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1046 lines
18 KiB
1046 lines
18 KiB
#!nsh |
|
# |
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# PX4FMU startup script. |
|
# |
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# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS. |
|
# |
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# UART mapping on FMUv1/2/3/4: |
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# |
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# UART1 /dev/ttyS0 IO debug |
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# USART2 /dev/ttyS1 TELEM1 (flow control) |
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# USART3 /dev/ttyS2 TELEM2 (flow control) |
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# UART4 |
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# UART7 CONSOLE |
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# UART8 SERIAL4 |
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# |
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# |
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# UART mapping on FMUv5: |
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# |
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# UART1 /dev/ttyS0 GPS |
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# USART2 /dev/ttyS1 TELEM1 (flow control) |
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# USART3 /dev/ttyS2 TELEM2 (flow control) |
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# UART4 /dev/ttyS3 ? |
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# USART6 /dev/ttyS4 TELEM3 (flow control) |
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# UART7 /dev/ttyS5 ? |
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# UART8 /dev/ttyS6 CONSOLE |
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|
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# |
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# Mount the procfs. |
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# |
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mount -t procfs /proc |
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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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|
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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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# |
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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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echo "[i] microSD mounted: /fs/microsd" |
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if hardfault_log check |
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then |
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tone_alarm error |
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if hardfault_log commit |
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then |
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hardfault_log reset |
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tone_alarm stop |
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fi |
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else |
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# Start playing the startup tune |
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tone_alarm start |
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fi |
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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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# |
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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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|
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if [ $MODE == autostart ] |
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then |
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|
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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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# |
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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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# |
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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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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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# Currently unused, but might be useful down the road |
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#if pca8574 start |
