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Merged master into indoor branch

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This commit is contained in:
Lorenz Meier
2014-12-26 17:06:19 +01:00
parent f3a224e30d 5c51adf5f7
commit 407889ea2c
229 changed files with 27468 additions and 4247 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/px4fmu_common/init.d/10015_tbs_discovery
+2 -2
View File
@@ -7,7 +7,7 @@
sh /etc/init.d/rc.mc_defaults
if [ $DO_AUTOCONFIG == yes ]
if [ $AUTOCNF == yes ]
then
# TODO review MC_YAWRATE_I
param set MC_ROLL_P 8.0
@@ -26,5 +26,5 @@ fi
set MIXER FMU_quad_w
set PWM_OUTPUTS 1234
set PWM_OUT 1234
set PWM_MIN 1200
ROMFS/px4fmu_common/init.d/10016_3dr_iris
+2 -2
View File
@@ -7,7 +7,7 @@
sh /etc/init.d/rc.mc_defaults
if [ $DO_AUTOCONFIG == yes ]
if [ $AUTOCNF == yes ]
then
# TODO tune roll/pitch separately
param set MC_ROLL_P 7.0
@@ -29,7 +29,7 @@ fi
set MIXER FMU_quad_w
set PWM_OUTPUTS 1234
set PWM_OUT 1234
set PWM_MIN 1200
set PWM_MAX 1950
ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d
+2 -2
View File
@@ -7,7 +7,7 @@
sh /etc/init.d/rc.mc_defaults
if [ $DO_AUTOCONFIG == yes ]
if [ $AUTOCNF == yes ]
then
# TODO tune roll/pitch separately
param set MC_ROLL_P 7.0
@@ -31,4 +31,4 @@ set MIXER FMU_quad_w
set PWM_MIN 1210
set PWM_MAX 2100
set PWM_OUTPUTS 1234
set PWM_OUT 1234
ROMFS/px4fmu_common/init.d/10018_tbs_endurance
+31
View File
@@ -0,0 +1,31 @@
#!nsh
#
# Team Blacksheep Discovery Long Range Quadcopter
#
# Setup: 15 x 6.5" Props, 6S 4000mAh TBS LiPo, TBS 30A ESCs, TBS 400kV Motors
#
# Simon Wilks <simon@px4.io>
#
sh /etc/init.d/rc.mc_defaults
if [ $DO_AUTOCONFIG == yes ]
then
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.07
param set MC_ROLLRATE_I 0.02
param set MC_ROLLRATE_D 0.003
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.1
param set MC_PITCHRATE_I 0.05
param set MC_PITCHRATE_D 0.003
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.4
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0.0
fi
set MIXER FMU_quad_w
set PWM_OUTPUTS 1234
set PWM_MIN 1200
ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil
+1 -1
View File
@@ -7,7 +7,7 @@
sh /etc/init.d/rc.fw_defaults
if [ $DO_AUTOCONFIG == yes ]
if [ $AUTOCNF == yes ]
then
param set FW_AIRSPD_MIN 12
param set FW_AIRSPD_TRIM 25
ROMFS/px4fmu_common/init.d/11001_hexa_cox
+1 -1
View File
@@ -10,4 +10,4 @@ sh /etc/init.d/rc.mc_defaults
set MIXER FMU_hexa_cox
# Need to set all 8 channels
set PWM_OUTPUTS 12345678
set PWM_OUT 12345678
ROMFS/px4fmu_common/init.d/12001_octo_cox
+1 -1
View File
@@ -9,4 +9,4 @@ sh /etc/init.d/rc.mc_defaults
set MIXER FMU_octo_cox
set PWM_OUTPUTS 12345678
set PWM_OUT 12345678
ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol
