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more px4fmu-v1 cleanup (#7981)

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This commit is contained in:
Daniel Agar
2017-09-20 00:04:23 -04:00
committed by GitHub
parent 0780e430fd
commit 4e6ca271e7
12 changed files with 134 additions and 643 deletions
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ROMFS/px4fmu_common/init.d/16001_helicopter
+1 -3
View File
@@ -54,6 +54,4 @@ then
param set ATT_BIAS_MAX 0.0
param set CBRK_IO_SAFETY 22027
fi
set HIL no
fi
ROMFS/px4fmu_common/init.d/4008_ardrone
-47
View File
@@ -1,47 +0,0 @@
#!nsh
#
# @name AR.Drone Frame
#
# @type Quadrotor x
# @class Copter
#
# @board px4fmu-v2 exclude
# @board px4fmu-v3 exclude
# @board px4fmu-v4 exclude
# @board px4fmu-v4pro exclude
# @board px4fmu-v5 exclude
# @board aerofc-v1 exclude
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/rc.mc_defaults
#
# Load default params for this platform
#
if [ $AUTOCNF == yes ]
then
# Set all params here, then disable autoconfig
param set MC_ROLL_P 6.0
param set MC_ROLLRATE_P 0.14
param set MC_ROLLRATE_I 0.1
param set MC_ROLLRATE_D 0.002
param set MC_PITCH_P 6.0
param set MC_PITCHRATE_P 0.14
param set MC_PITCHRATE_I 0.1
param set MC_PITCHRATE_D 0.002
param set MC_YAW_P 2.0
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0.0
param set MC_YAW_FF 0.8
param set BAT_V_DIV 34.32838
fi
set OUTPUT_MODE ardrone
set USE_IO no
set MIXER skip
# set MAV_TYPE because no specific mixer is set
set MAV_TYPE 2
ROMFS/px4fmu_common/init.d/rc.interface
+6 -4
View File
@@ -120,9 +120,6 @@ then
fi
fi
# This is a FMUv2+ thing
#MindPX has not aux mixer
if ver hwcmp MINDPX_V2
then
set MIXER_AUX none
@@ -138,6 +135,11 @@ then
set MIXER_AUX none
fi
if ver hwcmp PX4FMU_V4
then
set MIXER_AUX none
fi
if ver hwcmp PX4FMU_V5
then
set MIXER_AUX none
@@ -168,7 +170,7 @@ then
if fmu mode_${AUX_MODE} $FMU_ARGS
then
# Append aux mixer to main device
if [ $OUTPUT_MODE == hil ]
if param compare SYS_HITL 1
then
if mixer append ${OUTPUT_DEV} ${MIXER_AUX_FILE}
then
ROMFS/px4fmu_common/init.d/rcS
+56 -151
View File
@@ -41,9 +41,7 @@ mount -t procfs /proc
#
# Start CDC/ACM serial driver
#
if sercon
then
fi
sercon
#
# Default to auto-start mode.
@@ -68,10 +66,10 @@ then
hardfault_log reset
tone_alarm stop
fi
else
# Start playing the startup tune
tone_alarm start
fi
else
# Start playing the startup tune
tone_alarm start
fi
else
tone_alarm MBAGP
if mkfatfs /dev/mmcsd0
@@ -141,14 +139,8 @@ then
fi
# FMUv5 may have both PWM I2C RGB LED support
rgbled_pwm start
# Currently unused, but might be useful down the road
#if pca8574 start
#then
#fi
#
# Set AUTOCNF flag to use it in AUTOSTART scripts
#
@@ -174,7 +166,6 @@ then
#
# Set default values
#
set HIL no
set VEHICLE_TYPE none
set MIXER none
set MIXER_AUX none
@@ -197,66 +188,37 @@ then
set FMU_ARGS ""
set MAVLINK_F default
set MAVLINK_COMPANION_DEVICE /dev/ttyS2
set EXIT_ON_END no
set MAV_TYPE none
set FAILSAFE none
set USE_IO yes
set USE_IO no
set LOGGER_BUF 16
if param compare SYS_FMU_TASK 1
if ver hwcmp PX4FMU_V4
then
set FMU_ARGS "-t"
param set SYS_FMU_TASK 1
fi
if param compare SYS_HITL 1
if ver hwcmp PX4FMU_V4PRO
then
# Enable HITL mode
set HIL yes
param set SYS_FMU_TASK 1
fi
#
# Set USE_IO flag
#
if param compare SYS_USE_IO 1
if ver hwcmp PX4FMU_V5
then
if ver hwcmp PX4FMU_V4
then
set USE_IO no
fi
param set SYS_FMU_TASK 1
set MAVLINK_COMPANION_DEVICE /dev/ttyS3
if ver hwcmp PX4FMU_V5
then
set USE_IO no
set MAVLINK_COMPANION_DEVICE /dev/ttyS3
fi
set LOGGER_BUF 64
param set SDLOG_MODE 2
fi
if ver hwcmp MINDPX_V2
if ver hwcmp CRAZYFLIE
then
if param compare SYS_AUTOSTART 0
then
set USE_IO no
param set SYS_AUTOSTART 4900
set AUTOCNF yes
fi
if ver hwcmp CRAZYFLIE
then
set USE_IO no
if param compare SYS_AUTOSTART 0
then
param set SYS_AUTOSTART 4900
set AUTOCNF yes
fi
fi
if ver hwcmp AEROFC_V1