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#then |
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#fi |
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|
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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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|
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# |
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# Release 1.4.0 transitional support: |
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# set to old default if unconfigured. |
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# this preserves the previous behaviour |
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# |
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if param compare BAT_N_CELLS 0 |
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then |
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param set BAT_N_CELLS 3 |
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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 MIXER none |
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set MIXER_AUX none |
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set OUTPUT_MODE none |
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set PWM_OUT none |
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set PWM_RATE p:PWM_RATE |
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set PWM_DISARMED p:PWM_DISARMED |
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set PWM_MIN p:PWM_MIN |
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set PWM_MAX p:PWM_MAX |
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set PWM_AUX_OUT none |
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set PWM_AUX_RATE none |
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set PWM_ACHDIS none |
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set PWM_AUX_DISARMED p:PWM_AUX_DISARMED |
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set PWM_AUX_MIN p:PWM_AUX_MIN |
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set PWM_AUX_MAX p:PWM_AUX_MAX |
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set FAILSAFE_AUX none |
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set MK_MODE none |
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set FMU_MODE pwm |
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set AUX_MODE pwm |
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set MAVLINK_F default |
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set MAVLINK_COMPANION_DEVICE /dev/ttyS2 |
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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 yes |
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|
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# |
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# Set USE_IO flag |
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# |
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if param compare SYS_USE_IO 1 |
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then |
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if ver hwcmp PX4FMU_V4 |
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then |
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set USE_IO no |
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fi |
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|
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if ver hwcmp PX4FMU_V5 |
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then |
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set USE_IO no |
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set MAVLINK_COMPANION_DEVICE /dev/ttyS3 |
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fi |
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|
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if ver hwcmp MINDPX_V2 |
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then |
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set USE_IO no |
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fi |
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|
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if ver hwcmp CRAZYFLIE |
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then |
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set USE_IO no |
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|
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if param compare SYS_AUTOSTART 0 |
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then |
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param set SYS_AUTOSTART 4900 |
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set AUTOCNF yes |
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fi |
