From a7012a54180386b5dc7f86fe6a1564690ecc8240 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Tue, 4 Mar 2014 08:34:55 +1100 Subject: [PATCH 01/16] tests: added "tests file2" filesystem test this is useful for testing for filesystem corruption on cluster boundaries --- src/systemcmds/tests/module.mk | 1 + src/systemcmds/tests/test_file2.c | 196 ++++++++++++++++++++++++++++++ src/systemcmds/tests/tests.h | 1 + src/systemcmds/tests/tests_main.c | 1 + 4 files changed, 199 insertions(+) create mode 100644 src/systemcmds/tests/test_file2.c diff --git a/src/systemcmds/tests/module.mk b/src/systemcmds/tests/module.mk index acf28c35b2..622a0faf3d 100644 --- a/src/systemcmds/tests/module.mk +++ b/src/systemcmds/tests/module.mk @@ -26,6 +26,7 @@ SRCS = test_adc.c \ test_mixer.cpp \ test_mathlib.cpp \ test_file.c \ + test_file2.c \ tests_main.c \ test_param.c \ test_ppm_loopback.c \ diff --git a/src/systemcmds/tests/test_file2.c b/src/systemcmds/tests/test_file2.c new file mode 100644 index 0000000000..ef555f6c34 --- /dev/null +++ b/src/systemcmds/tests/test_file2.c @@ -0,0 +1,196 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file test_file2.c + * + * File write test. + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#define FLAG_FSYNC 1 +#define FLAG_LSEEK 2 + +/* + return a predictable value for any file offset to allow detection of corruption + */ +static uint8_t get_value(uint32_t ofs) +{ + union { + uint32_t ofs; + uint8_t buf[4]; + } u; + u.ofs = ofs; + return u.buf[ofs % 4]; +} + +static void test_corruption(const char *filename, uint32_t write_chunk, uint32_t write_size, uint16_t flags) +{ + printf("Testing on %s with write_chunk=%u write_size=%u\n", + filename, (unsigned)write_chunk, (unsigned)write_size); + + uint32_t ofs = 0; + int fd = open(filename, O_CREAT | O_RDWR | O_TRUNC); + if (fd == -1) { + perror(filename); + exit(1); + } + + // create a file of size write_size, in write_chunk blocks + uint8_t counter = 0; + while (ofs < write_size) { + uint8_t buffer[write_chunk]; + for (uint16_t j=0; j 0) { + filename = argv[0]; + } + + /* check if microSD card is mounted */ + struct stat buffer; + if (stat("/fs/microsd/", &buffer)) { + warnx("no microSD card mounted, aborting file test"); + return 1; + } + + test_corruption(filename, write_chunk, write_size, flags); + return 0; +} + diff --git a/src/systemcmds/tests/tests.h b/src/systemcmds/tests/tests.h index ac64ad33d3..ad55e14102 100644 --- a/src/systemcmds/tests/tests.h +++ b/src/systemcmds/tests/tests.h @@ -107,6 +107,7 @@ extern int test_jig_voltages(int argc, char *argv[]); extern int test_param(int argc, char *argv[]); extern int test_bson(int argc, char *argv[]); extern int test_file(int argc, char *argv[]); +extern int test_file2(int argc, char *argv[]); extern int test_mixer(int argc, char *argv[]); extern int test_rc(int argc, char *argv[]); extern int test_conv(int argc, char *argv[]); diff --git a/src/systemcmds/tests/tests_main.c b/src/systemcmds/tests/tests_main.c index 73827b7cf0..fe22f61773 100644 --- a/src/systemcmds/tests/tests_main.c +++ b/src/systemcmds/tests/tests_main.c @@ -104,6 +104,7 @@ const struct { {"param", test_param, 0}, {"bson", test_bson, 0}, {"file", test_file, 0}, + {"file2", test_file2, OPT_NOJIGTEST | OPT_NOALLTEST}, {"mixer", test_mixer, OPT_NOJIGTEST | OPT_NOALLTEST}, {"rc", test_rc, OPT_NOJIGTEST | OPT_NOALLTEST}, {"conv", test_conv, OPT_NOJIGTEST | OPT_NOALLTEST}, From ea70e967565a15ffc06aeb95df87f47440df97c1 Mon Sep 17 00:00:00 2001 From: Helen Oleynikova Date: Tue, 4 Mar 2014 16:16:39 +0100 Subject: [PATCH 02/16] Added ARDrone to autostart --- ROMFS/px4fmu_common/init.d/rc.autostart | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart index 3968af58ea..7aaf7133ef 100644 --- a/ROMFS/px4fmu_common/init.d/rc.autostart +++ b/ROMFS/px4fmu_common/init.d/rc.autostart @@ -106,6 +106,15 @@ then sh /etc/init.d/4001_quad_x fi +# +# ARDrone +# + +if param compare SYS_AUTOSTART 4008 8 +then + sh /etc/init.d/4008_ardrone +fi + if param compare SYS_AUTOSTART 4010 10 then sh /etc/init.d/4010_dji_f330 From 958f7597e7d13f82e41b9c8e0aa4c3ac552cdf1c Mon Sep 17 00:00:00 2001 From: Helen Oleynikova Date: Tue, 4 Mar 2014 16:33:18 +0100 Subject: [PATCH 03/16] Added actual ARDrone start up script. --- ROMFS/px4fmu_common/init.d/4008_ardrone | 40 +++++++++++++++++++++++++ 1 file changed, 40 insertions(+) create mode 100644 ROMFS/px4fmu_common/init.d/4008_ardrone diff --git a/ROMFS/px4fmu_common/init.d/4008_ardrone b/ROMFS/px4fmu_common/init.d/4008_ardrone new file mode 100644 index 0000000000..fa9b9d18a1 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/4008_ardrone @@ -0,0 +1,40 @@ +#!nsh +# +# ARDrone +# + +# Just use the default multicopter settings. +sh /etc/init.d/rc.mc_defaults + +# +# Load default params for this platform +# +if param compare SYS_AUTOCONFIG 1 +then + # Set all params here, then disable autoconfig + param set MC_ATTRATE_D 0 + param set MC_ATTRATE_I 0 + param set MC_ATTRATE_P 0.13 + param set MC_ATT_D 0 + param set MC_ATT_I 0.3 + param set MC_ATT_P 5 + param set MC_YAWPOS_D 0.1 + param set MC_YAWPOS_I 0.15 + param set MC_YAWPOS_P 1 + param set MC_YAWRATE_D 0 + param set MC_YAWRATE_I 0 + param set MC_YAWRATE_P 0.15 + + param set SYS_AUTOCONFIG 0 + param save +fi + +set FMU_MODE gpio + +# +# Force some key parameters to sane values +# MAV_TYPE 2 = quadrotor +# +set MAV_TYPE 2 +set VEHICLE_TYPE mc +param set BAT_V_SCALING 0.008381 From 9817922bf96611f59552b6a6fd2aebab790135f5 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Tue, 4 Mar 2014 20:34:20 +1100 Subject: [PATCH 04/16] FMUv2: switch debug console and 2nd GPS this allows a normal GPS cable to be used for the 2nd GPS, making dual-GPS setups easier --- nuttx-configs/px4fmu-v2/nsh/defconfig | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/nuttx-configs/px4fmu-v2/nsh/defconfig b/nuttx-configs/px4fmu-v2/nsh/defconfig index 2a734c27e5..26222c255d 100644 --- a/nuttx-configs/px4fmu-v2/nsh/defconfig +++ b/nuttx-configs/px4fmu-v2/nsh/defconfig @@ -306,7 +306,7 @@ CONFIG_UART5_RXDMA=y # CONFIG_USART6_RS485 is not set CONFIG_USART6_RXDMA=y # CONFIG_UART7_RS485 is not set -# CONFIG_UART7_RXDMA is not set +CONFIG_UART7_RXDMA=y # CONFIG_UART8_RS485 is not set CONFIG_UART8_RXDMA=y CONFIG_SERIAL_DISABLE_REORDERING=y @@ -539,8 +539,8 @@ CONFIG_SERIAL_NPOLLWAITERS=2 # CONFIG_USART3_SERIAL_CONSOLE is not set # CONFIG_UART4_SERIAL_CONSOLE is not set # CONFIG_USART6_SERIAL_CONSOLE is not set -# CONFIG_UART7_SERIAL_CONSOLE is not set -CONFIG_UART8_SERIAL_CONSOLE=y +CONFIG_UART7_SERIAL_CONSOLE=y +# CONFIG_UART8_SERIAL_CONSOLE is not set # CONFIG_NO_SERIAL_CONSOLE is not set # From 3639c7ae91f5226b71cdba8d8cc98eae4bba7e07 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 4 Mar 2014 21:36:09 +0100 Subject: [PATCH 05/16] Fixed warning --- src/modules/px4iofirmware/mixer.