc.vehicle_setup is the entry point for rc.interface, |
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# rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps. |
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# |
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. ${R}etc/init.d/rc.vehicle_setup |
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# Pre-takeoff continuous magnetometer calibration |
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if param compare -s MBE_ENABLE 1 |
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then |
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mag_bias_estimator start |
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fi |
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if param greater -s TRIG_MODE 0 |
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then |
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camera_trigger start |
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camera_feedback start |
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fi |
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# |
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# Optional board mavlink streams: rc.board_mavlink |
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# |
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set BOARD_RC_MAVLINK ${R}etc/init.d/rc.board_mavlink |
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if [ -f $BOARD_RC_MAVLINK ] |
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then |
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echo "Board mavlink: ${BOARD_RC_MAVLINK}" |
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. $BOARD_RC_MAVLINK |
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fi |
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unset BOARD_RC_MAVLINK |
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# |
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# Start UART/Serial device drivers. |
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# Note: rc.serial is auto-generated from Tools/serial/generate_config.py |
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# |
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. ${R}etc/init.d/rc.serial |
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if [ $IO_PRESENT = no ] |
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then |
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# Must be started after the serial config is read |
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rc_input start $RC_INPUT_ARGS |
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fi |
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# PPS capture driver (before pwm_out) |
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if param greater -s PPS_CAP_ENABLE 0 |
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then |
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pps_capture start |
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fi |
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# Camera capture driver (before pwm_out) |
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if param greater -s CAM_CAP_FBACK 0 |
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then |
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if camera_capture start |
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then |
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camera_capture on |
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fi |
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fi |
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# |
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# Play the startup tune (if not disabled or there is an error) |
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# |
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param compare CBRK_BUZZER 782090 |
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if [ "$?" != "0" -o "$STARTUP_TUNE" != "1" ] |
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then |
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tune_control play -t $STARTUP_TUNE |
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fi |
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# |
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# Start the navigator. |
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# |
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navigator start |
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# |
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# Start a thermal calibration if required. |
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# |
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. ${R}etc/init.d/rc.thermal_cal |
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# |
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# Start gimbal to control mounts such as gimbals, disabled by default. |
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# |
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if param greater -s MNT_MODE_IN -1 |
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then |
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gimbal start |
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fi |
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# Blacksheep telemetry |
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if param compare -s TEL_BST_EN 1 |
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then |
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bst start -X |
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fi |
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if param compare -s IMU_GYRO_FFT_EN 1 |
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then |
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gyro_fft start |
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fi |
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if param compare -s IMU_GYRO_CAL_EN 1 |
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then |
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gyro_calibration start |
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fi |
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# Check for px4flow sensor |
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if param compare -s SENS_EN_PX4FLOW 1 |
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then |
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px4flow start -X & |
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fi |
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# |
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# Optional board supplied extras: rc.board_extras |
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# |
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set BOARD_RC_EXTRAS ${R}etc/init.d/rc.board_extras |
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if [ -f $BOARD_RC_EXTRAS ] |
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then |
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echo "Board extras: ${BOARD_RC_EXTRAS}" |
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. $BOARD_RC_EXTRAS |
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fi |
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unset BOARD_RC_EXTRAS |
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# |
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# Start any custom addons from the sdcard. |
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# |
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if [ -f $FEXTRAS ] |
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then |
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echo "Addons script: ${FEXTRAS}" |
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. $FEXTRAS |
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fi |
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# |
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# Start the logger. |
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# |
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. ${R}etc/init.d/rc.logging |
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# |
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# Set additional parameters and env variables for selected AUTOSTART. |
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# |
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if ! param compare SYS_AUTOSTART 0 |
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then |
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. ${R}etc/init.d/rc.autostart.post |
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fi |
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set BOARD_BOOTLOADER_UPGRADE ${R}etc/init.d/rc.board_bootloader_upgrade |
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if [ -f $BOARD_BOOTLOADER_UPGRADE ] |
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then |
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sh $BOARD_BOOTLOADER_UPGRADE |
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fi |
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unset BOARD_BOOTLOADER_UPGRADE |
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# |
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# End of autostart. |
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# |
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fi |
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# |
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# Unset all script parameters to free RAM. |
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# |
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unset R |
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unset FCONFIG |
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unset FEXTRAS |
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unset FRC |
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unset IO_PRESENT |
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unset IOFW |
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unset LOGGER_ARGS |
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unset LOGGER_BUF |
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unset MIXER |
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unset MIXER_AUX |
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unset MIXER_FILE |
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unset OUTPUT_MODE |
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unset PARAM_FILE |
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unset PWM_AUX_OUT |
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unset PWM_AUX_RATE |
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unset PWM_MAIN_RATE |
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unset PWM_OUT |
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unset PWM_EXTRA_OUT |
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unset PWM_EXTRA_RATE |
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unset RC_INPUT_ARGS |
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unset SDCARD_AVAILABLE |
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unset SDCARD_EXT_PATH |
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unset SDCARD_FORMAT |
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unset SDCARD_MIXERS_PATH |
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unset STARTUP_TUNE |
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unset USE_IO |
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unset VEHICLE_TYPE |
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# |
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# Boot is complete, inform MAVLink app(s) that the system is now fully up and running. |
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# |
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mavlink boot_complete
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