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fi |
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|
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if ver hwcmp AEROFC_V1 |
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then |
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set USE_IO no |
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fi |
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else |
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set USE_IO no |
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fi |
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|
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if ver hwcmp AEROFC_V1 |
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then |
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if param compare SYS_AUTOSTART 0 |
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then |
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set AUTOCNF yes |
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fi |
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# We don't allow changing AUTOSTART as it doesn't work in |
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# other configurations |
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param set SYS_AUTOSTART 4070 |
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fi |
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|
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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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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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# |
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# Wipe incompatible settings for boards not having two outputs |
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if ver hwcmp PX4FMU_V4 |
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then |
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set MIXER_AUX none |
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fi |
|
|
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if ver hwcmp PX4FMU_V5 |
|
then |
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set MIXER_AUX none |
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fi |
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|
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if ver hwcmp AEROFC_V1 |
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then |
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set MIXER_AUX none |
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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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set FCONFIG /fs/microsd/etc/config.txt |
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if [ -f $FCONFIG ] |
|
then |
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echo "Custom: $FCONFIG" |
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sh $FCONFIG |
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fi |
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unset FCONFIG |
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|
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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 ] |
|
then |
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param set SYS_AUTOCONFIG 0 |
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fi |
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unset AUTOCNF |
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set IO_PRESENT no |
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|
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if [ $USE_IO == yes ] |
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then |
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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.bin ] |
|
then |
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set IO_FILE /etc/extras/px4io-v2.bin |
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else |
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set IO_FILE /etc/extras/px4io-v1.bin |
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fi |
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|
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if px4io checkcrc ${IO_FILE} |
|
then |
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echo "[init] PX4IO CRC OK" >> $LOG_FILE |
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|
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set IO_PRESENT yes |
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else |
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tone_alarm MLL32CP8MB |
|
|
