From c3038619a420359bd00e513a63fa15a135209872 Mon Sep 17 00:00:00 2001 From: Simon Wilks Date: Thu, 6 Dec 2012 22:35:20 +0100 Subject: [PATCH 1/4] Updating the PX4IO rc script to the latest state. --- ROMFS/scripts/rc.PX4IO | 45 +++++++++++++++--------------------------- 1 file changed, 16 insertions(+), 29 deletions(-) diff --git a/ROMFS/scripts/rc.PX4IO b/ROMFS/scripts/rc.PX4IO index b5a0874335..3a5ccbc5c6 100644 --- a/ROMFS/scripts/rc.PX4IO +++ b/ROMFS/scripts/rc.PX4IO @@ -1,12 +1,9 @@ #!nsh -# -# Flight startup script for PX4FMU with PX4IO carrier board. -# -echo "[init] doing PX4IO startup..." +set USB no # -# Start the ORB +# Start the object request broker # uorb start @@ -20,15 +17,21 @@ then param load fi +# +# Enable / connect to PX4IO +# +px4io start + # # Start the sensors. # sh /etc/init.d/rc.sensors # -# Start MAVLink +# Start MAVLink on UART1 (dev/ttyS0) at 57600 baud (CLI is now unusable) # mavlink start -d /dev/ttyS0 -b 57600 +usleep 5000 # # Start the commander. @@ -41,35 +44,19 @@ commander start attitude_estimator_ekf start # -# Configure PX4FMU for operation with PX4IO +# Start the attitude and position controller # -# XXX arguments? -# -px4fmu start +fixedwing_att_control start +fixedwing_pos_control start # -# Start the fixed-wing controller +# Start GPS capture # -fixedwing_control start - -# -# Fire up the PX4IO interface. -# -px4io start - -# -# Start looking for a GPS. -# -gps start - -# -# Start logging to microSD if we can -# -sh /etc/init.d/rc.logging +#gps start # # startup is done; we don't want the shell because we -# use the same UART for telemetry (dumb). +# use the same UART for telemetry # -echo "[init] startup done, exiting." +echo "[init] startup done" exit From b7b79d825423dcdf84f684ebb4de879a36d86dc9 Mon Sep 17 00:00:00 2001 From: Simon Wilks Date: Thu, 6 Dec 2012 22:37:28 +0100 Subject: [PATCH 2/4] Add logging back in. --- ROMFS/scripts/rc.PX4IO | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/ROMFS/scripts/rc.PX4IO b/ROMFS/scripts/rc.PX4IO index 3a5ccbc5c6..9a7509b1e6 100644 --- a/ROMFS/scripts/rc.PX4IO +++ b/ROMFS/scripts/rc.PX4IO @@ -54,6 +54,11 @@ fixedwing_pos_control start # #gps start +# +# Start logging to microSD if we can +# +sh /etc/init.d/rc.logging + # # startup is done; we don't want the shell because we # use the same UART for telemetry From 096305f6259abd612e571c713f0ef0bc24f2b38d Mon Sep 17 00:00:00 2001 From: Simon Wilks Date: Mon, 10 Dec 2012 09:05:26 +0100 Subject: [PATCH 3/4] A mixer is required. --- ROMFS/scripts/rc.PX4IO | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/ROMFS/scripts/rc.PX4IO b/ROMFS/scripts/rc.PX4IO index 9a7509b1e6..3e91f7ef6e 100644 --- a/ROMFS/scripts/rc.PX4IO +++ b/ROMFS/scripts/rc.PX4IO @@ -22,6 +22,12 @@ fi # px4io start +# +# Load an appropriate mixer. FMU_pass.mix is a passthru mixer. +# See ROMFS/mixers for a full list of mixers. +# +mixer load /dev/pwm_output /etc/mixers/FMU_pass.mix + # # Start the sensors. # From 06126d0d9e2a5d85363ebe3136d35b164f1fd966 Mon Sep 17 00:00:00 2001 From: Simon Wilks Date: Thu, 13 Dec 2012 07:09:11 +0100 Subject: [PATCH 4/4] Starting GPS should probably be on by default. --- ROMFS/scripts/rc.PX4IO | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/ROMFS/scripts/rc.PX4IO b/ROMFS/scripts/rc.PX4IO index 3e91f7ef6e..84e181a5ae 100644 --- a/ROMFS/scripts/rc.PX4IO +++ b/ROMFS/scripts/rc.PX4IO @@ -23,8 +23,8 @@ fi px4io start # -# Load an appropriate mixer. FMU_pass.mix is a passthru mixer. -# See ROMFS/mixers for a full list of mixers. +# Load an appropriate mixer. FMU_pass.mix is a passthru mixer +# which is good for testing. See ROMFS/mixers for a full list of mixers. # mixer load /dev/pwm_output /etc/mixers/FMU_pass.mix @@ -56,9 +56,9 @@ fixedwing_att_control start fixedwing_pos_control start # -# Start GPS capture +# Start GPS capture. Comment this out if you do not have a GPS. # -#gps start +gps start # # Start logging to microSD if we can