Merge pull request #11 from ethz-asl/pr-upstream-merge

23/02/2021 Upstream Merge

ROMFS/px4fmu_common/init.d-posix/airframes/10020_if750a

@@ -12,6 +12,11 @@ if [ $AUTOCNF = yes ]
 then
 	# EKF2: Multi GPS blending (as the model has 2 GPS's)
 	param set EKF2_GPS_MASK 7 # Uses speed, hpos and vpos accuracy
+	param set TRIG_INTERFACE 3
+	param set TRIG_MODE 4
+	param set MNT_MODE_IN 4
+	param set MNT_MODE_OUT 2
+	param set MNT_DO_STAB 2
 fi
 
 set MIXER quad_x

ROMFS/px4fmu_common/init.d-posix/airframes/3011_hexarotor_x

@@ -26,7 +26,6 @@ then
 	param set TRIG_MODE 4
 	param set MNT_MODE_IN 4
 	param set MNT_DO_STAB 2
-	param set MAV_PROTO_VER 2
 fi
 
 set MAV_TYPE 13

ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480

@@ -24,7 +24,8 @@ then
 
 	param set TRIG_INTERFACE 3
 	param set TRIG_MODE 4
-	param set MNT_MODE_IN 0
+	param set MNT_MODE_IN 4
+	param set MNT_MODE_OUT 2
 	param set MAV_PROTO_VER 2
 fi
 

ROMFS/px4fmu_common/init.d-posix/rc.replay

@@ -20,7 +20,6 @@ module: replay
 ignore_others: false
 EOF
 
-uorb start
 param set SDLOG_DIRS_MAX 7
 
 # apply all params before ekf starts, as some params cannot be changed after startup

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -53,8 +53,6 @@ else
 	fi
 fi
 
-uorb start
-
 # Load parameters
 set PARAM_FILE eeprom/parameters_"$REQUESTED_AUTOSTART"
 param select $PARAM_FILE
@@ -111,6 +109,8 @@ udp_offboard_port_remote=$((14540+px4_instance))
 [ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
 udp_onboard_payload_port_local=$((14280+px4_instance))
 udp_onboard_payload_port_remote=$((14030+px4_instance))
+udp_onboard_gimbal_port_local=$((13030+px4_instance))
+udp_onboard_gimbal_port_remote=$((13280+px4_instance))
 udp_gcs_port_local=$((18570+px4_instance))
 
 if [ $AUTOCNF = yes ]
@@ -244,7 +244,7 @@ then
 	sh etc/init.d-posix/rc.mavlink_override
 else
 	# GCS link
-	mavlink start -x -u $udp_gcs_port_local -r 4000000
+	mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
 	mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
 	mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
 	mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
@@ -256,12 +256,15 @@ else
 	mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
 
 	# API/Offboard link
-	mavlink start -x -u $udp_offboard_port_local -r 4000000 -m onboard -o $udp_offboard_port_remote
+	mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote
 
 	# Onboard link to camera
 	mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
 
+	# Onboard link to gimbal
+	mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
 fi
+
 # execute autostart post script if any
 [ -e "$autostart_file".post ] && . "$autostart_file".post
 

ROMFS/px4fmu_common/init.d/rcS

@@ -73,13 +73,6 @@ sercon
 #
 ver all
 
-#
-# Start the ORB (first app to start)
-# tone_alarm and tune_control
-# is dependent.
-#
-uorb start
-
 #
 # Try to mount the microSD card.
 #
@@ -289,33 +282,18 @@ else
 				# tune Program PX4IO
 				tune_control play -t 16 # tune 16 = PROG_PX4IO
 
-				if px4io start
-				then
-					# Try to safety px4 io so motor outputs don't go crazy.
-					if ! px4io safety_on
-					then
-						# px4io did not respond to the safety command.
-						px4io stop
-					fi
-				fi
-
-				if px4io forceupdate 14662 ${IOFW}
+				if px4io update ${IOFW}
 				then
 					usleep 10000
 					tune_control stop
 					if px4io checkcrc ${IOFW}
 					then
-						echo "PX4IO CRC OK after updating"
 						tune_control play -t 17 # tune 17 = PROG_PX4IO_OK
 						set IO_PRESENT yes
+					else
+						tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
 					fi
 				fi
-
-				if [ $IO_PRESENT = no ]
-				then
-					echo "PX4IO update failed"
-					tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
-				fi
 			fi
 		fi
 	fi