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400 lines
7.1 KiB
400 lines
7.1 KiB
#!nsh |
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# |
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# PX4FMU startup script. |
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# |
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# Default to auto-start mode. An init script on the microSD card |
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# can change this to prevent automatic startup of the flight script. |
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# |
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set MODE autostart |
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set LOG_FILE /fs/microsd/bootlog.txt |
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set RC_FILE /fs/microsd/etc/rc.txt |
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set CONFIG_FILE /fs/microsd/etc/config.txt |
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set EXTRAS_FILE /fs/microsd/etc/extras.txt |
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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] microSD 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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# |
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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 $RC_FILE ] |
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then |
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echo "[init] Executing init script: $RC_FILE" |
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sh $RC_FILE |
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set MODE custom |
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else |
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echo "[init] Init script not found: $RC_FILE" |
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fi |
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# if this is an APM build then there will be a rc.APM script |
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# from an EXTERNAL_SCRIPTS build option |
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if [ -f /etc/init.d/rc.APM ] |
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then |
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if sercon |
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then |
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echo "[init] USB interface connected" |
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fi |
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echo "[init] Running rc.APM" |
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# if APM startup is successful then nsh will exit |
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sh /etc/init.d/rc.APM |
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fi |
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if [ $MODE == autostart ] |
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then |
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echo "[init] AUTOSTART mode" |
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# |
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# Load parameters |
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# |
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param select /fs/microsd/params |
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if [ -f /fs/microsd/params ] |
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then |
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if param load /fs/microsd/params |
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then |
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echo "[init] Parameters loaded" |
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else |
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echo "[init] Parameter file corrupt - ignoring" |
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fi |
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fi |
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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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# 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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# Start system state indicator |
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# |
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if rgbled start |
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then |
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echo "[init] Using external RGB Led" |
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else |
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if blinkm start |
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then |
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blinkm systemstate |
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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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# |
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if [ -f /etc/extras/px4io-v2_default.bin ] |
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then |
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set IO_FILE /etc/extras/px4io-v2_default.bin |
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else |
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set IO_FILE /etc/extras/px4io-v1_default.bin |
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fi |
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set IO_PRESENT no |
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if px4io checkcrc $IO_FILE |
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then |
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echo "[init] PX4IO CRC OK" |
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echo "PX4IO CRC OK" >> $LOG_FILE |
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set IO_PRESENT yes |
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else |
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echo "[init] PX4IO CRC failure" |
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echo "PX4IO CRC failure" >> $LOG_FILE |
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tone_alarm MBABGP |
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if px4io forceupdate 14662 $IO_FILE |
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then |
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usleep 500000 |
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if px4io start |
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then |
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echo "[init] PX4IO restart OK" |
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echo "PX4IO restart OK" >> $LOG_FILE |
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tone_alarm MSPAA |
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set IO_PRESENT yes |
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else |
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echo "[init] PX4IO restart failed" |
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echo "PX4IO restart failed" >> $LOG_FILE |
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if hw_ver compare PX4FMU_V2 |
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then |
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tone_alarm MNGGG |
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sleep 10 |
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reboot |
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fi |
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fi |
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else |
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echo "[init] PX4IO update failed" |
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echo "PX4IO update failed" >> $LOG_FILE |
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if hw_ver compare PX4FMU_V2 |
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then |
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tone_alarm MNGGG |
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fi |
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fi |
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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 HIL no |
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set VEHICLE_TYPE none |
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set FRAME_GEOMETRY 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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# |
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# Set default output |
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# |
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if [ $IO_PRESENT == yes ] |
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then |
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# If PX4IO present, use it as primary PWM output by default |
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set OUTPUT_MODE io_pwm |
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else |
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# Else use PX4FMU PWM output |
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set OUTPUT_MODE fmu_pwm |
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fi |
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set EXIT_ON_END no |
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# |
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# Set DO_AUTOCONFIG 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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set DO_AUTOCONFIG yes |
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else |
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set DO_AUTOCONFIG no |
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fi |
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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 "[init] Don't try to find autostart script" |
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else |
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sh /etc/init.d/rc.autostart |
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fi |
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# |
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# Override parameters from user configuration file |
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# |
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if [ -f $CONFIG_FILE ] |
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then |
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echo "[init] Reading config: $CONFIG_FILE" |
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sh $CONFIG_FILE |
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else |
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echo "[init] Config file not found: $CONFIG_FILE" |
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fi |
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if [ $HIL == yes ] |
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then |
