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486 lines
7.6 KiB
486 lines
7.6 KiB
#!nsh |
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# |
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# PX4FMU startup script. |
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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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# Start CDC/ACM serial driver |
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# |
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sercon |
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# |
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# Default to auto-start mode. |
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# |
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set MODE autostart |
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set TUNE_ERR ML<<CP4CP4CP4CP4CP4 |
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set LOG_FILE /fs/microsd/bootlog.txt |
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# |
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# Try to mount the microSD card. |
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# |
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# REBOOTWORK this needs to start after the flight control loop |
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if mount -t vfat /dev/mmcsd0 /fs/microsd |
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then |
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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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tone_alarm MBAGP |
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if mkfatfs /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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echo "INFO [init] MicroSD card formatted" |
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else |
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echo "ERROR [init] Format failed" |
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tone_alarm MNBG |
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set LOG_FILE /dev/null |
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fi |
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else |
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set LOG_FILE /dev/null |
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fi |
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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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set FRC /fs/microsd/etc/rc.txt |
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if [ -f $FRC ] |
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then |
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echo "INFO [init] Executing script: $FRC" |
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sh $FRC |
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set MODE custom |
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fi |
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unset FRC |
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if [ $MODE == autostart ] |
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then |
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# |
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# Start the ORB (first app to start) |
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# |
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uorb start |
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# |
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# Load parameters |
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# |
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set PARAM_FILE /fs/microsd/params |
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if mtd start |
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then |
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set PARAM_FILE /fs/mtd_params |
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fi |
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param select $PARAM_FILE |
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if param load |
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then |
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else |
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if param reset |
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then |
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fi |
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fi |
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# |
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# Start system state indicator |
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# |
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if rgbled start |
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then |
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fi |
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# |
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# Set AUTOCNF flag to use it in AUTOSTART scripts |
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# |
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if param compare SYS_AUTOCONFIG 1 |
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then |
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# Wipe out params except RC* |
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param reset_nostart RC* |
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set AUTOCNF yes |
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else |
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set AUTOCNF no |
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fi |
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# |
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# Set default values |
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# |
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set VEHICLE_TYPE none |
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set MIXER none |
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set OUTPUT_MODE none |
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set PWM_OUT none |
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set PWM_RATE none |
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set PWM_DISARMED none |
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set PWM_MIN none |
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set PWM_MAX none |
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set FMU_MODE pwm |
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set MAVLINK_F default |
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set EXIT_ON_END no |
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set MAV_TYPE none |
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set FAILSAFE none |
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set USE_IO no |
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# |
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# Set 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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echo "INFO [init] No autostart" |
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else |
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sh /etc/init.d/rc.autostart |
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fi |
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unset MODE |
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# |
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# If autoconfig parameter was set, reset it and save parameters |
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# |
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if [ $AUTOCNF == yes ] |
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then |
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param set SYS_AUTOCONFIG 0 |
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param save |
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fi |
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unset AUTOCNF |
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# |
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# Set default output if not set |
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# |
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if [ $OUTPUT_MODE == none ] |
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then |
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if [ $USE_IO == yes ] |
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then |
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set OUTPUT_MODE io |
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else |
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set OUTPUT_MODE fmu |
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fi |
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fi |
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gps start -d /dev/ttyS0 |
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# waypoint storage |
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# REBOOTWORK this needs to start in parallel |
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if dataman start |
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then |
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fi |
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# |
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# Sensors System (start before Commander so Preflight checks are properly run) |
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# |
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sh /etc/init.d/rc.sensors |
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commander start |
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# |
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# Start CPU load monitor |
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# |
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load_mon start |
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# |
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# Start primary output |
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# |
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set TTYS1_BUSY no |
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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 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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# If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output |
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if [ $OUTPUT_MODE != none ] |
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then |
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if [ $OUTPUT_MODE == uavcan_esc ] |
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then |
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if param compare UAVCAN_ENABLE 0 |
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then |
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echo "INFO [init] OVERRIDING UAVCAN_ENABLE = 1" >> $LOG_FILE |
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param set UAVCAN_ENABLE 1 |
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fi |
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fi |
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if [ $OUTPUT_MODE == fmu ] |
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then |
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if fmu mode_$FMU_MODE |
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then |
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else |
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echo "ERR [init] FMU start failed" >> $LOG_FILE |
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tone_alarm $TUNE_ERR |
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fi |
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fi |
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if fmu mode_pwm4 |
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then |
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else |
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echo "ERROR [init] FMU mode_$FMU_MODE start failed" >> $LOG_FILE |
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tone_alarm $TUNE_ERR |
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fi |
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fi |
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mavlink start -r 1200 -d /dev/ttyS1 |
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# |
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# Starting stuff according to UAVCAN_ENABLE value |
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# |
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if param greater UAVCAN_ENABLE 0 |
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then |
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if uavcan start |
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then |
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else |
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tone_alarm $TUNE_ERR |
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fi |
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fi |
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if param greater UAVCAN_ENABLE 1 |
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then |
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if uavcan start fw |
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then |
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else |
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tone_alarm $TUNE_ERR |
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fi |
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fi |
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# |
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# Optional drivers |