+16
View File
@@ -0,0 +1,16 @@
#!nsh
#
# Generic configuration file for caipirinha VTOL version
#
# Roman Bapst <bapstr@ethz.ch>
#
sh /etc/init.d/rc.vtol_defaults
set MIXER FMU_caipirinha_vtol
set PWM_OUT 12
set PWM_MAX 2000
set PWM_RATE 400
param set VT_MOT_COUNT 2
param set VT_IDLE_PWM_MC 1080
ROMFS/px4fmu_common/init.d/2102_3dr_skywalker
+1 -1
View File
@@ -2,4 +2,4 @@
sh /etc/init.d/rc.fw_defaults
set MIXER FMU_AERT
set MIXER skywalker
ROMFS/px4fmu_common/init.d/3030_io_camflyer
+1 -1
View File
@@ -4,5 +4,5 @@ sh /etc/init.d/rc.fw_defaults
set MIXER FMU_Q
# Provide ESC a constant 1000 us pulse while disarmed
set PWM_OUTPUTS 4
set PWM_OUT 4
set PWM_DISARMED 1000
ROMFS/px4fmu_common/init.d/3031_phantom
+2 -2
View File
@@ -7,7 +7,7 @@
sh /etc/init.d/rc.fw_defaults
if [ $DO_AUTOCONFIG == yes ]
if [ $AUTOCNF == yes ]
then
param set FW_AIRSPD_MIN 13
param set FW_AIRSPD_TRIM 15
@@ -36,5 +36,5 @@ fi
set MIXER phantom
# Provide ESC a constant 1000 us pulse
set PWM_OUTPUTS 4
set PWM_OUT 4
set PWM_DISARMED 1000
ROMFS/px4fmu_common/init.d/3032_skywalker_x5
+1 -1
View File
@@ -7,7 +7,7 @@
sh /etc/init.d/rc.fw_defaults
if [ $DO_AUTOCONFIG == yes ]
if [ $AUTOCNF == yes ]
then
param set FW_AIRSPD_MIN 15
param set FW_AIRSPD_TRIM 20
ROMFS/px4fmu_common/init.d/3033_wingwing
+2 -2
View File
@@ -7,7 +7,7 @@
sh /etc/init.d/rc.fw_defaults
if [ $DO_AUTOCONFIG == yes ]
if [ $AUTOCNF == yes ]
then
param set BAT_N_CELLS 2
param set FW_AIRSPD_MAX 15
@@ -44,5 +44,5 @@ fi
set MIXER wingwing
# Provide ESC a constant 1000 us pulse
set PWM_OUTPUTS 4
set PWM_OUT 4
set PWM_DISARMED 1000
ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
+2 -2
View File
@@ -7,9 +7,9 @@
sh /etc/init.d/rc.fw_defaults
if [ $DO_AUTOCONFIG == yes ]
if [ $AUTOCNF == yes ]
then
# TODO: these are the X5 default parameters, update them to the caipi
param set FW_AIRSPD_MIN 15
ROMFS/px4fmu_common/init.d/4001_quad_x
+1 -1
View File
@@ -9,4 +9,4 @@ sh /etc/init.d/rc.mc_defaults
set MIXER FMU_quad_x
set PWM_OUTPUTS 1234
set PWM_OUT 1234
ROMFS/px4fmu_common/init.d/4008_ardrone
+2 -2
View File
@@ -8,7 +8,7 @@ sh /etc/init.d/rc.mc_defaults
#
# Load default params for this platform
#
if [ $DO_AUTOCONFIG == yes ]
if [ $AUTOCNF == yes ]
then
# Set all params here, then disable autoconfig
param set MC_ROLL_P 6.0
@@ -24,7 +24,7 @@ then
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0.0
param set MC_YAW_FF 0.8
param set BAT_V_SCALING 0.00838095238
fi
ROMFS/px4fmu_common/init.d/4010_dji_f330
+1 -1
View File
@@ -7,7 +7,7 @@
sh /etc/init.d/4001_quad_x
if [ $DO_AUTOCONFIG == yes ]
if [ $AUTOCNF == yes ]
then
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.1
ROMFS/px4fmu_common/init.d/4011_dji_f450