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set OUTPUT_MODE hil |
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else |
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# Try to get an USB console if not in HIL mode |
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nshterm /dev/ttyACM0 & |
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fi |
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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 [ $DO_AUTOCONFIG == 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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# |
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# Start the Commander (needs to be this early for in-air-restarts) |
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# |
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commander start |
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# |
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# Start primary output |
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# |
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if [ $OUTPUT_MODE == io_pwm ] |
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then |
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echo "[init] Use PX4IO PWM as primary output" |
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if px4io start |
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then |
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echo "[init] PX4IO started" |
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sh /etc/init.d/rc.io |
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else |
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echo "[init] PX4IO start error" |
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tone_alarm MNGGG |
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fi |
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fi |
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if [ $OUTPUT_MODE == fmu_pwm ] |
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then |
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echo "[init] Use PX4FMU PWM as primary output" |
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if fmu mode_pwm |
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then |
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echo "[init] PX4FMU PWM output started" |
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sh /etc/init.d/rc.io |
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else |
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echo "[init] PX4FMU PWM output start error" |
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tone_alarm MNGGG |
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fi |
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fi |
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if [ $OUTPUT_MODE == mkblctrl ] |
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then |
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echo "[init] Use MKBLCTRL as primary output" |
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if mkblctrl |
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then |
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echo "[init] MKBLCTRL started" |
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else |
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echo "[init] MKBLCTRL start error" |
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tone_alarm MNGGG |
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fi |
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fi |
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if [ $OUTPUT_MODE == hil ] |
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then |
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echo "[init] Use HIL as primary output" |
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if hil mode_pwm |
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then |
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echo "[init] HIL output started" |
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else |
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echo "[init] HIL output error" |
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tone_alarm MNGGG |
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fi |
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fi |
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# |
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# Start PX4IO as secondary output if needed |
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# |
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if [ $IO_PRESENT == yes -a $OUTPUT_MODE != io_pwm ] |
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then |
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echo "[init] Use PX4IO PWM as secondary output" |
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if px4io start |
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then |
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echo "[init] PX4IO started" |
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sh /etc/init.d/rc.io |
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else |
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echo "[init] PX4IO start error" |
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tone_alarm MNGGG |
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fi |
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fi |
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# |
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# MAVLink |
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# |
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if [ $HIL == yes ] |
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then |
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mavlink start -b 230400 -d /dev/ttyACM0 |
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usleep 5000 |
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else |
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if [ $OUTPUT_MODE == fmu_pwm -a hw_ver compare PX4FMU_V1 ] |
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then |
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# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as PWM output |
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mavlink start -d /dev/ttyS0 |
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usleep 5000 |
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# Exit from nsh to free port for mavlink |
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set EXIT_ON_END yes |
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else |
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# Start MAVLink on default port: ttyS1 |
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mavlink start |
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usleep 5000 |
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fi |
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fi |
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# |
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# Sensors, Logging, GPS |
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# |
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echo "[init] Start sensors" |
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sh /etc/init.d/rc.sensors |
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if [ $HIL == no ] |
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then |
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echo "[init] Start logging" |
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sh /etc/init.d/rc.logging |
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echo "[init] Start GPS" |
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gps start |
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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 "[init] Vehicle type: FIXED WING" |
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if [ $FRAME_GEOMETRY == none ] |
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then |
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# Set default frame geometry for fixed wing |
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set FRAME_GEOMETRY AERT |
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fi |
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# Load mixer and configure outputs |
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sh /etc/init.d/rc.fw_interface |
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# Start standard fixedwing 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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# Multicopters setup |
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# |
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if [ $VEHICLE_TYPE == mc ] |
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then |
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echo "[init] Vehicle type: MULTICOPTER" |
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if [ $FRAME_GEOMETRY == none ] |
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then |
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# Set default frame geometry for multicopter |
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set FRAME_GEOMETRY quad_x |
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fi |
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# Load mixer and configure outputs |
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sh /etc/init.d/rc.mc_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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# 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 "[init] Vehicle type: GENERIC" |
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attitude_estimator_ekf start |
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position_estimator_inav start |
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fi |
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# Start any custom addons |
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if [ -f $EXTRAS_FILE ] |
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then |
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echo "[init] Starting addons script: $EXTRAS_FILE" |
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sh $EXTRAS_FILE |
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else |
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echo "[init] Addons script not found: $EXTRAS_FILE" |
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fi |
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if [ $EXIT_ON_END == yes ] |
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then |
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exit |
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fi |
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# End of autostart |
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fi
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