mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-01 01:11:36 +08:00
Startup scripts major cleanup
This commit is contained in:
Anton Babushkin
+152
-149
@@ -57,162 +57,165 @@ fi
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if [ $MODE == autostart ]
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then
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#
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# Start terminal
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#
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if sercon
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then
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echo "USB connected"
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else
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# second attempt
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sercon &
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fi
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#
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# Start the ORB (first app to start)
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#
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uorb start
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#
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# Load microSD params
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#
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if ramtron start
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then
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param select /ramtron/params
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if [ -f /ramtron/params ]
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#
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# Start terminal
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#
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if sercon
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then
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param load /ramtron/params
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fi
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else
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param select /fs/microsd/params
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if [ -f /fs/microsd/params ]
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then
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param load /fs/microsd/params
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fi
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fi
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#
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# Start system state indicator
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#
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if rgbled start
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then
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echo "Using external RGB Led"
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else
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if blinkm start
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then
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blinkm systemstate
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fi
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fi
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#
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# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
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#
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if [ -f /fs/microsd/px4io.bin ]
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then
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echo "PX4IO Firmware found. Checking Upgrade.."
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if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.cur
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then
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echo "No newer version, skipping upgrade."
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echo "USB connected"
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else
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echo "Loading /fs/microsd/px4io.bin"
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if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io.log
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# second attempt
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sercon &
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fi
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#
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# Start the ORB (first app to start)
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#
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uorb start
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#
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# Load microSD params
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#
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if ramtron start
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then
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param select /ramtron/params
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if [ -f /ramtron/params ]
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then
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cp /fs/microsd/px4io.bin /fs/microsd/px4io.cur
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echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io.log
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param load /ramtron/params
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fi
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else
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param select /fs/microsd/params
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if [ -f /fs/microsd/params ]
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then
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param load /fs/microsd/params
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fi
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fi
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#
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# Start system state indicator
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#
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if rgbled start
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then
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echo "Using external RGB Led"
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else
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if blinkm start
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then
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blinkm systemstate
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fi
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fi
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#
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# Start logging
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#
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sh /etc/init.d/rc.logging
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#
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# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
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#
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if [ -f /fs/microsd/px4io.bin ]
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then
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echo "PX4IO Firmware found. Checking Upgrade.."
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if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.cur
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then
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echo "No newer version, skipping upgrade."
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else
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echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io.log
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echo "Failed to upgrade px4io firmware - check if px4io is in bootloader mode"
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echo "Loading /fs/microsd/px4io.bin"
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if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io.log
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then
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cp /fs/microsd/px4io.bin /fs/microsd/px4io.cur
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echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io.log
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else
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echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io.log
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echo "Failed to upgrade px4io firmware - check if px4io is in bootloader mode"
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fi
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fi
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fi
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fi
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#
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# Check if auto-setup from one of the standard scripts is wanted
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# SYS_AUTOSTART = 0 means no autostart (default)
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#
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if param compare SYS_AUTOSTART 1
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then
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sh /etc/init.d/01_fmu_quad_x
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set MODE custom
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fi
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if param compare SYS_AUTOSTART 2
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then
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sh /etc/init.d/02_io_quad_x
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set MODE custom
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fi
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if param compare SYS_AUTOSTART 8
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then
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sh /etc/init.d/08_ardrone
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set MODE custom
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fi
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if param compare SYS_AUTOSTART 9
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then
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sh /etc/init.d/09_ardrone_flow
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set MODE custom
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fi
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if param compare SYS_AUTOSTART 10
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then
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sh /etc/init.d/10_io_f330
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set MODE custom
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fi
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if param compare SYS_AUTOSTART 15
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then
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sh /etc/init.d/15_io_tbs
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set MODE custom
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fi
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if param compare SYS_AUTOSTART 30
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then
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sh /etc/init.d/30_io_camflyer
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set MODE custom
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fi
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if param compare SYS_AUTOSTART 31
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then
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sh /etc/init.d/31_io_phantom
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set MODE custom
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fi
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# Try to get an USB console
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nshterm /dev/ttyACM0 &
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# If none of the autostart scripts triggered, get a minimal setup
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if [ $MODE == autostart ]
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then
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# Telemetry port is on both FMU boards ttyS1
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mavlink start -b 57600 -d /dev/ttyS1
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usleep 5000
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# Start commander
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commander start
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# Start px4io if present
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if px4io start
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#
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# Check if auto-setup from one of the standard scripts is wanted
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# SYS_AUTOSTART = 0 means no autostart (default)
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#
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if param compare SYS_AUTOSTART 1
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then
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echo "PX4IO driver started"
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else
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if fmu mode_serial
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then
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echo "FMU driver started"
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fi
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sh /etc/init.d/01_fmu_quad_x
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set MODE custom
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fi
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if param compare SYS_AUTOSTART 2
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then
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sh /etc/init.d/02_io_quad_x
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set MODE custom
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fi
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if param compare SYS_AUTOSTART 8
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then
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sh /etc/init.d/08_ardrone
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set MODE custom
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fi
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if param compare SYS_AUTOSTART 9
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then
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sh /etc/init.d/09_ardrone_flow
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set MODE custom
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fi
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if param compare SYS_AUTOSTART 10
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then
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sh /etc/init.d/10_io_f330
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set MODE custom
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fi
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if param compare SYS_AUTOSTART 15
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then
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sh /etc/init.d/15_io_tbs
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set MODE custom
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fi
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if param compare SYS_AUTOSTART 30
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then
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sh /etc/init.d/30_io_camflyer
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set MODE custom
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fi
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if param compare SYS_AUTOSTART 31
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then
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sh /etc/init.d/31_io_phantom
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set MODE custom
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fi
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# Try to get an USB console
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nshterm /dev/ttyACM0 &
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# If none of the autostart scripts triggered, get a minimal setup
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if [ $MODE == autostart ]
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then
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# Telemetry port is on both FMU boards ttyS1
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mavlink start -b 57600 -d /dev/ttyS1
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usleep 5000
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# Start commander
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commander start
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# Start px4io if present
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if px4io start
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then
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echo "PX4IO driver started"
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else
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if fmu mode_serial
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then
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echo "FMU driver started"
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fi
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fi
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# Start sensors
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sh /etc/init.d/rc.sensors
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# Start one of the estimators
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attitude_estimator_ekf start
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# Start GPS
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gps start
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fi
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# Start sensors
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sh /etc/init.d/rc.sensors
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# Start one of the estimators
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attitude_estimator_ekf start
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# Start GPS
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gps start
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fi
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# End of autostart
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fi
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