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index 6a44294619..dfa98d425c 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -327,7 +327,7 @@ mixer_handle_text(const void *buffer, size_t length) return 1; } - px4io_mixdata *msg = (px4io_mixdata *)buffer; + px4io_mixdata *msg = static_cast(buffer); isr_debug(2, "mix txt %u", length); From fabef6c889f0fc347e0059ee6f8ede83bf0f4f32 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 4 Mar 2014 22:52:34 +0100 Subject: [PATCH 06/16] Revert "Fixed warning" This reverts commit 3639c7ae91f5226b71cdba8d8cc98eae4bba7e07. --- src/modules/px4iofirmware/mixer.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index dfa98d425c..6a44294619 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -327,7 +327,7 @@ mixer_handle_text(const void *buffer, size_t length) return 1; } - px4io_mixdata *msg = static_cast(buffer); + px4io_mixdata *msg = (px4io_mixdata *)buffer; isr_debug(2, "mix txt %u", length); From 1d9d24f605aeb13b87efe2f6cf82232768b148ac Mon Sep 17 00:00:00 2001 From: Helen Oleynikova Date: Wed, 5 Mar 2014 10:50:16 +0100 Subject: [PATCH 07/16] Added flag for ARDrone interface. --- ROMFS/px4fmu_common/init.d/4008_ardrone | 14 +++++--------- ROMFS/px4fmu_common/init.d/rcS | 12 +++++++++++- src/drivers/px4fmu/fmu.cpp | 2 +- 3 files changed, 17 insertions(+), 11 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/4008_ardrone b/ROMFS/px4fmu_common/init.d/4008_ardrone index fa9b9d18a1..d6b2319f94 100644 --- a/ROMFS/px4fmu_common/init.d/4008_ardrone +++ b/ROMFS/px4fmu_common/init.d/4008_ardrone @@ -3,6 +3,8 @@ # ARDrone # +echo "[init] 4008_ardrone: PX4FMU on PX4IOAR carrier board" + # Just use the default multicopter settings. sh /etc/init.d/rc.mc_defaults @@ -29,12 +31,6 @@ then param save fi -set FMU_MODE gpio - -# -# Force some key parameters to sane values -# MAV_TYPE 2 = quadrotor -# -set MAV_TYPE 2 -set VEHICLE_TYPE mc -param set BAT_V_SCALING 0.008381 +set FMU_MODE gpio_serial +set OUTPUT_MODE fmu +set ARDRONE yes \ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 76f021e339..af78162ed5 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -397,8 +397,10 @@ then set EXIT_ON_END yes else # Start MAVLink on default port: ttyS1 - mavlink start + mavlink start -d /dev/ttyS0 usleep 5000 + + set EXIT_ON_END yes fi fi @@ -427,6 +429,14 @@ then gps start fi + # + # Start up ARDrone Motor interface + # + if [ $ARDRONE == yes ] + then + ardrone_interface start -d /dev/ttyS1 + fi + # # Fixed wing setup # diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index 0fbd849243..a70ff6c5c5 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -1714,7 +1714,7 @@ fmu_main(int argc, char *argv[]) } - fprintf(stderr, "FMU: unrecognised command, try:\n"); + fprintf(stderr, "FMU: unrecognised command %s, try:\n", verb); #if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) fprintf(stderr, " mode_gpio, mode_serial, mode_pwm, mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio, test\n"); #elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2) From 9ffa5a665a2ac8b887cbd9383eab1947137f0def Mon Sep 17 00:00:00 2001 From: Helen Oleynikova Date: Wed, 5 Mar 2014 10:56:58 +0100 