+1 -1
View File
@@ -7,7 +7,7 @@
sh /etc/init.d/4001_quad_x
if [ $DO_AUTOCONFIG == yes ]
if [ $AUTOCNF == yes ]
then
# TODO REVIEW
param set MC_ROLL_P 7.0
ROMFS/px4fmu_common/init.d/4012_quad_x_can
+1 -1
View File
@@ -7,7 +7,7 @@
sh /etc/init.d/4001_quad_x
if [ $DO_AUTOCONFIG == yes ]
if [ $AUTOCNF == yes ]
then
# TODO REVIEW
param set MC_ROLL_P 7.0
ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb
+1 -1
View File
@@ -9,7 +9,7 @@ echo "HK Micro PCB Quad"
sh /etc/init.d/4001_quad_x
if [ $DO_AUTOCONFIG == yes ]
if [ $AUTOCNF == yes ]
then
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.1
ROMFS/px4fmu_common/init.d/5001_quad_+
+1 -1
View File
@@ -9,4 +9,4 @@ sh /etc/init.d/rc.mc_defaults
set MIXER FMU_quad_+
set PWM_OUTPUTS 1234
set PWM_OUT 1234
ROMFS/px4fmu_common/init.d/6001_hexa_x
+1 -1
View File
@@ -10,4 +10,4 @@ sh /etc/init.d/rc.mc_defaults
set MIXER FMU_hexa_x
# Need to set all 8 channels
set PWM_OUTPUTS 12345678
set PWM_OUT 12345678
ROMFS/px4fmu_common/init.d/7001_hexa_+
+1 -1
View File
@@ -10,4 +10,4 @@ sh /etc/init.d/rc.mc_defaults
set MIXER FMU_hexa_+
# Need to set all 8 channels
set PWM_OUTPUTS 12345678
set PWM_OUT 12345678
ROMFS/px4fmu_common/init.d/8001_octo_x
+1 -1
View File
@@ -9,4 +9,4 @@ sh /etc/init.d/rc.mc_defaults
set MIXER FMU_octo_x
set PWM_OUTPUTS 12345678
set PWM_OUT 12345678
ROMFS/px4fmu_common/init.d/9001_octo_+
+1 -1
View File
@@ -9,4 +9,4 @@ sh /etc/init.d/rc.mc_defaults
set MIXER FMU_octo_+
set PWM_OUTPUTS 12345678
set PWM_OUT 12345678
ROMFS/px4fmu_common/init.d/rc.autostart
+16
View File
@@ -15,6 +15,7 @@
# 10000 .. 10999 Wide arm / H frame
# 11000 .. 11999 Hexa Cox
# 12000 .. 12999 Octo Cox
# 13000 .. 13999 VTOL
#
# Simulation
@@ -220,6 +221,11 @@ then
sh /etc/init.d/10017_steadidrone_qu4d
fi
if param compare SYS_AUTOSTART 10018 18
then
sh /etc/init.d/10018_tbs_endurance
fi
#
# Hexa Coaxial
#
@@ -237,3 +243,13 @@ if param compare SYS_AUTOSTART 12001
then
sh /etc/init.d/12001_octo_cox
fi
# 13000 is historically reserved for the quadshot
#
# VTOL caipririnha
#
if param compare SYS_AUTOSTART 13001
then
sh /etc/init.d/13001_caipirinha_vtol
fi
ROMFS/px4fmu_common/init.d/rc.fw_defaults
+2 -2
View File
@@ -2,7 +2,7 @@
set VEHICLE_TYPE fw
if [ $DO_AUTOCONFIG == yes ]
if [ $AUTOCNF == yes ]
then
#
# Default parameters for FW
@@ -15,4 +15,4 @@ then
param set FW_T_RLL2THR 15
param set FW_T_SRATE_P 0.01
param set FW_T_TIME_CONST 5
fi
fi
ROMFS/px4fmu_common/init.d/rc.interface
+14 -17
View File
@@ -8,12 +8,11 @@ then
#
# Load mixer
#
set MIXERSD /fs/microsd/etc/mixers/$MIXER.mix
#Use the mixer file from the SD-card if it exists
if [ -f $MIXERSD ]
if [ -f /fs/microsd/etc/mixers/$MIXER.mix ]
then
set MIXER_FILE $MIXERSD
