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99 lines
1.4 KiB
99 lines
1.4 KiB
#!nsh |
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# |
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# Flight startup script for PX4FMU on PX4IOAR carrier board. |
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# |
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# Disable the USB interface |
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set USB no |
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# Disable autostarting other apps |
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set MODE ardrone |
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echo "[init] doing PX4IOAR startup..." |
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# |
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# Start the ORB |
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# |
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uorb start |
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# |
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# Init the parameter storage |
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# |
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echo "[init] loading microSD params" |
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param select /fs/microsd/parameters |
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if [ -f /fs/microsd/parameters ] |
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then |
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param load /fs/microsd/parameters |
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fi |
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# |
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# Force some key parameters to sane values |
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# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor |
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# see https://pixhawk.ethz.ch/mavlink/ |
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# |
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param set MAV_TYPE 2 |
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# |
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# Configure PX4FMU for operation with PX4IOAR |
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# |
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fmu mode_gpio_serial |
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# |
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# Start the sensors. |
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# |
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sh /etc/init.d/rc.sensors |
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# Start MAVLink |
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# |
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mavlink start -d /dev/ttyS0 -b 57600 |
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usleep 5000 |
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# Start the commander. |
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# |
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commander start |
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# |
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# Start the attitude estimator |
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# |
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attitude_estimator_ekf start |
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# |
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# Fire up the multi rotor attitude controller |
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# |
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multirotor_att_control start |
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# |
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# Fire up the AR.Drone interface. |
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# |
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ardrone_interface start -d /dev/ttyS1 |
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# Start logging |
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sdlog start -s 10 |
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# Start GPS capture |
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# |
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gps start |
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# |
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# Start system state |
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# |
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if blinkm start |
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then |
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echo "using BlinkM for state indication" |
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blinkm systemstate |
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else |
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echo "no BlinkM found, OK." |
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fi |
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# |
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# startup is done; we don't want the shell because we |
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# use the same UART for telemetry |
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# |
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echo "[init] startup done" |
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exit |