mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-15 19:33:33 +08:00
Merge branch 'fw_autoland_att_tecs_navigator_termination_controlgroups' into bottle_drop_navigator
Conflicts: src/drivers/px4fmu/fmu.cpp src/modules/dataman/dataman.c src/modules/dataman/dataman.h src/modules/mavlink/orb_listener.c src/modules/mavlink/waypoints.c src/modules/navigator/navigator_main.cpp src/modules/navigator/navigator_mission.cpp src/modules/navigator/navigator_mission.h src/modules/uORB/topics/mission.h
This commit is contained in:
Julian Oes
@@ -0,0 +1,89 @@
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#!nsh
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echo "[init] PX4FMU v1, v2 with or without IO on 3DR SkyWalker"
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#
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# Load default params for this platform
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#
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if param compare SYS_AUTOCONFIG 1
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then
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# Set all params here, then disable autoconfig
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param set FW_P_D 0
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param set FW_P_I 0
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param set FW_P_IMAX 15
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param set FW_P_LIM_MAX 50
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param set FW_P_LIM_MIN -50
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param set FW_P_P 60
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param set FW_P_RMAX_NEG 0
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param set FW_P_RMAX_POS 0
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param set FW_P_ROLLFF 1.1
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param set FW_R_D 0
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param set FW_R_I 5
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param set FW_R_IMAX 20
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param set FW_R_P 100
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param set FW_R_RMAX 100
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param set FW_THR_CRUISE 0.65
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param set FW_THR_MAX 1
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param set FW_THR_MIN 0
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param set FW_T_SINK_MAX 5.0
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param set FW_T_SINK_MIN 4.0
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param set FW_Y_ROLLFF 1.1
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param set FW_L1_PERIOD 16
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param set RC_SCALE_ROLL 1.0
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param set RC_SCALE_PITCH 1.0
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param set SYS_AUTOCONFIG 0
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param save
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fi
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#
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# Force some key parameters to sane values
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# MAV_TYPE 1 = fixed wing
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#
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param set MAV_TYPE 1
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set EXIT_ON_END no
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#
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# Start and configure PX4IO or FMU interface
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#
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if px4io detect
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then
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# Start MAVLink (depends on orb)
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mavlink start
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sh /etc/init.d/rc.io
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# Limit to 100 Hz updates and (implicit) 50 Hz PWM
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px4io limit 100
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else
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# Start MAVLink (on UART1 / ttyS0)
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mavlink start -d /dev/ttyS0
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fmu mode_pwm
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param set BAT_V_SCALING 0.004593
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set EXIT_ON_END yes
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fi
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pwm disarmed -c 3 -p 1056
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#
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# Load mixer and start controllers (depends on px4io)
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#
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if [ -f /fs/microsd/etc/mixers/FMU_AERT.mix ]
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then
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echo "Using /fs/microsd/etc/mixers/FMU_AERT.mix"
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mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_AETR.mix
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else
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echo "Using /etc/mixers/FMU_Q.mix"
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mixer load /dev/pwm_output /etc/mixers/FMU_AETR.mix
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fi
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#
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# Start common fixedwing apps
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#
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sh /etc/init.d/rc.fixedwing
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if [ $EXIT_ON_END == yes ]
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then
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exit
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fi
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@@ -78,7 +78,7 @@ mixer load /dev/pwm_output /etc/mixers/FMU_hex_x.mix
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#
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# Set PWM output frequency to 400 Hz
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#
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pwm rate -c 123456 -r 400
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pwm rate -a -r 400
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#
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# Set disarmed, min and max PWM signals
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@@ -97,9 +97,9 @@ fi
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#
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if [ $MKBLCTRL_FRAME == x ]
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then
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mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
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mixer load /dev/mkblctrl /etc/mixers/FMU_quad_x.mix
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else
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mixer load /dev/pwm_output /etc/mixers/FMU_quad_+.mix
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mixer load /dev/mkblctrl /etc/mixers/FMU_quad_+.mix
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fi
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#
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@@ -19,12 +19,18 @@ fi
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if mpu6000 start
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then
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echo "using MPU6000"
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set BOARD fmuv1
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else
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echo "using L3GD20 and LSM303D"
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l3gd20 start
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lsm303d start
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fi
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if l3gd20 start
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then
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echo "using L3GD20(H)"
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fi
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if lsm303d start
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then
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set BOARD fmuv2
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else
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set BOARD fmuv1
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fi
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# Start airspeed sensors
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Executable → Regular
+45
-14
@@ -8,6 +8,8 @@
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#
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set MODE autostart
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set logfile /fs/microsd/bootlog.txt
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#
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# Try to mount the microSD card.