set MIXER_FILE /fs/microsd/etc/mixers/$MIXER.mix
else
set MIXER_FILE /etc/mixers/$MIXER.mix
fi
@@ -32,30 +31,31 @@ then
if mixer load $OUTPUT_DEV $MIXER_FILE
then
echo "[init] Mixer loaded: $MIXER_FILE"
echo "[i] Mixer: $MIXER_FILE"
else
echo "[init] Error loading mixer: $MIXER_FILE"
tone_alarm $TUNE_OUT_ERROR
echo "[i] Error loading mixer: $MIXER_FILE"
tone_alarm $TUNE_ERR
fi
unset MIXER_FILE
else
if [ $MIXER != skip ]
then
echo "[init] Mixer not defined"
tone_alarm $TUNE_OUT_ERROR
echo "[i] Mixer not defined"
tone_alarm $TUNE_ERR
fi
fi
if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == io ]
then
if [ $PWM_OUTPUTS != none ]
if [ $PWM_OUT != none ]
then
#
# Set PWM output frequency
#
if [ $PWM_RATE != none ]
then
echo "[init] Set PWM rate: $PWM_RATE"
pwm rate -c $PWM_OUTPUTS -r $PWM_RATE
pwm rate -c $PWM_OUT -r $PWM_RATE
fi
#
@@ -63,18 +63,15 @@ then
#
if [ $PWM_DISARMED != none ]
then
echo "[init] Set PWM disarmed: $PWM_DISARMED"
pwm disarmed -c $PWM_OUTPUTS -p $PWM_DISARMED
pwm disarmed -c $PWM_OUT -p $PWM_DISARMED
fi
if [ $PWM_MIN != none ]
then
echo "[init] Set PWM min: $PWM_MIN"
pwm min -c $PWM_OUTPUTS -p $PWM_MIN
pwm min -c $PWM_OUT -p $PWM_MIN
fi
if [ $PWM_MAX != none ]
then
echo "[init] Set PWM max: $PWM_MAX"
pwm max -c $PWM_OUTPUTS -p $PWM_MAX
pwm max -c $PWM_OUT -p $PWM_MAX
fi
fi
ROMFS/px4fmu_common/init.d/rc.io
+1 -1
View File
@@ -16,5 +16,5 @@ then
set PX4IO_LIMIT 200
fi
echo "[init] Set PX4IO update rate limit: $PX4IO_LIMIT Hz"
echo "[i] Set PX4IO update rate limit: $PX4IO_LIMIT Hz"
px4io limit $PX4IO_LIMIT
ROMFS/px4fmu_common/init.d/rc.mc_defaults
+1 -1
View File
@@ -2,7 +2,7 @@
set VEHICLE_TYPE mc
if [ $DO_AUTOCONFIG == yes ]
if [ $AUTOCNF == yes ]
then
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.1
ROMFS/px4fmu_common/init.d/rc.sensors
+4
View File
@@ -71,6 +71,10 @@ if px4flow start
then
fi
if ll40ls start
then
fi
#
# Start sensors -> preflight_check
#
ROMFS/px4fmu_common/init.d/rc.uavcan
+3 -3
View File
@@ -10,9 +10,9 @@ 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 "[init] UAVCAN started"
echo "[i] UAVCAN started"
else
echo "[init] ERROR: Could not start UAVCAN"
tone_alarm $TUNE_OUT_ERROR
echo "[i] ERROR: Could not start UAVCAN"
tone_alarm $TUNE_ERR
fi
fi
ROMFS/px4fmu_common/init.d/rc.vtol_apps
+15
View File
@@ -0,0 +1,15 @@
#!nsh
#
# Standard apps for vtol:
# att & pos estimator, att & pos control.
#
attitude_estimator_ekf start
#ekf_att_pos_estimator start
position_estimator_inav start
vtol_att_control start
mc_att_control start
mc_pos_control start
fw_att_control start
fw_pos_control_l1 start
ROMFS/px4fmu_common/init.d/rc.vtol_defaults
+39
View File
@@ -0,0 +1,39 @@
#!nsh
set VEHICLE_TYPE vtol
if [ $AUTOCNF == yes ]