Subject: [PATCH 08/16] Set the mavlink port settings back to ttyS1 by default. --- ROMFS/px4fmu_common/init.d/rcS | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index af78162ed5..1baac0eb3a 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -387,7 +387,7 @@ then mavlink start -b 230400 -d /dev/ttyACM0 usleep 5000 else - if [ $TTYS1_BUSY == yes ] + if [ $TTYS1_BUSY == yes -o $ARDRONE == yes] then # Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else mavlink start -d /dev/ttyS0 @@ -397,10 +397,8 @@ then set EXIT_ON_END yes else # Start MAVLink on default port: ttyS1 - mavlink start -d /dev/ttyS0 + mavlink start usleep 5000 - - set EXIT_ON_END yes fi fi From 5976815f2baff6b17ca41dbb28e3e5698c12a180 Mon Sep 17 00:00:00 2001 From: Helen Oleynikova Date: Wed, 5 Mar 2014 15:07:05 +0100 Subject: [PATCH 09/16] Fixed startup parameters. --- ROMFS/px4fmu_common/init.d/4008_ardrone | 29 ++++++++++++------------- ROMFS/px4fmu_common/init.d/rcS | 2 +- 2 files changed, 15 insertions(+), 16 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/4008_ardrone b/ROMFS/px4fmu_common/init.d/4008_ardrone index d6b2319f94..d38796cca0 100644 --- a/ROMFS/px4fmu_common/init.d/4008_ardrone +++ b/ROMFS/px4fmu_common/init.d/4008_ardrone @@ -11,24 +11,23 @@ sh /etc/init.d/rc.mc_defaults # # Load default params for this platform # -if param compare SYS_AUTOCONFIG 1 +if [ $DO_AUTOCONFIG == yes ] then # Set all params here, then disable autoconfig - param set MC_ATTRATE_D 0 - param set MC_ATTRATE_I 0 - param set MC_ATTRATE_P 0.13 - param set MC_ATT_D 0 - param set MC_ATT_I 0.3 - param set MC_ATT_P 5 - param set MC_YAWPOS_D 0.1 - param set MC_YAWPOS_I 0.15 - param set MC_YAWPOS_P 1 - param set MC_YAWRATE_D 0 - param set MC_YAWRATE_I 0 + param set MC_ROLL_P 5.0 + param set MC_ROLLRATE_P 0.13 + param set MC_ROLLRATE_I 0.0 + param set MC_ROLLRATE_D 0.0 + param set MC_PITCH_P 5.0 + param set MC_PITCHRATE_P 0.13 + param set MC_PITCHRATE_I 0.0 + param set MC_PITCHRATE_D 0.0 + param set MC_YAW_P 1.0 + param set MC_YAW_D 0.1 param set MC_YAWRATE_P 0.15 - - param set SYS_AUTOCONFIG 0 - param save + param set MC_YAWRATE_I 0.0 + param set MC_YAWRATE_D 0.0 + param set MC_YAW_FF 0.15 fi set FMU_MODE gpio_serial diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 1baac0eb3a..9983aa0e77 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -387,7 +387,7 @@ then mavlink start -b 230400 -d /dev/ttyACM0 usleep 5000 else - if [ $TTYS1_BUSY == yes -o $ARDRONE == yes] + if [ $TTYS1_BUSY == yes -o $ARDRONE == yes ] then # Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else mavlink start -d /dev/ttyS0 From 30665816f0005cfb32b048a9ad4db84f78b3eff3 Mon Sep 17 00:00:00 2001 From: Helen Oleynikova Date: Wed, 5 Mar 2014 15:11:41 +0100 Subject: [PATCH 10/16] Added a newline at the end of file. --- ROMFS/px4fmu_common/init.d/4008_ardrone | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ROMFS/px4fmu_common/init.d/4008_ardrone b/ROMFS/px4fmu_common/init.d/4008_ardrone index d38796cca0..cb8260cccb 100644 --- a/ROMFS/px4fmu_common/init.d/4008_ardrone +++ b/ROMFS/px4fmu_common/init.d/4008_ardrone @@ -32,4 +32,4 @@ fi set FMU_MODE gpio_serial set OUTPUT_MODE fmu -set ARDRONE yes \ No newline at end of file +set ARDRONE yes From bcdc8c9e1dcefc2176fd1f853d4bae90e7d196d6 Mon Sep 17 00:00:00 2001 From: Helen Oleynikova Date: Wed, 5 