Merged master

ROMFS/px4fmu_common/init.d/rc.uavcan

@@ -3,16 +3,50 @@
 # UAVCAN initialization script.
 #
 
+#
+# Mirriring the UAVCAN_ENABLE param value to an eponymous environment variable.
+# TODO there should be a smarter way.
+#
+set UAVCAN_ENABLE 0
 if param compare UAVCAN_ENABLE 1
+then
+	set UAVCAN_ENABLE 1
+fi
+if param compare UAVCAN_ENABLE 2
+then
+	set UAVCAN_ENABLE 2
+fi
+
+echo "[i] UAVCAN_ENABLE is $UAVCAN_ENABLE"
+
+#
+# Starting stuff according to UAVCAN_ENABLE value
+#
+if [ $UAVCAN_ENABLE -ge 1 ]
 then
 	if uavcan start
 	then
-		# First sensor publisher to initialize takes lowest instance ID
-		# This delay ensures that UAVCAN-interfaced sensors would be allocated on lowest instance IDs
-		sleep 1
 		echo "[i] UAVCAN started"
 	else
 		echo "[i] ERROR: Could not start UAVCAN"
 		tone_alarm $TUNE_ERR
 	fi
 fi
+
+if [ $UAVCAN_ENABLE -ge 2 ]
+then
+	if uavcan start fw
+	then
+		echo "[i] UAVCAN servers started"
+	else
+		echo "[i] ERROR: Could not start UAVCAN servers"
+		tone_alarm $TUNE_ERR
+	fi
+fi
+
+if [ $UAVCAN_ENABLE -ge 1 ]
+then
+	# First sensor publisher to initialize takes lowest instance ID
+	# This delay ensures that UAVCAN-interfaced sensors will be allocated on lowest instance IDs
+	sleep 8
+fi

ROMFS/px4fmu_common/init.d/rc.usb

@@ -3,26 +3,7 @@
 # USB MAVLink start
 #
 
-mavlink start -r 800000 -d /dev/ttyACM0 -x
-# Enable a number of interesting streams we want via USB
-mavlink stream -d /dev/ttyACM0 -s PARAM_VALUE -r 300
-mavlink stream -d /dev/ttyACM0 -s MISSION_ITEM -r 50
-mavlink stream -d /dev/ttyACM0 -s NAMED_VALUE_FLOAT -r 10
-mavlink stream -d /dev/ttyACM0 -s OPTICAL_FLOW_RAD -r 10
-mavlink stream -d /dev/ttyACM0 -s DISTANCE_SENSOR -r 10
-mavlink stream -d /dev/ttyACM0 -s VFR_HUD -r 20
-mavlink stream -d /dev/ttyACM0 -s ATTITUDE -r 100
-mavlink stream -d /dev/ttyACM0 -s ACTUATOR_CONTROL_TARGET0 -r 30
-mavlink stream -d /dev/ttyACM0 -s RC_CHANNELS -r 5
-mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 20
-mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_1 -r 20
-mavlink stream -d /dev/ttyACM0 -s POSITION_TARGET_GLOBAL_INT -r 10
-mavlink stream -d /dev/ttyACM0 -s LOCAL_POSITION_NED -r 30
-mavlink stream -d /dev/ttyACM0 -s MANUAL_CONTROL -r 5
-mavlink stream -d /dev/ttyACM0 -s HIGHRES_IMU -r 100
-mavlink stream -d /dev/ttyACM0 -s GPS_RAW_INT -r 20
-mavlink stream -d /dev/ttyACM0 -s CAMERA_TRIGGER -r 500
-mavlink stream -d /dev/ttyACM0 -s VTOL_STATE -r 2
+mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
 
 # Exit shell to make it available to MAVLink
 exit

ROMFS/px4fmu_common/init.d/rcS

@@ -89,6 +89,70 @@ then
 		fi
 	fi
 
+	# Compare existing params and save defaults
+	# this only needs to be in for 1-2 releases
+	if param compare RC_MAP_THROTTLE 0
+	then
+		# So this is a default setup,
+		# now lets find out if channel 3
+		# is calibrated
+		if param compare RC3_MIN 1000
+		then
+			# This is default, do nothing
+		else
+			# Set old default
+			param set RC_MAP_THROTTLE 3
+		fi
+	fi
+
+	# Compare existing params and save defaults
+	# this only needs to be in for 1-2 releases
+	if param compare RC_MAP_ROLL 0
+	then
+		# So this is a default setup,
+		# now lets find out if channel 1
+		# is calibrated
+		if param compare RC1_MIN 1000
+		then
+			# This is default, do nothing
+		else
+			# Set old default
+			param set RC_MAP_ROLL 1
+		fi
+	fi
+
+	# Compare existing params and save defaults
+	# this only needs to be in for 1-2 releases
+	if param compare RC_MAP_PITCH 0
+	then
+		# So this is a default setup,
+		# now lets find out if channel 2
+		# is calibrated
+		if param compare RC2_MIN 1000
+		then
+			# This is default, do nothing
+		else
+			# Set old default
+			param set RC_MAP_PITCH 2
+		fi
+	fi
+
+	# Compare existing params and save defaults
+	# this only needs to be in for 1-2 releases
+	if param compare RC_MAP_YAW 0
+	then
+		# So this is a default setup,
+		# now lets find out if channel 4
+		# is calibrated
+		if param compare RC4_MIN 1000
+		then
+			# This is default, do nothing
+		else
+			# Set old default
+			param set RC_MAP_YAW 4
+		fi
+	fi
+
 	#
 	# Start system state indicator
 	#
@@ -287,6 +351,7 @@ then
 	if [ $HIL == yes ]
 	then
 		set OUTPUT_MODE hil
+		set GPS no
 		if ver hwcmp PX4FMU_V1
 		then
 			set FMU_MODE serial
@@ -300,6 +365,11 @@ then
 	then
 	fi
 
+	#
+	# UAVCAN
+	#
+	sh /etc/init.d/rc.uavcan
+
 	#
 	# Sensors System (start before Commander so Preflight checks are properly run)
 	#
@@ -315,9 +385,12 @@ then
 			gps start
 		fi
 	fi
+	unset GPS
 	unset GPS_FAKE
 
 	# Needs to be this early for in-air-restarts
+	# Wait 10 ms for sensors (workaround for airspeed, to be removed)
+	usleep 10000
 	commander start
 
 	#
@@ -505,10 +578,6 @@ then
 		fi
 	fi
 
-	# UAVCAN
-	#
-	sh /etc/init.d/rc.uavcan
-
 	#
 	# Logging
 	#