then
set USE_IO no
fi
if ver hwcmp AEROCORE2
then
set USE_IO no
fi
else
set USE_IO no
fi
if ver hwcmp AEROFC_V1
@@ -271,12 +233,24 @@ then
param set SYS_AUTOSTART 4070
fi
#
# Set USE_IO flag
#
if param compare SYS_USE_IO 1
then
set USE_IO yes
fi
if param compare SYS_FMU_TASK 1
then
set FMU_ARGS "-t"
fi
#
# Set parameters and env variables for selected AUTOSTART
#
if param compare SYS_AUTOSTART 0
then
ekf2 start
else
sh /etc/init.d/rc.autostart
fi
@@ -295,25 +269,6 @@ then
fi
fi
#
# Wipe incompatible settings for boards not having two outputs
if ver hwcmp PX4FMU_V4
then
set MIXER_AUX none
param set SYS_FMU_TASK 1
fi
if ver hwcmp PX4FMU_V5
then
set MIXER_AUX none
param set SYS_FMU_TASK 1
fi
if ver hwcmp AEROFC_V1
then
set MIXER_AUX none
fi
#
# Override parameters from user configuration file
#
@@ -415,12 +370,6 @@ then
then
# Need IO for output but it not present, disable output
set OUTPUT_MODE none
fi
if [ $OUTPUT_MODE == ardrone ]
then
set FMU_MODE gpio_serial
fi
if [ $OUTPUT_MODE == tap_esc ]
@@ -428,13 +377,6 @@ then
set FMU_MODE rcin
fi
if [ $HIL == yes ]
then
set OUTPUT_MODE hil
else
gps start
fi
set DATAMAN_OPT ""
if ver hwcmp AEROFC_V1
then
@@ -453,37 +395,21 @@ then
#
# Sensors System (start before Commander so Preflight checks are properly run)
#
if [ $HIL == yes ]
# commander Needs to be this early for in-air-restarts
if param compare SYS_HITL 1
then
set OUTPUT_MODE hil
sensors start -h
commander start --hil
else
gps start
sh /etc/init.d/rc.sensors
fi
unset HIL
# Needs to be this early for in-air-restarts
if [ $OUTPUT_MODE == hil ]
then
commander start --hil
else
commander start
commander start
fi
if send_event start
then
fi
#
# Start CPU load monitor
#
send_event start
load_mon start
#
# Start primary output
#
set TTYS1_BUSY no
#
# Check if UAVCAN is enabled, default to it for ESCs
#
@@ -540,7 +466,7 @@ then
fi
fi
if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == ardrone ]
if [ $OUTPUT_MODE == fmu ]
then
if fmu mode_$FMU_MODE $FMU_ARGS
then
@@ -597,7 +523,7 @@ then
fi
fi
else
if [ $OUTPUT_MODE != fmu -a $OUTPUT_MODE != ardrone ]
if [ $OUTPUT_MODE != fmu ]
then
if fmu mode_${FMU_MODE} $FMU_ARGS
then
@@ -612,27 +538,19 @@ then
if [ $MAVLINK_F == default ]
then
# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s
if [ $TTYS1_BUSY == yes ]
set MAVLINK_F "-r 1200 -f"
# Avoid using ttyS1 for MAVLink on FMUv4
if ver hwcmp PX4FMU_V4
then
# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else
set MAVLINK_F "-r 1200 -d /dev/ttyS0"
set MAVLINK_F "-r 1200 -d /dev/ttyS1"
# Start MAVLink on Wifi (ESP8266 port)
mavlink start -r 20000 -m config -b 921600 -d /dev/ttyS0
fi
# Exit from nsh to free port for mavlink
set EXIT_ON_END yes
else
set MAVLINK_F "-r 1200 -f"
# Avoid using ttyS1 for MAVLink on FMUv4
if ver hwcmp PX4FMU_V4
then
set MAVLINK_F "-r 1200 -d /dev/ttyS1"
# Start MAVLink on Wifi (ESP8266 port)
mavlink start -r 20000 -m config -b 921600 -d /dev/ttyS0
fi
if ver hwcmp AEROFC_V1
then
set MAVLINK_F "-r 1200 -d /dev/ttyS3"
fi
if ver hwcmp AEROFC_V1
then
set MAVLINK_F "-r 1200 -d /dev/ttyS3"
fi
if ver hwcmp CRAZYFLIE
@@ -764,6 +682,7 @@ then
if ver hwcmp AEROFC_V1
then
# don't start mavlink ttyACM0 on aerofc_v1
else
# Start MAVLink
mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
@@ -777,14 +696,6 @@ then
sdlog2 start -r 100 -a -b 9 -t
else
set LOGGER_ARGS ""
#
# Adjust FMUv5 logging settings
#
if ver hwcmp PX4FMU_V5
then
set LOGGER_BUF 64
param set SDLOG_MODE 2
fi
if param compare SDLOG_MODE 1
then
@@ -1024,6 +935,7 @@ then
if [ $VEHICLE_TYPE == none ]
then
echo "No autostart ID found"
ekf2 start
fi
# Start any custom addons
@@ -1100,10 +1012,3 @@ unset TUNE_ERR
# Boot is complete, inform MAVLink app(s) that the system is now fully up and running
mavlink boot_complete
if [ $EXIT_ON_END == yes ]
then
echo "NSH exit"
exit
fi
unset EXIT_ON_END