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if px4io start |
|
then |
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# try to safe px4 io so motor outputs dont go crazy |
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if px4io safety_on |
|
then |
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# success! no-op |
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else |
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# px4io did not respond to the safety command |
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px4io stop |
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fi |
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fi |
|
|
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if px4io forceupdate 14662 ${IO_FILE} |
|
then |
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usleep 10000 |
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if px4io checkcrc $IO_FILE |
|
then |
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echo "PX4IO CRC OK after updating" >> $LOG_FILE |
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tone_alarm MLL8CDE |
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|
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set IO_PRESENT yes |
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else |
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echo "PX4IO update failed" >> $LOG_FILE |
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tone_alarm $TUNE_ERR |
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fi |
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else |
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echo "PX4IO update 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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unset IO_FILE |
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|
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if [ $IO_PRESENT == no ] |
|
then |
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echo "PX4IO not found" >> $LOG_FILE |
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tone_alarm $TUNE_ERR |
|
fi |
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fi |
|
|
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# |
|
# Set default output if not set |
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# |
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if [ $OUTPUT_MODE == none ] |
|
then |
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if [ $USE_IO == yes ] |
|
then |
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set OUTPUT_MODE io |
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else |
|
set OUTPUT_MODE fmu |
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fi |
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fi |
|
|
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if [ $OUTPUT_MODE == io -a $IO_PRESENT != yes ] |
|
then |
|
# Need IO for output but it not present, disable output |
|
set OUTPUT_MODE none |
|
|
|
# Avoid using ttyS0 for MAVLink on FMUv1 |
|
if ver hwcmp PX4FMU_V1 |
|
then |
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set FMU_MODE serial |
|
fi |
|
fi |
|
|
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if [ $OUTPUT_MODE == ardrone ] |
|
then |
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set FMU_MODE gpio_serial |
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fi |
|
|
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if [ $OUTPUT_MODE == tap_esc ] |
|
then |
|
set FMU_MODE rcin |
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fi |
|
|
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if [ $HIL == yes ] |
|
then |
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set OUTPUT_MODE hil |
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if ver hwcmp PX4FMU_V1 |
|
then |
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set FMU_MODE serial |
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fi |
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unset HIL |
|
else |
|
unset HIL |
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gps start |
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fi |
|
|
|
# waypoint storage |
|
# REBOOTWORK this needs to start in parallel |
|
if dataman start |
|
then |
|
fi |
|
|
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# |
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# Sensors System (start before Commander so Preflight checks are properly run) |
|
# |
|
sh /etc/init.d/rc.sensors |
|
|
|
# Needs to be this early for in-air-restarts |
|
if [ $OUTPUT_MODE == hil ] |
|
then |
|
commander start -hil |
|
else |
|
commander start |
|
fi |
|
|
|
# |
|
# Start CPU load monitor |
|