Mar 2014 16:16:10 +0100 Subject: [PATCH 11/16] Get rid of one set of beeps. --- ROMFS/px4fmu_common/init.d/4008_ardrone | 1 + 1 file changed, 1 insertion(+) diff --git a/ROMFS/px4fmu_common/init.d/4008_ardrone b/ROMFS/px4fmu_common/init.d/4008_ardrone index cb8260cccb..512c4cb736 100644 --- a/ROMFS/px4fmu_common/init.d/4008_ardrone +++ b/ROMFS/px4fmu_common/init.d/4008_ardrone @@ -33,3 +33,4 @@ fi set FMU_MODE gpio_serial set OUTPUT_MODE fmu set ARDRONE yes +set USE_IO no From 36ba60d63c024c23efdb4bba780ac98b5b257ee6 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Wed, 5 Mar 2014 20:03:21 +0400 Subject: [PATCH 12/16] mc_att_control: hotfix, memset all structs to zeroes on start, fixes garbage in actuator controls 4..8 --- src/modules/mc_att_control/mc_att_control_main.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index 24226880ed..9cb8e83445 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -262,8 +262,10 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() : { memset(&_v_att, 0, sizeof(_v_att)); memset(&_v_att_sp, 0, sizeof(_v_att_sp)); + memset(&_v_rates_sp, 0, sizeof(_v_rates_sp)); memset(&_manual_control_sp, 0, sizeof(_manual_control_sp)); memset(&_v_control_mode, 0, sizeof(_v_control_mode)); + memset(&_actuators, 0, sizeof(_actuators)); memset(&_armed, 0, sizeof(_armed)); _params.att_p.zero(); From a897c97d955de4873aea1f01f65cab11faab2d3a Mon Sep 17 00:00:00 2001 From: Helen Oleynikova Date: Thu, 6 Mar 2014 12:45:10 +0100 Subject: [PATCH 13/16] Changed ARDRONE to an OUTPUT_MODE setting and added a skip option to mixer. Fewer beeps than before. --- ROMFS/px4fmu_common/init.d/4008_ardrone | 5 ++--- ROMFS/px4fmu_common/init.d/rc.interface | 9 ++++++--- ROMFS/px4fmu_common/init.d/rcS | 13 +++++++++---- 3 files changed, 17 insertions(+), 10 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/4008_ardrone b/ROMFS/px4fmu_common/init.d/4008_ardrone index 512c4cb736..39fe66234b 100644 --- a/ROMFS/px4fmu_common/init.d/4008_ardrone +++ b/ROMFS/px4fmu_common/init.d/4008_ardrone @@ -30,7 +30,6 @@ then param set MC_YAW_FF 0.15 fi -set FMU_MODE gpio_serial -set OUTPUT_MODE fmu -set ARDRONE yes +set OUTPUT_MODE ardrone set USE_IO no +set MIXER skip \ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface index d25f01dde0..afe71460de 100644 --- a/ROMFS/px4fmu_common/init.d/rc.interface +++ b/ROMFS/px4fmu_common/init.d/rc.interface @@ -3,7 +3,7 @@ # Script to configure control interface # -if [ $MIXER != none ] +if [ $MIXER != none -a $MIXER != skip] then # # Load mixer @@ -33,8 +33,11 @@ then tone_alarm $TUNE_OUT_ERROR fi else - echo "[init] Mixer not defined" - tone_alarm $TUNE_OUT_ERROR + if [ $MIXER != skip ] + then + echo "[init] Mixer not defined" + tone_alarm $TUNE_OUT_ERROR + fi fi if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == io ] diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 9983aa0e77..7b9ae09955 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -240,6 +240,11 @@ then fi fi + if [ $OUTPUT_MODE == ardrone ] + then + set FMU_MODE gpio_serial + fi + if [ $HIL == yes ] then set OUTPUT_MODE hil @@ -277,7 +282,7 @@ then tone_alarm $TUNE_OUT_ERROR fi fi - if [ $OUTPUT_MODE == fmu ] + if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE = ardrone ] then echo "[init] Use FMU PWM as primary output" if fmu mode_$FMU_MODE @@ -351,7 +356,7 @@ then fi