then
#
#Default controller parameters for MC
#
param set MC_ROLL_P 6.0
param set MC_ROLLRATE_P 0.1
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.003
param set MC_PITCH_P 6.0
param set MC_PITCHRATE_P 0.2
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.003
param set MC_YAW_P 4
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0.0
param set MC_YAW_FF 0.3
#
# Default parameters for FW
#
param set FW_PR_FF 0.3
param set FW_PR_I 0.000
param set FW_PR_IMAX 0.2
param set FW_PR_P 0.02
param set FW_RR_FF 0.3
param set FW_RR_I 0.00
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.02
fi
set PWM_DISARMED 900
set PWM_MIN 1000
set PWM_MAX 2000
ROMFS/px4fmu_common/init.d/rcS
+128 -76
View File
@@ -1,46 +1,46 @@
#!nsh
#
# PX4FMU startup script.
#
# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
#
#
# Default to auto-start mode.
#
set MODE autostart
set RC_FILE /fs/microsd/etc/rc.txt
set CONFIG_FILE /fs/microsd/etc/config.txt
set EXTRAS_FILE /fs/microsd/etc/extras.txt
set FRC /fs/microsd/etc/rc.txt
set FCONFIG /fs/microsd/etc/config.txt
set FEXTRAS /fs/microsd/etc/extras.txt
set TUNE_OUT_ERROR ML<<CP4CP4CP4CP4CP4
set TUNE_ERR ML<<CP4CP4CP4CP4CP4
#
# Try to mount the microSD card.
#
echo "[init] Looking for microSD..."
echo "[i] Looking for microSD..."
if mount -t vfat /dev/mmcsd0 /fs/microsd
then
set LOG_FILE /fs/microsd/bootlog.txt
echo "[init] microSD mounted: /fs/microsd"
echo "[i] microSD mounted: /fs/microsd"
# Start playing the startup tune
tone_alarm start
else
set LOG_FILE /dev/null
echo "[init] No microSD card found"
# Play SOS
tone_alarm error
fi
#
# Look for an init script on the microSD card.
# Disable autostart if the script found.
#
if [ -f $RC_FILE ]
if [ -f $FRC ]
then
echo "[init] Executing init script: $RC_FILE"
sh $RC_FILE
echo "[i] Executing init script: $FRC"
sh $FRC
set MODE custom
else
echo "[init] Init script not found: $RC_FILE"
echo "[i] Init script not found: $FRC"
fi
# if this is an APM build then there will be a rc.APM script
@@ -49,17 +49,17 @@ if [ -f /etc/init.d/rc.APM ]
then
if sercon
then
echo "[init] USB interface connected"
echo "[i] USB interface connected"
fi
echo "[init] Running rc.APM"
echo "[i] Running rc.APM"
# if APM startup is successful then nsh will exit
sh /etc/init.d/rc.APM
fi
if [ $MODE == autostart ]
then
echo "[init] AUTOSTART mode"
echo "[i] AUTOSTART mode"
#
# Start CDC/ACM serial driver
@@ -117,31 +117,31 @@ then
set VEHICLE_TYPE none
set MIXER none
set OUTPUT_MODE none
set PWM_OUTPUTS none
set PWM_OUT none
set PWM_RATE none
set PWM_DISARMED none
set PWM_MIN none
set PWM_MAX none
set MKBLCTRL_MODE none
set MK_MODE none
set FMU_MODE pwm
set MAVLINK_FLAGS default
set MAVLINK_F default
set EXIT_ON_END no
set MAV_TYPE none
set LOAD_DEFAULT_APPS yes
set LOAD_DAPPS yes
set GPS yes
set GPS_FAKE no
set FAILSAFE none
#
# Set DO_AUTOCONFIG flag to use it in AUTOSTART scripts
# Set AUTOCNF flag to use it in AUTOSTART scripts
#
if param compare SYS_AUTOCONFIG 1
then
# Wipe out params
param reset_nostart
set DO_AUTOCONFIG yes
set AUTOCNF yes
else
set DO_AUTOCONFIG no
set AUTOCNF no
fi
#
@@ -159,7 +159,7 @@ then
#
if param compare SYS_AUTOSTART 0
then
echo "[init] No autostart"
echo "[i] No autostart"