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#
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@@ -163,26 +165,49 @@ then
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nshterm /dev/ttyACM0 &
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fi
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#
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# Upgrade PX4IO firmware
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#
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if px4io detect
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then
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echo "PX4IO running, not upgrading"
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else
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echo "Attempting to upgrade PX4IO"
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if px4io update
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then
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if [ -d /fs/microsd ]
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then
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echo "Flashed PX4IO Firmware OK" > /fs/microsd/px4io.log
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fi
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# Allow IO to safely kick back to app
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if [ -f /etc/extras/px4io-v2_default.bin ]
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then
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set io_file /etc/extras/px4io-v2_default.bin
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else
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set io_file /etc/extras/px4io-v1_default.bin
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fi
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if px4io start
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then
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echo "PX4IO OK"
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echo "PX4IO OK" >> $logfile
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fi
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if px4io checkcrc $io_file
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then
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echo "PX4IO CRC OK"
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echo "PX4IO CRC OK" >> $logfile
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else
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echo "PX4IO CRC failure"
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echo "PX4IO CRC failure" >> $logfile
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tone_alarm MBABGP
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if px4io forceupdate 14662 $io_file
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then
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usleep 200000
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if px4io start
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then
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echo "PX4IO restart OK"
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echo "PX4IO restart OK" >> $logfile
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tone_alarm MSPAA
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else
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echo "PX4IO restart failed"
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echo "PX4IO restart failed" >> $logfile
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tone_alarm MNGGG
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sh /etc/init.d/rc.error
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fi
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else
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echo "No PX4IO to upgrade here"
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echo "PX4IO update failed"
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echo "PX4IO update failed" >> $logfile
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tone_alarm MNGGG
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fi
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fi
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@@ -329,6 +354,12 @@ then
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sh /etc/init.d/101_hk_bixler
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set MODE custom
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fi
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if param compare SYS_AUTOSTART 102
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then
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sh /etc/init.d/102_3dr_skywalker
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set MODE custom
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fi
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if param compare SYS_AUTOSTART 900
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then
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@@ -0,0 +1,88 @@
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#!nsh
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#
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# PX4FMU startup script for logging purposes
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#
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#
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# Try to mount the microSD card.
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#
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echo "[init] looking for microSD..."
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if mount -t vfat /dev/mmcsd0 /fs/microsd
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then
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echo "[init] card mounted at /fs/microsd"
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# Start playing the startup tune
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tone_alarm start
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else
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echo "[init] no microSD card found"
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# Play SOS
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tone_alarm error
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fi
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uorb start
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#
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# Start sensor drivers here.
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#
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ms5611 start
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adc start
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# mag might be external
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if hmc5883 start
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then
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echo "using HMC5883"
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fi
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if mpu6000 start
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then
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echo "using MPU6000"
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fi
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if l3gd20 start
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then
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echo "using L3GD20(H)"
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fi
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if lsm303d start
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then
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set BOARD fmuv2
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else
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set BOARD fmuv1
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fi
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# Start airspeed sensors
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if meas_airspeed start
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then
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echo "using MEAS airspeed sensor"
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else
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if ets_airspeed start
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then
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echo "using ETS airspeed sensor (bus 3)"
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else
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if ets_airspeed start -b 1
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then
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echo "Using ETS airspeed sensor (bus 1)"
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fi
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fi
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fi
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#
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# Start the sensor collection task.
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# IMPORTANT: this also loads param offsets
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# ALWAYS start this task before the
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# preflight_check.
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#
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if sensors start
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then
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echo "SENSORS STARTED"
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fi
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sdlog2 start -r 250 -e -b 16
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if sercon
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then
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echo "[init] USB interface connected"
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# Try to get an USB console
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nshterm /dev/ttyACM0 &
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fi
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Binary file not shown.
Executable → Regular
+8
@@ -2,3 +2,11 @@
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#
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# PX4FMU startup script for test hackery.
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#
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if sercon
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then
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echo "[init] USB interface connected"
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# Try to get an USB console
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nshterm /dev/ttyACM0 &
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fi
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