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213 lines
2.6 KiB
213 lines
2.6 KiB
#!nsh |
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# |
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# Standard startup script for PX4FMU v1, v2, v3, v4 onboard sensor drivers. |
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# |
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if ver hwcmp PX4FMU_V1 |
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then |
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if ms5611 start |
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then |
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fi |
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else |
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# Configure all I2C buses to 100 KHz as they |
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# are all external or slow |
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fmu i2c 1 100000 |
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fmu i2c 2 100000 |
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if ms5611 -s start |
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then |
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fi |
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# Blacksheep telemetry |
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if bst start |
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then |
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fi |
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fi |
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if adc start |
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then |
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fi |
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if ver hwcmp PX4FMU_V2 |
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then |
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# External I2C bus |
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if hmc5883 -C -T -X start |
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then |
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fi |
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# External I2C bus |
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if lis3mdl -X start |
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then |
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fi |
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# Internal I2C bus |
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if hmc5883 -C -T -I -R 4 start |
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then |
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fi |
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# external MPU6K is rotated 180 degrees yaw |
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if mpu6000 -X -R 4 start |
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then |
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set BOARD_FMUV3 true |
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else |
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set BOARD_FMUV3 false |
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fi |
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if [ $BOARD_FMUV3 == true ] |
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then |
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# external L3GD20H is rotated 180 degrees yaw |
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if l3gd20 -X -R 4 start |
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then |
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fi |
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# external LSM303D is rotated 270 degrees yaw |
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if lsm303d -X -R 6 start |
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then |
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fi |
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# internal MPU6000 is rotated 180 deg roll, 270 deg yaw |
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if mpu6000 -R 14 start |
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then |
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fi |
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if hmc5883 -C -T -S -R 8 start |
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then |
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fi |
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else |
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# FMUv2 |
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if mpu6000 start |
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then |
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fi |
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if l3gd20 start |
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then |
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fi |
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if lsm303d start |
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then |
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fi |
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fi |
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fi |
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if ver hwcmp PX4FMU_V4 |
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then |
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# External I2C bus |
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if hmc5883 -C -T -X start |
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then |
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fi |
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if lis3mdl -R 2 start |
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then |
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fi |
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# Internal SPI bus is rotated 90 deg yaw |
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if hmc5883 -C -T -S -R 2 start |
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then |
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fi |
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# Internal SPI bus ICM-20608-G is rotated 90 deg yaw |
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if mpu6000 -R 2 -T 20608 start |
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then |
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fi |
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# Internal SPI bus mpu9250 is rotated 90 deg yaw |
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if mpu9250 -R 2 start |
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then |
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fi |
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fi |
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if ver hwcmp PX4FMU_V1 |
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then |
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# FMUv1 |
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if mpu6000 start |
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then |
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fi |
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if l3gd20 start |
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then |
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fi |
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# MAG selection |
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if param compare SENS_EXT_MAG 2 |
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then |
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if hmc5883 -C -I start |
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then |
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fi |
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else |
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# Use only external as primary |
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if param compare SENS_EXT_MAG 1 |
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then |
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if hmc5883 -C -X start |
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then |
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fi |
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else |
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# auto-detect the primary, prefer external |
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if hmc5883 start |
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then |
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fi |
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fi |
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fi |
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fi |
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if ver hwcmp MINDPX_V2 |
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then |
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# External I2C bus |
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if hmc5883 -C -T -X start |
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then |
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fi |
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# Internal I2C bus |
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if hmc5883 -C -T -I -R 12 start |
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then |
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fi |
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if mpu9250 -s -R 8 start |
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then |
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fi |
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if lsm303d -R 10 start |
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then |
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fi |
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if l3gd20 -R 14 start |
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then |
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fi |
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fi |
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if sdp3x_airspeed start |
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then |
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fi |
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if ms5525_airspeed start |
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then |
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fi |
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if ms5525_airspeed start -b 2 |
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then |
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fi |
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if ms4525_airspeed start |
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then |
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fi |
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if ms4525_airspeed start -b 2 |
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then |
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fi |
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if ets_airspeed start |
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then |
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fi |
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if ets_airspeed start -b 1 |
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then |
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fi |
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if sf1xx start |
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then |
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fi |
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# Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire) |
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usleep 20000 |
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if sensors start |
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then |
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fi
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