# |
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load_mon start |
|
|
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# |
|
# Start primary output |
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# |
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set TTYS1_BUSY no |
|
|
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# |
|
# Check if UAVCAN is enabled, default to it for ESCs |
|
# |
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if param greater UAVCAN_ENABLE 2 |
|
then |
|
set OUTPUT_MODE uavcan_esc |
|
fi |
|
|
|
# Sensors on the PWM interface bank |
|
# clear pins 5 and 6 |
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if param compare SENS_EN_LL40LS 1 |
|
then |
|
set FMU_MODE pwm4 |
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set AUX_MODE pwm4 |
|
fi |
|
if param greater TRIG_MODE 0 |
|
then |
|
set FMU_MODE pwm4 |
|
set AUX_MODE pwm4 |
|
camera_trigger start |
|
fi |
|
|
|
# If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output |
|
if [ $OUTPUT_MODE != none ] |
|
then |
|
if [ $OUTPUT_MODE == uavcan_esc ] |
|
then |
|
if param compare UAVCAN_ENABLE 0 |
|
then |
|
echo "OVERRIDING UAVCAN_ENABLE = 3" >> $LOG_FILE |
|
param set UAVCAN_ENABLE 3 |
|
fi |
|
fi |
|
|
|
if [ $OUTPUT_MODE == io -o $OUTPUT_MODE == uavcan_esc ] |
|
then |
|
if px4io start |
|
then |
|
sh /etc/init.d/rc.io |
|
else |
|
echo "PX4IO start failed" >> $LOG_FILE |
|
tone_alarm $TUNE_ERR |
|
fi |
|
fi |
|
|
|
if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == ardrone ] |
|
then |
|
if fmu mode_$FMU_MODE |
|
then |
|
else |
|
echo "FMU start failed" >> $LOG_FILE |
|
tone_alarm $TUNE_ERR |
|
fi |
|
|
|
if ver hwcmp PX4FMU_V1 |
|
then |
|
if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ] |
|
then |
|
set TTYS1_BUSY yes |
|
fi |
|
if [ $FMU_MODE == pwm_gpio -o $OUTPUT_MODE == ardrone ] |
|
then |
|
set TTYS1_BUSY yes |
|
fi |
|
fi |
|
fi |
|
|
|
if [ $OUTPUT_MODE == mkblctrl ] |
|
then |
|
set MKBLCTRL_ARG "" |
|
if [ $MKBLCTRL_MODE == x ] |
|
then |
|
set MKBLCTRL_ARG "-mkmode x" |
|
fi |
|
if [ $MKBLCTRL_MODE == + ] |
|
then |
|
set MKBLCTRL_ARG "-mkmode +" |
|
fi |
|
|
|
if mkblctrl $MKBLCTRL_ARG |
|
then |
|
else |
|
echo "MK start failed" >> $LOG_FILE |
|
tone_alarm $TUNE_ERR |
|
fi |
|
unset MKBLCTRL_ARG |
|
fi |
|
unset MK_MODE |
|
|
|
if [ $OUTPUT_MODE == hil ] |
|
then |
|
if pwm_out_sim mode_pwm16 |
|
then |
|
else |
|
tone_alarm $TUNE_ERR |
|
fi |
|
fi |
|
|
|
# |
|
# Start IO or FMU for RC PPM input if needed |
|
# |
|
if [ $IO_PRESENT == yes ] |
|
then |
|
if [ $OUTPUT_MODE != io ] |
|
then |
|
if px4io start |
|
then |
|
sh /etc/init.d/rc.io |
|
else |
|
echo "PX4IO start failed" >> $LOG_FILE |
|
tone_alarm $TUNE_ERR |
|
fi |
|
fi |
|
else |
|
if [ $OUTPUT_MODE != fmu -a $OUTPUT_MODE != ardrone ] |
|
then |
|
if fmu mode_$FMU_MODE |
|
then |
|
else |
|
echo "FMU mode_$FMU_MODE start failed" >> $LOG_FILE |
|
tone_alarm $TUNE_ERR |
|
fi |
|
|
|
if ver hwcmp PX4FMU_V1 |
|
then |
|
if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ] |
|
then |
|
set TTYS1_BUSY yes |
|
fi |
|
if [ $FMU_MODE == pwm_gpio -o $OUTPUT_MODE == ardrone ] |
|
then |
|
set TTYS1_BUSY yes |
|
fi |
|
fi |
|
fi |
|
fi |
|
fi |
|
|
|
if [ $MAVLINK_F == default ] |
|
then |
|
# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s |
|
if [ $TTYS1_BUSY == yes ] |
|
then |
|
# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else |
|
set MAVLINK_F "-r 1200 -d /dev/ttyS0" |
|
|
|
# Exit from nsh to free port for mavlink |
|
set EXIT_ON_END yes |
|
else |
|
set MAVLINK_F "-r 1200" |
|
# Avoid using ttyS1 for MAVLink on FMUv4 |
|
if ver hwcmp PX4FMU_V4 |
|
then |
|
set MAVLINK_F "-r 1200 -d /dev/ttyS1" |
|
# Start MAVLink on Wifi (ESP8266 port) |
|
mavlink start -r 20000 -m config -b 921600 -d /dev/ttyS0 |
|
fi |
|
|
|
if ver hwcmp AEROFC_V1 |
|
then |
|
set MAVLINK_F "-r 1200 -d /dev/ttyS4" |
|
fi |
|
fi |
|
|
|
if ver hwcmp CRAZYFLIE |
|
then |
|
# Avoid using either of the two available serials |
|
set MAVLINK_F none |
|
fi |
|
fi |
|
|
|
if [ "x$MAVLINK_F" == xnone ] |
|
then |
|
else |
|
mavlink start $MAVLINK_F |
|
fi |
|
unset MAVLINK_F |
|
|
|
# |
|
# MAVLink onboard / TELEM2 |
|
# |
|
if ver hwcmp PX4FMU_V1 |
|
then |
|
else |
|
# XXX We need a better way for runtime eval of shell variables, |
|
# but this works for now |
|
if param compare SYS_COMPANION 10 |
|
then |
|
frsky_telemetry start -d $MAVLINK_COMPANION_DEVICE |
|
fi |
|
if param compare SYS_COMPANION 20 |
|
then |
|
syslink start |
|
mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000 |
|
fi |
|
if param compare SYS_COMPANION 921600 |
|
then |
|
mavlink start -d $MAVLINK_COMPANION_DEVICE -b 921600 -m onboard -r 80000 -x |
|
fi |
|
if param compare SYS_COMPANION 57600 |
|
then |