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# |
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# Sensors on the PWM interface bank |
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if param compare SENS_EN_LL40LS 1 |
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then |
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if pwm_input start |
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then |
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if ll40ls start pwm |
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then |
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fi |
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fi |
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fi |
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# sf0x lidar sensor |
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if param compare SENS_EN_SF0X 1 |
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then |
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sf0x start |
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fi |
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# Start USB shell if no microSD present, MAVLink else |
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if [ $LOG_FILE == /dev/null ] |
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then |
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# Try to get an USB console |
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nshterm /dev/ttyACM0 & |
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else |
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mavlink start -r 800000 -d /dev/ttyACM0 -m config -x |
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fi |
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# |
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# Logging |
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# |
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if param compare SYS_LOGGER 0 |
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then |
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if sdlog2 start -r 100 -a -b 9 -t |
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then |
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fi |
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else |
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if logger start -b 12 -t |
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then |
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fi |
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fi |
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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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echo "INFO [init] Fixedwing" |
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if [ $MIXER == none ] |
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then |
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# Set default mixer for fixed wing if not defined |
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set MIXER AERT |
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fi |
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if [ $MAV_TYPE == none ] |
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then |
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# Use MAV_TYPE = 1 (fixed wing) if not defined |
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set MAV_TYPE 1 |
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fi |
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param set MAV_TYPE $MAV_TYPE |
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# Load mixer and configure outputs |
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sh /etc/init.d/rc.interface |
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# Start standard fixedwing apps |
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sh /etc/init.d/rc.fw_apps |
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fi |
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# |
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# Multicopters setup |
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# |
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if [ $VEHICLE_TYPE == mc ] |
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then |
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echo "INFO [init] Multicopter" |
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if [ $MIXER == none ] |
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then |
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echo "INFO [init] Mixer undefined" |
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fi |
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if [ $MAV_TYPE == none ] |
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then |
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# Use mixer to detect vehicle type |
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if [ $MIXER == quad_x -o $MIXER == quad_+ ] |
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then |
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set MAV_TYPE 2 |
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fi |
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if [ $MIXER == quad_w ] |
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then |
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set MAV_TYPE 2 |
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fi |
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if [ $MIXER == quad_h ] |
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then |
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set MAV_TYPE 2 |
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fi |
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if [ $MIXER == tri_y_yaw- -o $MIXER == tri_y_yaw+ ] |
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then |
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set MAV_TYPE 15 |
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fi |
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if [ $MIXER == hexa_x -o $MIXER == hexa_+ ] |
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then |
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set MAV_TYPE 13 |
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fi |
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if [ $MIXER == hexa_cox ] |
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then |
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set MAV_TYPE 13 |
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fi |
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if [ $MIXER == octo_x -o $MIXER == octo_+ ] |
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then |
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set MAV_TYPE 14 |
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fi |
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fi |
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# Still no MAV_TYPE found |
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if [ $MAV_TYPE == none ] |
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then |
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echo "WARN [init] Unknown MAV_TYPE" |
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param set MAV_TYPE 2 |
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else |
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param set MAV_TYPE $MAV_TYPE |
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fi |
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# Load mixer and configure outputs |
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sh /etc/init.d/rc.interface |
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# Start standard multicopter apps |
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sh /etc/init.d/rc.mc_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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echo "INFO [init] VTOL" |
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if [ $MIXER == none ] |
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then |
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echo "WARN [init] VTOL mixer undefined" |
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fi |
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if [ $MAV_TYPE == none ] |
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then |
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# Use mixer to detect vehicle type |
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if [ $MIXER == caipirinha_vtol ] |
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then |
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set MAV_TYPE 19 |
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fi |
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if [ $MIXER == firefly6 ] |
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then |
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set MAV_TYPE 21 |
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fi |
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if [ $MIXER == quad_x_pusher_vtol ] |
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then |
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set MAV_TYPE 22 |
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fi |
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fi |
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# Still no MAV_TYPE found |
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if [ $MAV_TYPE == none ] |
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then |
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echo "WARN [init] Unknown MAV_TYPE" |
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param set MAV_TYPE 19 |
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else |
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param set MAV_TYPE $MAV_TYPE |
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fi |
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# Load mixer and configure outputs |
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sh /etc/init.d/rc.interface |
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# Start standard vtol apps |
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sh /etc/init.d/rc.vtol_apps |
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fi |
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# |
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# Rover setup |
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# |
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if [ $VEHICLE_TYPE == rover ] |
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then |
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# 10 is MAV_TYPE_GROUND_ROVER |
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set MAV_TYPE 10 |
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# Load mixer and configure outputs |
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sh /etc/init.d/rc.interface |
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# Start standard rover apps |
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sh /etc/init.d/rc.axialracing_ax10_apps |
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param set MAV_TYPE 10 |
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fi |
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unset MIXER |
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unset MAV_TYPE |
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unset OUTPUT_MODE |
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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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# 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 "WARN [init] No autostart ID found" |
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fi |
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# Start any custom addons |
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set FEXTRAS /fs/microsd/etc/extras.txt |
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if [ -f $FEXTRAS ] |
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then |
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echo "INFO [init] Addons script: $FEXTRAS" |
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sh $FEXTRAS |
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fi |
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unset FEXTRAS |
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# Run no SD alarm |
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if [ $LOG_FILE == /dev/null ] |
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then |
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# Play SOS |
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tone_alarm error |
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fi |
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# End of autostart |
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fi |
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# There is no further script processing, so we can free some RAM |
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# XXX potentially unset all script variables. |
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unset TUNE_ERR |
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# Boot is complete, inform MAVLink app(s) that the system is now fully up and running |
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mavlink boot_complete |
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if [ $EXIT_ON_END == yes ] |
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then |
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echo "INFO [init] NSH exit" |
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exit |
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fi |
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unset EXIT_ON_END
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