From 8b5c7b5c847e88f8062b9e40c3f77b9ded259313 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 19 Feb 2015 21:50:54 +0100 Subject: [PATCH] Rover: Auto-starting rover apps --- ROMFS/px4fmu_common/init.d/50001_rover | 10 ++++++++++ ROMFS/px4fmu_common/init.d/rc.rover_apps | 9 +++++++++ ROMFS/px4fmu_common/init.d/rc.rover_defaults | 13 +++++++++++++ ROMFS/px4fmu_common/init.d/rcS | 18 ++++++++++++++++++ 4 files changed, 50 insertions(+) create mode 100644 ROMFS/px4fmu_common/init.d/50001_rover create mode 100644 ROMFS/px4fmu_common/init.d/rc.rover_apps create mode 100644 ROMFS/px4fmu_common/init.d/rc.rover_defaults diff --git a/ROMFS/px4fmu_common/init.d/50001_rover b/ROMFS/px4fmu_common/init.d/50001_rover new file mode 100644 index 0000000000..d66b8f0a7d --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/50001_rover @@ -0,0 +1,10 @@ +#!nsh +# +# Generic rover +# + +sh /etc/init.d/rc.rover_defaults + +set MIXER IO_pass.mix + +set PWM_OUT 1234 diff --git a/ROMFS/px4fmu_common/init.d/rc.rover_apps b/ROMFS/px4fmu_common/init.d/rc.rover_apps new file mode 100644 index 0000000000..1d15b98351 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.rover_apps @@ -0,0 +1,9 @@ +#!nsh +# +# Standard apps for rovers: +# att & pos estimator, rover steering control +# + +ekf_att_pos_estimator start + +rover_steering_control start diff --git a/ROMFS/px4fmu_common/init.d/rc.rover_defaults b/ROMFS/px4fmu_common/init.d/rc.rover_defaults new file mode 100644 index 0000000000..fc68472a6a --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.rover_defaults @@ -0,0 +1,13 @@ +#!nsh + +set VEHICLE_TYPE rover + +if [ $AUTOCNF == yes ] +then + # param set MC_ROLL_P 7.0 +fi + +set PWM_RATE 50 +set PWM_DISARMED 1100 +set PWM_MIN 1100 +set PWM_MAX 1900 diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 927e7f99ed..1c02fe293d 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -602,6 +602,24 @@ then sh /etc/init.d/rc.vtol_apps fi fi + + # + # Rover setup + # + if [ $VEHICLE_TYPE == rover ] + # 10 is MAV_TYPE_GROUND_ROVER + set MAV_TYPE 10 + + # Load mixer and configure outputs + sh /etc/init.d/rc.interface + + # Start standard rover apps + if [ $LOAD_DAPPS == yes ] + then + sh /etc/init.d/rc.rover_apps + fi + fi + unset MIXER unset MAV_TYPE unset OUTPUT_MODE