|
mavlink start -d $MAVLINK_COMPANION_DEVICE -b 57600 -m onboard -r 5000 -x |
|
fi |
|
if param compare SYS_COMPANION 157600 |
|
then |
|
mavlink start -d $MAVLINK_COMPANION_DEVICE -b 57600 -m osd -r 1000 |
|
fi |
|
if param compare SYS_COMPANION 257600 |
|
then |
|
mavlink start -d $MAVLINK_COMPANION_DEVICE -b 57600 -m magic -r 5000 -x |
|
fi |
|
if param compare SYS_COMPANION 319200 |
|
then |
|
mavlink start -d $MAVLINK_COMPANION_DEVICE -b 19200 -r 1000 |
|
fi |
|
if param compare SYS_COMPANION 338400 |
|
then |
|
mavlink start -d $MAVLINK_COMPANION_DEVICE -b 38400 -r 1000 |
|
fi |
|
if param compare SYS_COMPANION 357600 |
|
then |
|
mavlink start -d $MAVLINK_COMPANION_DEVICE -b 57600 -r 1000 |
|
fi |
|
if param compare SYS_COMPANION 419200 |
|
then |
|
iridiumsbd start -d /dev/ttyS2 |
|
mavlink start -d /dev/iridium -b 19200 -m iridium -r 10 |
|
fi |
|
if param compare SYS_COMPANION 1921600 |
|
then |
|
mavlink start -d $MAVLINK_COMPANION_DEVICE -b 921600 -r 20000 |
|
fi |
|
if param compare SYS_COMPANION 1500000 |
|
then |
|
mavlink start -d $MAVLINK_COMPANION_DEVICE -b 1500000 -m onboard -r 10000 -x |
|
fi |
|
fi |
|
|
|
unset MAVLINK_COMPANION_DEVICE |
|
|
|
# |
|
# Starting stuff according to UAVCAN_ENABLE value |
|
# |
|
if param greater UAVCAN_ENABLE 0 |
|
then |
|
if uavcan start |
|
then |
|
uavcan start fw |
|
else |
|
tone_alarm $TUNE_ERR |
|
fi |
|
fi |
|
|
|
# |
|
# Optional drivers |
|
# |
|
|
|
# Sensors on the PWM interface bank |
|
if param compare SENS_EN_LL40LS 1 |
|
then |
|
if pwm_input start |
|
then |
|
if ll40ls start pwm |
|
then |
|
fi |
|
fi |
|
fi |
|
|
|
# lightware serial lidar sensor |
|
if param compare SENS_EN_SF0X 0 |
|
then |
|
else |
|
sf0x start |
|
fi |
|
|
|
# lightware i2c lidar sensor |
|
if param compare SENS_EN_SF1XX 0 |
|
then |
|
else |
|
sf1xx start |
|
fi |
|
|
|
# mb12xx sonar sensor |
|
if param compare SENS_EN_MB12XX 1 |
|
then |
|
mb12xx start |
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fi |
|
|
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# teraranger one tof sensor |
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if param compare SENS_EN_TRONE 1 |
|
then |
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trone start |
|
fi |
|
|
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if ver hwcmp PX4FMU_V4 |
|
then |
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frsky_telemetry start -d /dev/ttyS6 |
|
fi |
|
|
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if ver hwcmp MINDPX_V2 |
|
then |
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frsky_telemetry start -d /dev/ttyS6 |
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fi |
|
|
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if ver hwcmp PX4FMU_V2 |
|
then |
|
# Check for flow sensor - as it is a background task, launch it last |
|
px4flow start & |
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fi |
|
|
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if ver hwcmp PX4FMU_V4 |
|
then |
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# Check for flow sensor - as it is a background task, launch it last |
|
px4flow start & |
|
fi |
|
|
|
if ver hwcmp MINDPX_V2 |
|
then |
|
px4flow start & |
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fi |
|
|
|
# Start MAVLink |
|
mavlink start -r 800000 -d /dev/ttyACM0 -m config -x |
|
|
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# |
|
# Logging |
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# |
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if ver hwcmp PX4FMU_V1 |
|
then |
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if sdlog2 start -r 30 -a -b 2 -t |
|
then |
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fi |
|
else |
|
if param compare SYS_LOGGER 0 |
|
then |
|
# check if we should increase logging rate for ekf2 replay message logging |
|
if param greater EKF2_REC_RPL 0 |
|
then |
|
if sdlog2 start -r 500 -e -b 18 -t |
|
then |
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fi |
|
else |
|
if sdlog2 start -r 100 -a -b 9 -t |
|
then |
|
fi |
|
fi |
|
else |
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set LOGGER_ARGS "" |
|
if param compare SDLOG_MODE 1 |
|
then |
|
set LOGGER_ARGS "-e" |
|
fi |
|
if param compare SDLOG_MODE 2 |
|
then |
|
set LOGGER_ARGS "-f" |
|
fi |
|
|
|
if logger start -b 12 -t $LOGGER_ARGS |
|
then |
|
fi |
|
unset LOGGER_ARGS |
|
fi |
|
fi |
|
|
|
# |
|
# Start up ARDrone Motor interface |
|
# |
|
if [ $OUTPUT_MODE == ardrone ] |
|
then |
|
ardrone_interface start -d /dev/ttyS1 |
|
fi |
|
|
|
# |
|
# Fixed wing setup |
|
# |
|
if [ $VEHICLE_TYPE == fw ] |
|
then |
|
if [ $MIXER == none ] |
|
then |
|
# Set default mixer for fixed wing if not defined |
|
