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Major autostart rewrite

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This commit is contained in:
Anton Babushkin
2014-01-08 20:55:12 +01:00
parent 255d91d8d4
commit 4cffd99db9
9 changed files with 454 additions and 486 deletions
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ROMFS/px4fmu_common/init.d/rcS
+140 -245
View File
@@ -60,12 +60,9 @@ fi
if [ $MODE == autostart ]
then
#
# Start terminal
# Start CDC/ACM serial driver
#
if sercon
then
echo "USB connected"
fi
sercon
#
# Start the ORB (first app to start)
@@ -107,52 +104,79 @@ then
blinkm systemstate
fi
fi
set USE_IO no
set FRAME_TYPE none
set PWM_RATE none
set PWM_DISARMED none
set PWM_MIN none
set PWM_MAX none
if param compare SYS_AUTOCONFIG 1
then
set DO_AUTOCONFIG yes
else
set DO_AUTOCONFIG no
fi
#
# Start the Commander (needs to be this early for in-air-restarts)
#
commander start
#
# Set parameters and env variables for selected AUTOSTART (HIL setups)
#
sh /etc/init.d/rc.autostart_hil
if [ $MODE == hil ]
then
#
# Do common HIL setup depending on env variables
#
# Allow USB some time to come up
sleep 1
if param compare SYS_AUTOSTART 1000
then
sh /etc/init.d/1000_rc_fw_easystar.hil
set MODE custom
fi
# Start MAVLink on USB port
mavlink start -b 230400 -d /dev/ttyACM0
usleep 5000
# Create a fake HIL /dev/pwm_output interface
hil mode_pwm
# Sensors
echo "Start sensors"
sh /etc/init.d/rc.sensors
#
# Fixed wing setup
#
if [ $FRAME_TYPE == fw ]
then
echo "Setup FIXED WING"
fi
if param compare SYS_AUTOSTART 1001
then
sh /etc/init.d/1001_rc_quad.hil
set MODE custom
fi
if param compare SYS_AUTOSTART 1002
then
sh /etc/init.d/1002_rc_fw_state.hil
set MODE custom
fi
if param compare SYS_AUTOSTART 1003
then
sh /etc/init.d/1003_rc_quad_+.hil
set MODE custom
fi
if param compare SYS_AUTOSTART 1004
then
sh /etc/init.d/1004_rc_fw_Rascal110.hil
set MODE custom
fi
if [ $MODE != custom ]
then
# Try to get an USB console
#
# Multicopters setup
#
if [ $FRAME_TYPE == mc ]
then
echo "Setup MULTICOPTER"
# Load mixer and configure outputs
sh /etc/init.d/rc.mc_interface
# Start common multicopter apps
sh /etc/init.d/rc.mc_apps
fi
else
# Try to get an USB console if not in HIL mode
nshterm /dev/ttyACM0 &
fi
#
# Upgrade PX4IO firmware
#
if [ -f /etc/extras/px4io-v2_default.bin ]
then
set io_file /etc/extras/px4io-v2_default.bin
@@ -170,6 +194,7 @@ then
then
echo "PX4IO CRC OK"
echo "PX4IO CRC OK" >> $logfile
set USE_IO yes
else
echo "PX4IO CRC failure"
echo "PX4IO CRC failure" >> $logfile
@@ -182,6 +207,7 @@ then
echo "PX4IO restart OK"
echo "PX4IO restart OK" >> $logfile
tone_alarm MSPAA
set USE_IO yes
else
echo "PX4IO restart failed"
echo "PX4IO restart failed" >> $logfile
@@ -200,222 +226,91 @@ then
fi
set EXIT_ON_END no
set USE_LOGGING yes
set USE_GPS yes
#
# Check if auto-setup from one of the standard scripts is wanted
# SYS_AUTOSTART = 0 means no autostart (default)
# Set parameters and env variables for selected AUTOSTART
#
# AUTOSTART PARTITION:
# 0 .. 999 Reserved (historical)
# 1000 .. 1999 Simulation setups
# 2000 .. 2999 Standard planes
# 3000 .. 3999 Flying wing
# 4000 .. 4999 Quad X
# 5000 .. 5999 Quad +
# 6000 .. 6999 Hexa X
# 7000 .. 7999 Hexa +
# 8000 .. 8999 Octo X
# 9000 .. 9999 Octo +
# 10000 .. 10999 Wide arm / H frame
# 11000 .. 11999 Hexa Cox
# 12000 .. 12999 Octo Cox
sh /etc/init.d/rc.autostart
if param compare SYS_AUTOSTART 4008 8
#
# If autoconfig parameter was set, reset it and save parameters
#
if [ $DO_AUTOCONFIG == yes ]
then
sh /etc/init.d/4008_ardrone
set MODE custom
param set SYS_AUTOCONFIG 0
param save
fi
if param compare SYS_AUTOSTART 4009 9
then
sh /etc/init.d/4009_ardrone_flow
set MODE custom
fi
if [ $MODE == autostart ]
then
#
# Do common setup depending on env variables
#
if [ $USE_IO == yes ]
then
echo "Use IO"
# Start MAVLink on default port: ttyS1
mavlink start
usleep 5000
sh /etc/init.d/rc.io
else
echo "Don't use IO"
# Start MAVLink on ttyS0
mavlink start -d /dev/ttyS0
usleep 5000
# Configure FMU for PWM outputs
fmu mode_pwm