else
sh /etc/init.d/rc.autostart
fi
@@ -167,18 +167,19 @@ then
#
# Override parameters from user configuration file
#
if [ -f $CONFIG_FILE ]
if [ -f $FCONFIG ]
then
echo "[init] Config: $CONFIG_FILE"
sh $CONFIG_FILE
echo "[i] Config: $FCONFIG"
sh $FCONFIG
else
echo "[init] Config not found: $CONFIG_FILE"
echo "[i] Config not found: $FCONFIG"
fi
unset FCONFIG
#
# If autoconfig parameter was set, reset it and save parameters
#
if [ $DO_AUTOCONFIG == yes ]
if [ $AUTOCNF == yes ]
then
param set SYS_AUTOCONFIG 0
param save
@@ -219,18 +220,18 @@ then
set IO_PRESENT yes
else
echo "PX4IO update failed" >> $LOG_FILE
tone_alarm $TUNE_OUT_ERROR
tone_alarm $TUNE_ERR
fi
else
echo "PX4IO update failed" >> $LOG_FILE
tone_alarm $TUNE_OUT_ERROR
tone_alarm $TUNE_ERR
fi
fi
if [ $IO_PRESENT == no ]
then
echo "[init] ERROR: PX4IO not found"
tone_alarm $TUNE_OUT_ERROR
echo "[i] ERROR: PX4IO not found"
tone_alarm $TUNE_ERR
fi
fi
@@ -251,7 +252,7 @@ then
then
# Need IO for output but it not present, disable output
set OUTPUT_MODE none
echo "[init] ERROR: PX4IO not found, disabling output"
echo "[i] ERROR: PX4IO not found, disabling output"
# Avoid using ttyS0 for MAVLink on FMUv1
if ver hwcmp PX4FMU_V1
@@ -294,33 +295,31 @@ then
then
if param compare UAVCAN_ENABLE 0
then
echo "[init] OVERRIDING UAVCAN_ENABLE = 1"
echo "[i] OVERRIDING UAVCAN_ENABLE = 1"
param set UAVCAN_ENABLE 1
fi
fi
if [ $OUTPUT_MODE == io -o $OUTPUT_MODE == uavcan_esc ]
then
echo "[init] Use PX4IO PWM as primary output"
if px4io start
then
echo "[init] PX4IO started"
echo "[i] PX4IO started"
sh /etc/init.d/rc.io
else
echo "[init] ERROR: PX4IO start failed"
tone_alarm $TUNE_OUT_ERROR
echo "[i] ERROR: PX4IO start failed"
tone_alarm $TUNE_ERR
fi
fi
if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == ardrone ]
then
echo "[init] Use FMU as primary output"
if fmu mode_$FMU_MODE
then
echo "[init] FMU mode_$FMU_MODE started"
echo "[i] FMU mode_$FMU_MODE started"
else
echo "[init] ERROR: FMU mode_$FMU_MODE start failed"
tone_alarm $TUNE_OUT_ERROR
echo "[i] ERROR: FMU mode_$FMU_MODE start failed"
tone_alarm $TUNE_ERR
fi
if ver hwcmp PX4FMU_V1
@@ -338,36 +337,34 @@ then
if [ $OUTPUT_MODE == mkblctrl ]
then
echo "[init] Use MKBLCTRL as primary output"
set MKBLCTRL_ARG ""
if [ $MKBLCTRL_MODE == x ]
if [ $MK_MODE == x ]
then
set MKBLCTRL_ARG "-mkmode x"
fi
if [ $MKBLCTRL_MODE == + ]
if [ $MK_MODE == + ]
then
set MKBLCTRL_ARG "-mkmode +"
fi
if mkblctrl $MKBLCTRL_ARG
then
echo "[init] MKBLCTRL started"
echo "[i] MK started"
else
echo "[init] ERROR: MKBLCTRL start failed"
tone_alarm $TUNE_OUT_ERROR
echo "[i] ERROR: MK start failed"
tone_alarm $TUNE_ERR
fi
fi
if [ $OUTPUT_MODE == hil ]
then
echo "[init] Use HIL as primary output"
if hil mode_port2_pwm8
then
echo "[init] HIL output started"
echo "[i] HIL output started"
else
echo "[init] ERROR: HIL output start failed"
tone_alarm $TUNE_OUT_ERROR
echo "[i] ERROR: HIL output start failed"
tone_alarm $TUNE_ERR
fi
fi
@@ -380,11 +377,11 @@ then
then
if px4io start
then
echo "[init] PX4IO started"
echo "[i] PX4IO started"
sh /etc/init.d/rc.io
else
echo "[init] ERROR: PX4IO start failed"
tone_alarm $TUNE_OUT_ERROR
echo "[i] ERROR: PX4IO start failed"
tone_alarm $TUNE_ERR