set MIXER AERT |
|
fi |
|
|
|
if [ $MAV_TYPE == none ] |
|
then |
|
# Use MAV_TYPE = 1 (fixed wing) if not defined |
|
set MAV_TYPE 1 |
|
fi |
|
|
|
param set MAV_TYPE $MAV_TYPE |
|
|
|
# Load mixer and configure outputs |
|
sh /etc/init.d/rc.interface |
|
|
|
# Start standard fixedwing apps |
|
sh /etc/init.d/rc.fw_apps |
|
fi |
|
|
|
# |
|
# Multicopters setup |
|
# |
|
if [ $VEHICLE_TYPE == mc ] |
|
then |
|
if [ $MIXER == none ] |
|
then |
|
echo "Mixer undefined" |
|
fi |
|
|
|
if [ $MAV_TYPE == none ] |
|
then |
|
# Use mixer to detect vehicle type |
|
if [ $MIXER == quad_x -o $MIXER == quad_+ ] |
|
then |
|
set MAV_TYPE 2 |
|
fi |
|
if [ $MIXER == quad_w -o $MIXER == quad_dc ] |
|
then |
|
set MAV_TYPE 2 |
|
fi |
|
if [ $MIXER == quad_h ] |
|
then |
|
set MAV_TYPE 2 |
|
fi |
|
if [ $MIXER == tri_y_yaw- -o $MIXER == tri_y_yaw+ ] |
|
then |
|
set MAV_TYPE 15 |
|
fi |
|
if [ $MIXER == hexa_x -o $MIXER == hexa_+ ] |
|
then |
|
set MAV_TYPE 13 |
|
fi |
|
if [ $MIXER == hexa_cox ] |
|
then |
|
set MAV_TYPE 13 |
|
fi |
|
if [ $MIXER == octo_x -o $MIXER == octo_+ ] |
|
then |
|
set MAV_TYPE 14 |
|
fi |
|
if [ $MIXER == octo_cox -o $MIXER == octo_cox_w ] |
|
then |
|
set MAV_TYPE 14 |
|
fi |
|
if [ $MIXER == coax ] |
|
then |
|
set MAV_TYPE 3 |
|
fi |
|
fi |
|
|
|
# Still no MAV_TYPE found |
|
if [ $MAV_TYPE == none ] |
|
then |
|
echo "Unknown MAV_TYPE" |
|
param set MAV_TYPE 2 |
|
else |
|
param set MAV_TYPE $MAV_TYPE |
|
fi |
|
|
|
# Load mixer and configure outputs |
|
sh /etc/init.d/rc.interface |
|
|
|
# Start standard multicopter apps |
|
sh /etc/init.d/rc.mc_apps |
|
fi |
|
|
|
# |
|
# VTOL setup |
|
# |
|
if [ $VEHICLE_TYPE == vtol ] |
|
then |
|
if [ $MIXER == none ] |
|
then |
|
echo "VTOL mixer undefined" |
|
fi |
|
|
|
if [ $MAV_TYPE == none ] |
|
then |
|
# Use mixer to detect vehicle type |
|
if [ $MIXER == caipirinha_vtol ] |
|
then |
|
set MAV_TYPE 19 |
|
fi |
|
if [ $MIXER == firefly6 ] |
|
then |
|
set MAV_TYPE 21 |
|
fi |
|
if [ $MIXER == quad_x_pusher_vtol ] |
|
then |
|
set MAV_TYPE 22 |
|
fi |
|
fi |
|
|
|
# Still no MAV_TYPE found |
|
if [ $MAV_TYPE == none ] |
|
then |
|
echo "Unknown MAV_TYPE" |
|
param set MAV_TYPE 19 |
|
else |
|
param set MAV_TYPE $MAV_TYPE |
|
fi |
|
|
|
# Load mixer and configure outputs |
|
sh /etc/init.d/rc.interface |
|
|
|
# Start standard vtol apps |
|
sh /etc/init.d/rc.vtol_apps |
|
fi |
|
|
|
# |
|
# Rover setup |
|
# |
|
if [ $VEHICLE_TYPE == rover ] |
|
then |
|
# 10 is MAV_TYPE_GROUND_ROVER |
|
set MAV_TYPE 10 |
|
|
|
# Load mixer and configure outputs |
|
sh /etc/init.d/rc.interface |
|
|
|
# Start standard rover apps |
|
sh /etc/init.d/rc.axialracing_ax10_apps |
|
|
|
param set MAV_TYPE 10 |
|
fi |
|
|
|
# |
|
# For snapdragon, we need a passthrough mode |
|
# Do not run any mavlink instances since we need the serial port for |
|
# communication with Snapdragon. |
|
# |
|
if [ $VEHICLE_TYPE == passthrough ] |
|
then |
|
mavlink stop-all |
|
commander stop |
|
|
|
# Stop multicopter attitude controller if it is running, the controls come |
|
# from Snapdragon. |
|
if mc_att_control stop |
|
then |
|
fi |
|
|
|
# Start snapdragon interface on serial port. |
|
if ver hwcmp PX4FMU_V2 |
|
then |
|
# On Pixfalcon use the standard telemetry port (Telem 1). |
|
snapdragon_rc_pwm start -d /dev/ttyS1 |
|
px4io start |
|
fi |
|
|
|
if ver hwcmp PX4FMU_V4 |
|
then |
|
# On Pixracer use Telem 2 port (TL2). |
|
snapdragon_rc_pwm start -d /dev/ttyS2 |
|
fmu mode_pwm4 |
|
fi |
|
|
|
pwm failsafe -c 1234 -p 900 |
|
pwm disarmed -c 1234 -p 900 |
|
|
|
# Arm straightaway. |
|
pwm arm |
|
# Use 400 Hz PWM on all channels. |
|
pwm rate -a -r 400 |
|
fi |
|
|
|
unset MIXER |
|
unset MAV_TYPE |
|
unset OUTPUT_MODE |
|
|
|
# |
|
# Start the navigator |
|
# |
|
navigator start |
|
|
|
# |
|
# Generic setup (autostart ID not found) |
|
# |
|
if [ $VEHICLE_TYPE == none ] |
|
then |
|
echo "No autostart ID found" |
|
fi |
|
|
|
# Start any custom addons |
|
set FEXTRAS /fs/microsd/etc/extras.txt |
|
if [ -f $FEXTRAS ] |
|
then |
|
echo "Addons script: $FEXTRAS" |
|
sh $FEXTRAS |
|
fi |
|
unset FEXTRAS |
|
|
|
if ver hwcmp CRAZYFLIE |
|
then |
|
# CF2 shouldn't have an sd card |
|
else |
|
|
|
# Run no SD alarm |
|
if [ $LOG_FILE == /dev/null ] |
|
then |
|
# Play SOS |
|
tone_alarm error |
|
fi |
|
|
|
fi |
|
|
|
# End of autostart |
|
fi |
|
|
|
# There is no further script processing, so we can free some RAM |
|
# XXX potentially unset all script variables. |
|
unset TUNE_ERR |
|
|
|
# Boot is complete, inform MAVLink app(s) that the system is now fully up and running |
|
mavlink boot_complete |
|
|
|
if [ $EXIT_ON_END == yes ] |
|
then |
|
echo "NSH exit" |
|
exit |
|
fi |
|
unset EXIT_ON_END
|
|
|