# Exit from nsh to free port for mavlink
set EXIT_ON_END yes
fi
# Sensors
echo "Start sensors"
sh /etc/init.d/rc.sensors
# Logging
if [ $USE_LOGGING == yes ]
then
sh /etc/init.d/rc.logging
fi
# GPS interface
if [ $USE_GPS == yes ]
then
gps start
fi
#
# Fixed wing setup
#
if [ $FRAME_TYPE == fw ]
then
echo "Setup FIXED WING"
fi
if param compare SYS_AUTOSTART 4010 10
then
set FRAME_GEOMETRY x
set FRAME_COUNT 4
set PWM_MIN 1200
set PWM_MAX 1900
set PWM_DISARMED 900
sh /etc/init.d/4010_dji_f330
set MODE custom
#
# Multicopters setup
#
if [ $FRAME_TYPE == mc ]
then
echo "Setup MULTICOPTER"
# Load mixer and configure outputs
sh /etc/init.d/rc.mc_interface
# Start common multicopter apps
sh /etc/init.d/rc.mc_apps
fi
fi
if param compare SYS_AUTOSTART 4011 11
then
sh /etc/init.d/4011_dji_f450
set MODE custom
fi
if param compare SYS_AUTOSTART 4012
then
sh /etc/init.d/666_fmu_q_x550
set MODE custom
fi
if param compare SYS_AUTOSTART 6012 12
then
set MIXER /etc/mixers/FMU_hex_x.mix
sh /etc/init.d/rc.hexa
set MODE custom
fi
if param compare SYS_AUTOSTART 7013 13
then
set MIXER /etc/mixers/FMU_hex_+.mix
sh /etc/init.d/rc.hexa
set MODE custom
fi
if param compare SYS_AUTOSTART 8001
then
set MIXER /etc/mixers/FMU_octo_x.mix
sh /etc/init.d/rc.octo
set MODE custom
fi
if param compare SYS_AUTOSTART 9001
then
set MIXER /etc/mixers/FMU_octo_+.mix
sh /etc/init.d/rc.octo
set MODE custom
fi
if param compare SYS_AUTOSTART 12001
then
set MIXER /etc/mixers/FMU_octo_cox.mix
sh /etc/init.d/rc.octo
set MODE custom
fi
if param compare SYS_AUTOSTART 10015 15
then
sh /etc/init.d/10015_tbs_discovery
set MODE custom
fi
if param compare SYS_AUTOSTART 10016 16
then
sh /etc/init.d/10016_3dr_iris
set MODE custom
fi
# PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 X Frame
if param compare SYS_AUTOSTART 4017 17
then
set MKBLCTRL_MODE no
set MKBLCTRL_FRAME x
sh /etc/init.d/rc.custom_dji_f330_mkblctrl
set MODE custom
fi
# PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 + Frame
if param compare SYS_AUTOSTART 5018 18
then
set MKBLCTRL_MODE no
set MKBLCTRL_FRAME +
sh /etc/init.d/rc.custom_dji_f330_mkblctrl
set MODE custom
fi
# PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 X Frame Mikrokopter-Addressing
if param compare SYS_AUTOSTART 4019 19
then
set MKBLCTRL_MODE yes
set MKBLCTRL_FRAME x
sh /etc/init.d/rc.custom_dji_f330_mkblctrl
set MODE custom
fi
# PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 + Frame Mikrokopter-Addressing
if param compare SYS_AUTOSTART 5020 20
then
set MKBLCTRL_MODE yes
set MKBLCTRL_FRAME +
sh /etc/init.d/rc.custom_dji_f330_mkblctrl
set MODE custom
fi
# PX4FMU v1 with IO + PPM-based ESCs on Quad X-shape frame
if param compare SYS_AUTOSTART 4021 21
then
set FRAME_GEOMETRY x
set ESC_MAKER afro
sh /etc/init.d/rc.custom_io_esc
set MODE custom
fi
# PX4FMU v1 with IO + PPM-based ESCs on Quad X-shape frame
if param compare SYS_AUTOSTART 10022 22
then
set FRAME_GEOMETRY w
sh /etc/init.d/rc.custom_io_esc
set MODE custom
fi
if param compare SYS_AUTOSTART 3030 30
then
sh /etc/init.d/3030_io_camflyer
set MODE custom
fi
if param compare SYS_AUTOSTART 3031 31
then
sh /etc/init.d/3031_io_phantom
set MODE custom
fi
if param compare SYS_AUTOSTART 3032 32
then
sh /etc/init.d/3032_skywalker_x5
set MODE custom
fi
if param compare SYS_AUTOSTART 3033 33
then
sh /etc/init.d/3033_io_wingwing
set MODE custom
fi
if param compare SYS_AUTOSTART 3034 34
then
sh /etc/init.d/3034_io_fx79
set MODE custom
fi
if param compare SYS_AUTOSTART 40
then
sh /etc/init.d/40_io_segway
set MODE custom
fi
if param compare SYS_AUTOSTART 2100 100
then
sh /etc/init.d/2100_mpx_easystar
set MODE custom
fi
if param compare SYS_AUTOSTART 2101 101
then
sh /etc/init.d/2101_hk_bixler
set MODE custom
fi
if param compare SYS_AUTOSTART 2102 102
then
sh /etc/init.d/2102_3dr_skywalker
set MODE custom
fi
if param compare SYS_AUTOSTART 800
then
sh /etc/init.d/800_sdlogger
set MODE custom
fi
# Start any custom extensions that might be missing
# Start any custom extensions
if [ -f /fs/microsd/etc/rc.local ]
then
sh /fs/microsd/etc/rc.local