mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-27 04:23:33 +08:00
rcS and autostart scripts cleanup, WIP
This commit is contained in:
Anton Babushkin
+110
-89
@@ -13,18 +13,31 @@ 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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echo "[init] looking for microSD..."
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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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echo "[init] microSD 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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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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#
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# Set default values here, can be overriden in rc.txt from SD card
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#
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set HIL no
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set VEHICLE_TYPE none
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set FRAME_GEOMETRY none
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set OUTPUT_MODE none
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set VEHICLE_TYPE none
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set PWM_RATE none
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set PWM_DISARMED none
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set PWM_MIN none
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set PWM_MAX none
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#
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# Look for an init script on the microSD card.
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#
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@@ -70,27 +83,18 @@ then
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uorb start
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#
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# Load microSD params
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# Load parameters
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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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# 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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param select /fs/microsd/params
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if [ -f /fs/microsd/params ]
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then
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if param load /fs/microsd/params
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then
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if param load /fs/microsd/params
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then
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echo "[init] Parameters loaded"
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else
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echo "[init] Parameter file corrupt - ignoring"
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fi
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echo "[init] Parameters loaded"
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else
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echo "[init] Parameter file corrupt - ignoring"
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fi
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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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@@ -104,13 +108,9 @@ then
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blinkm systemstate
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fi
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fi
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# Use FMU PWM output by default
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set OUTPUT_MODE fmu_pwm
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set IO_PRESENT no
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#
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# Upgrade PX4IO firmware
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# Check if PX4IO present and update firmware if needed
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#
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if [ -f /etc/extras/px4io-v2_default.bin ]
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then
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@@ -119,15 +119,14 @@ then
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set io_file /etc/extras/px4io-v1_default.bin
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fi
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set IO_PRESENT no
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if px4io checkcrc $io_file
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then
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echo "[init] PX4IO CRC OK"
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echo "PX4IO CRC OK" >> $logfile
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set IO_PRESENT yes
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# If PX4IO present, use it as primary PWM output by default
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set OUTPUT_MODE io_pwm
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else
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echo "[init] PX4IO CRC failure"
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echo "PX4IO CRC failure" >> $logfile
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@@ -142,9 +141,6 @@ then
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tone_alarm MSPAA
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set IO_PRESENT yes
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# If PX4IO present, use it as primary PWM output by default
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set OUTPUT_MODE io_pwm
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else
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echo "[init] PX4IO restart failed"
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echo "PX4IO restart failed" >> $logfile
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@@ -164,16 +160,27 @@ then
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fi
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fi
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fi
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set HIL no
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set FRAME_TYPE none
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set PWM_RATE none
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set PWM_DISARMED none
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set PWM_MIN none
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set PWM_MAX none
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#
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# Set default output if it was not defined in rc.txt
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#
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if [ $OUTPUT_MODE == none ]
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then
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if [ $IO_PRESENT == yes ]
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then
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# If PX4IO present, use it as primary PWM output by default
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set OUTPUT_MODE io_pwm
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else
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# Else use PX4FMU PWM output
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set OUTPUT_MODE fmu_pwm
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fi
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fi
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set EXIT_ON_END no
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#
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# Set DO_AUTOCONFIG flag to use it in AUTOSTART scripts
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#
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if param compare SYS_AUTOCONFIG 1
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then
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set DO_AUTOCONFIG yes
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@@ -181,41 +188,35 @@ then
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set DO_AUTOCONFIG no
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fi
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#
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# Start the Commander (needs to be this early for in-air-restarts)
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#
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commander start
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#
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# Set parameters and env variables for selected AUTOSTART
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#
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sh /etc/init.d/rc.autostart
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# Custom configuration
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if [ -f /fs/microsd/etc/rc.conf ]
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then
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sh /fs/microsd/etc/rc.conf
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fi
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if [ $HIL == yes ]
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then
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set OUTPUT_MODE hil
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else
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# Try to get an USB console if not in HIL mode
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nshterm /dev/ttyACM0 &
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fi
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#
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# If autoconfig parameter was set, reset it and save parameters