fi else - if [ $OUTPUT_MODE != fmu ] + if [ $OUTPUT_MODE != fmu -a $OUTPUT_MODE != ardrone ] then if fmu mode_$FMU_MODE then @@ -387,7 +392,7 @@ then mavlink start -b 230400 -d /dev/ttyACM0 usleep 5000 else - if [ $TTYS1_BUSY == yes -o $ARDRONE == yes ] + if [ $TTYS1_BUSY == yes -o $OUTPUT_MODE == ardrone ] then # Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else mavlink start -d /dev/ttyS0 @@ -430,7 +435,7 @@ then # # Start up ARDrone Motor interface # - if [ $ARDRONE == yes ] + if [ $OUTPUT_MODE == ardrone ] then ardrone_interface start -d /dev/ttyS1 fi From 25faf1b8f8716323233d6f966aac65e0c9e8d61a Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Thu, 6 Mar 2014 17:44:10 +0400 Subject: [PATCH 14/16] ardrone: minor fixes --- ROMFS/px4fmu_common/init.d/4008_ardrone | 2 +- ROMFS/px4fmu_common/init.d/rcS | 8 ++++---- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/4008_ardrone b/ROMFS/px4fmu_common/init.d/4008_ardrone index 39fe66234b..0f98f7b6c2 100644 --- a/ROMFS/px4fmu_common/init.d/4008_ardrone +++ b/ROMFS/px4fmu_common/init.d/4008_ardrone @@ -32,4 +32,4 @@ fi set OUTPUT_MODE ardrone set USE_IO no -set MIXER skip \ No newline at end of file +set MIXER skip diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 7b9ae09955..b1cd919f72 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -284,7 +284,7 @@ then fi if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE = ardrone ] then - echo "[init] Use FMU PWM as primary output" + echo "[init] Use FMU as primary output" if fmu mode_$FMU_MODE then echo "[init] FMU mode_$FMU_MODE started" @@ -299,7 +299,7 @@ then then set TTYS1_BUSY yes fi - if [ $FMU_MODE == pwm_gpio ] + if [ $FMU_MODE == pwm_gpio -o $OUTPUT_MODE == ardrone ] then set TTYS1_BUSY yes fi @@ -372,7 +372,7 @@ then then set TTYS1_BUSY yes fi - if [ $FMU_MODE == pwm_gpio ] + if [ $FMU_MODE == pwm_gpio -o $OUTPUT_MODE == ardrone ] then set TTYS1_BUSY yes fi @@ -392,7 +392,7 @@ then mavlink start -b 230400 -d /dev/ttyACM0 usleep 5000 else - if [ $TTYS1_BUSY == yes -o $OUTPUT_MODE == ardrone ] + if [ $TTYS1_BUSY == yes ] then # Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else mavlink start -d /dev/ttyS0 From 2fbcc32870f59aa1f08337ca99129b35902971be Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Thu, 6 Mar 2014 23:00:00 +0100 Subject: [PATCH 15/16] fix comparison in rcS --- ROMFS/px4fmu_common/init.d/rcS | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index b1cd919f72..57299d7724 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -282,7 +282,7 @@ then tone_alarm $TUNE_OUT_ERROR fi fi - if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE = ardrone ] + if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == ardrone ] then echo "[init] Use FMU as primary output" if fmu mode_$FMU_MODE From 602e9c87062409955c122631d273c6aae50331ca Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Thu, 6 Mar 2014 23:11:13 +0100 Subject: [PATCH 16/16] fix if in rc.interface --- ROMFS/px4fmu_common/init.d/rc.interface | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface index afe71460de..7f793b2198 100644 --- a/ROMFS/px4fmu_common/init.d/rc.interface +++ b/ROMFS/px4fmu_common/init.d/rc.interface @@ -3,7 +3,7 @@ # Script to configure control interface # -if [ $MIXER != none -a $MIXER != skip] +if [ $MIXER != none -a $MIXER != skip ] then # # Load mixer