fi
fi
else
@@ -392,10 +389,10 @@ then
then
if fmu mode_$FMU_MODE
then
echo "[init] FMU mode_$FMU_MODE started"
echo "[i] FMU mode_$FMU_MODE started"
else
echo "[init] ERROR: FMU mode_$FMU_MODE start failed"
tone_alarm $TUNE_OUT_ERROR
echo "[i] ERROR: FMU mode_$FMU_MODE start failed"
tone_alarm $TUNE_ERR
fi
if ver hwcmp PX4FMU_V1
@@ -413,23 +410,24 @@ then
fi
fi
if [ $MAVLINK_FLAGS == default ]
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_FLAGS "-r 1000 -d /dev/ttyS0"
set MAVLINK_F "-r 1000 -d /dev/ttyS0"
# Exit from nsh to free port for mavlink
set EXIT_ON_END yes
else
# Start MAVLink on default port: ttyS1
set MAVLINK_FLAGS "-r 1000"
set MAVLINK_F "-r 1000"
fi
fi
mavlink start $MAVLINK_FLAGS
mavlink start $MAVLINK_F
unset MAVLINK_F
#
# MAVLink onboard / TELEM2
@@ -451,15 +449,16 @@ then
if [ $GPS == yes ]
then
echo "[init] Start GPS"
echo "[i] Start GPS"
if [ $GPS_FAKE == yes ]
then
echo "[init] Faking GPS"
echo "[i] Faking GPS"
gps start -f
else
gps start
fi
fi
unset GPS_FAKE
#
# Start up ARDrone Motor interface
@@ -474,7 +473,7 @@ then
#
if [ $VEHICLE_TYPE == fw ]
then
echo "[init] Vehicle type: FIXED WING"
echo "[i] FIXED WING"
if [ $MIXER == none ]
then
@@ -494,7 +493,7 @@ then
sh /etc/init.d/rc.interface
# Start standard fixedwing apps
if [ $LOAD_DEFAULT_APPS == yes ]
if [ $LOAD_DAPPS == yes ]
then
sh /etc/init.d/rc.fw_apps
fi
@@ -505,11 +504,11 @@ then
#
if [ $VEHICLE_TYPE == mc ]
then
echo "[init] Vehicle type: MULTICOPTER"
echo "[i] MULTICOPTER"
if [ $MIXER == none ]
then
echo "Default mixer for multicopter not defined"
echo "Mixer undefined"
fi
if [ $MAV_TYPE == none ]
@@ -553,12 +552,51 @@ then
sh /etc/init.d/rc.interface
# Start standard multicopter apps
if [ $LOAD_DEFAULT_APPS == yes ]
if [ $LOAD_DAPPS == yes ]
then
sh /etc/init.d/rc.mc_apps
fi
fi
#
# VTOL setup
#
if [ $VEHICLE_TYPE == vtol ]
then
echo "[init] Vehicle type: VTOL"
if [ $MIXER == none ]
then
echo "Default mixer for vtol not defined"
fi
if [ $MAV_TYPE == none ]
then
# Use mixer to detect vehicle type
if [ $MIXER == FMU_caipirinha_vtol ]
then
set MAV_TYPE 19
fi
fi
# Still no MAV_TYPE found
if [ $MAV_TYPE == none ]
then
echo "Unknown MAV_TYPE"
else
param set MAV_TYPE $MAV_TYPE
fi
# Load mixer and configure outputs
sh /etc/init.d/rc.interface
# Start standard vtol apps
if [ $LOAD_DAPPS == yes ]
then
sh /etc/init.d/rc.vtol_apps
fi
fi
#
# Start the navigator
#
@@ -569,24 +607,38 @@ then
#
if [ $VEHICLE_TYPE == none ]
then
echo "[init] Vehicle type: No autostart ID found"
echo "[i] No autostart ID found"
fi
# Start any custom addons
if [ -f $EXTRAS_FILE ]
if [ -f $FEXTRAS ]
then
echo "[init] Starting addons script: $EXTRAS_FILE"
sh $EXTRAS_FILE
echo "[i] Addons script: $FEXTRAS"
sh $FEXTRAS
else
echo "[init] No addons script: $EXTRAS_FILE"
echo "[i] No addons script: $FEXTRAS"
fi
unset FEXTRAS
if [ $EXIT_ON_END == yes ]
then
echo "[init] Exit from nsh"
echo "Exit from nsh"
exit
fi
unset EXIT_ON_END
# Run no SD alarm last
if [ $LOG_FILE == /dev/null ]
then
echo "[i] No microSD card found"
# Play SOS
tone_alarm error
fi
# End of autostart
fi
# There is no further processing, so we can free some RAM
# XXX potentially unset all script variables.
unset TUNE_ERR