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#
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if [ $DO_AUTOCONFIG == yes ]
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then
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param set SYS_AUTOCONFIG 0
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param save
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fi
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if [ $MODE == autostart ]
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then
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if [ $HIL == yes ]
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then
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set OUTPUT_MODE hil
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else
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# Try to get an USB console if not in HIL mode
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nshterm /dev/ttyACM0 &
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fi
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#
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# If autoconfig parameter was set, reset it and save parameters
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#
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if [ $DO_AUTOCONFIG == yes ]
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then
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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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# Start the Commander (needs to be this early for in-air-restarts)
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#
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commander start
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#
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# Start primary output
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#
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@@ -224,29 +225,47 @@ then
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echo "[init] Use PX4IO PWM as primary output"
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if px4io start
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then
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echo "[init] PX4IO OK"
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echo "PX4IO OK" >> $logfile
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echo "[init] PX4IO started"
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sh /etc/init.d/rc.io
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else
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echo "[init] PX4IO start error"
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echo "PX4IO start error" >> $logfile
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tone_alarm MNGGG
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fi
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fi
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if [ $OUTPUT_MODE == fmu_pwm ]
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then
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echo "[init] Use PX4FMU PWM as primary output"
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fmu mode_pwm
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if fmu mode_pwm
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then
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echo "[init] PX4FMU PWM output started"
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sh /etc/init.d/rc.io
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else
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echo "[init] PX4FMU PWM output start error"
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tone_alarm MNGGG
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fi
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fi
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if [ $OUTPUT_MODE == mkblctrl ]
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then
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echo "[init] Use MKBLCTRL as primary output"
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mkblctrl
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if mkblctrl
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then
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echo "[init] MKBLCTRL started"
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else
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echo "[init] MKBLCTRL start error"
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tone_alarm MNGGG
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fi
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fi
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if [ $OUTPUT_MODE == hil ]
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then
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echo "[init] Use HIL as primary output"
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hil mode_pwm
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if hil mode_pwm
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then
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echo "[init] HIL output started"
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else
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echo "[init] HIL output error"
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tone_alarm MNGGG
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fi
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fi
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#
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@@ -257,12 +276,10 @@ then
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echo "[init] Use PX4IO PWM as secondary output"
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if px4io start
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then
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echo "[init] PX4IO OK"
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echo "PX4IO OK" >> $logfile
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echo "[init] PX4IO started"
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sh /etc/init.d/rc.io
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else
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echo "[init] PX4IO start error"
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echo "PX4IO start error" >> $logfile
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tone_alarm MNGGG
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fi
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fi
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@@ -270,18 +287,24 @@ then
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#
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# MAVLink
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#
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if [ $OUTPUT_MODE == fmu_pwm -a hw_ver compare PX4FMU_V1 ]
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if [ $HIL == yes ]
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then
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# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as PWM output
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mavlink start -d /dev/ttyS0
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mavlink start -b 230400 -d /dev/ttyACM0
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usleep 5000
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# Exit from nsh to free port for mavlink
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set EXIT_ON_END yes
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else
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# Start MAVLink on default port: ttyS1
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mavlink start
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usleep 5000
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if [ $OUTPUT_MODE == fmu_pwm -a hw_ver compare PX4FMU_V1 ]
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then
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# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as PWM output
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mavlink start -d /dev/ttyS0
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usleep 5000
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# Exit from nsh to free port for mavlink
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set EXIT_ON_END yes
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else
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# Start MAVLink on default port: ttyS1
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mavlink start
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usleep 5000
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fi
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fi
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#
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@@ -294,10 +317,7 @@ then
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then
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echo "[init] Start logging"
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sh /etc/init.d/rc.logging
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fi
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if [ $HIL == no ]
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then
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echo "[init] Start GPS"
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gps start
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fi
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@@ -336,6 +356,7 @@ then
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if [ $VEHICLE_TYPE == none ]
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then
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echo "[init] Vehicle type: GENERIC"
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attitude_estimator_ekf start
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position_estimator_inav start
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fi
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