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Breakout rc.mavlink from rcS script.

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This commit is contained in:
mcsauder
2018-07-11 09:38:58 +02:00
committed by Beat Küng
parent 8a7919bcb6
commit 8b71bb4562
4 changed files with 234 additions and 181 deletions
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ROMFS/px4fmu_common/init.d/CMakeLists.txt
+2 -1
View File
@@ -107,13 +107,14 @@ px4_add_romfs_files(
rc.interface
rc.io
rc.logging
rc.mavlink
rc.mc_apps
rc.mc_defaults
rcS
rc.sensors
rc.thermal_cal
rc.ugv_apps
rc.ugv_defaults
rc.vtol_apps
rc.vtol_defaults
rcS
)
ROMFS/px4fmu_common/init.d/rc.mavlink
+218
View File
@@ -0,0 +1,218 @@
#!nsh
#
# MAVLINK stream startup script.
#
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
# NOTE: Normal mode uses baud rate of 57600 (default) and data rate of 1000 bytes/s.
#
#------------------------------------------------------------------------------
#
# UART mapping on FMUv2/3/4:
#
# UART1 /dev/ttyS0 IO debug (except v4, there ttyS0 is the wifi)
# USART2 /dev/ttyS1 TELEM1 (flow control)
# USART3 /dev/ttyS2 TELEM2 (flow control)
# UART4
# UART7 CONSOLE
# UART8 SERIAL4
#
#------------------------------------------------------------------------------
#
# UART mapping on FMUv5:
#
# UART1 /dev/ttyS0 GPS
# USART2 /dev/ttyS1 TELEM1 (flow control)
# USART3 /dev/ttyS2 TELEM2 (flow control)
# UART4 /dev/ttyS3 TELEM4
# USART6 /dev/ttyS4 TELEM3 (flow control)
# UART7 /dev/ttyS5
# UART8 /dev/ttyS6 CONSOLE
#
#------------------------------------------------------------------------------
#
# UART mapping on OMNIBUSF4SD:
#
# USART1 /dev/ttyS0 SerialRX
# USART4 /dev/ttyS1 TELEM1
# USART6 /dev/ttyS2 GPS
#
if [ $MAVLINK_F == default ]
then
# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s
set MAVLINK_F "-r 1200 -f"
if ver hwcmp AEROFC_V1
then
set MAVLINK_F "-r 1200 -d /dev/ttyS3"
# Only start mavlink if the Benewake TFMini or LeddarOne isn't being used
if param greater SENS_EN_TFMINI 0
then
set MAVLINK_F none
fi
if param greater SENS_EN_LEDDAR1 0
then
set MAVLINK_F none
fi
fi
# Use ttyS1 for MAVLink on FMUv4 in addition to ttyS0 (debug)
if ver hwcmp PX4FMU_V4
then
set MAVLINK_F "-r 1200 -d /dev/ttyS1"
# Start MAVLink on Wifi (ESP8266 port)
mavlink start -r 20000 -b 921600 -d /dev/ttyS0
fi
# Use ttyS3 (TELEM4) for MAVLink on FMUv5 in addition to ttyS1 (TELEM1) and ttyS2 (TELEM2)
if ver hwcmp PX4FMU_V5
then
mavlink start -r 2000 -b 57600 -d /dev/ttyS3
fi
if ver hwcmp CRAZYFLIE OMNIBUS_F4SD
then
# Avoid using either of the two available serials
set MAVLINK_F none
fi
fi
if [ "x$MAVLINK_F" == xnone ]
then
else
mavlink start ${MAVLINK_F}
fi
#
# MAVLink onboard / TELEM2
#
# XXX We need a better way for runtime eval of shell variables,
# but this works for now
if param compare SYS_COMPANION 10
then
frsky_telemetry start -d ${MAVLINK_COMPANION_DEVICE}
else
if ver hwcmp PX4FMU_V4 PX4FMU_V4PRO MINDPX_V2
then
# This is TELEM4 on Pixhawk 3 Pro
frsky_telemetry start -d /dev/ttyS6 -t 15
fi
fi
if param compare SYS_COMPANION 20
then
syslink start
mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000
fi
#
# 19200 Baud Rate.
#
if param compare SYS_COMPANION 319200
then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 19200 -r 1000 -f
fi
if param compare SYS_COMPANION 419200
then
iridiumsbd start -d ${MAVLINK_COMPANION_DEVICE}
mavlink start -d /dev/iridium -b 19200 -m iridium -r 10
fi
if param compare SYS_COMPANION 519200
then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 19200 -m minimal -r 1000
fi
#
# 38400 Baud Rate.
#
if param compare SYS_COMPANION 338400
then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 38400 -r 1000 -f
fi
if param compare SYS_COMPANION 538400
then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 38400 -m minimal -r 1000
fi
#
# 57600 Baud Rate.
#
if param compare SYS_COMPANION 57600
then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m onboard -r 5000 -x -f
fi
if param compare SYS_COMPANION 157600
then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m osd -r 1000
fi
if param compare SYS_COMPANION 257600
then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m magic -r 5000 -x -f
fi
if param compare SYS_COMPANION 357600
then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -r 1000 -f
fi
if param compare SYS_COMPANION 557600
then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m minimal -r 1000
fi
#
# 115200 Baud Rate.
#
if param compare SYS_COMPANION 3115200
then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 115200 -r 1000 -f
fi
if param compare SYS_COMPANION 5115200
then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 115200 -m minimal -r 1000
fi
#
# 460800 Baud Rate.
#
if param compare SYS_COMPANION 460800
then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 460800 -m onboard -r 5000 -x -f
fi
if param compare SYS_COMPANION 6460800
then
micrortps_client start -t UART -d /dev/ttyS2 -b 460800
fi
#
# 921600 Baud Rate.
#
if param compare SYS_COMPANION 921600
then
if ver hwcmp AEROFC_V1
then
if protocol_splitter start ${MAVLINK_COMPANION_DEVICE}
then
mavlink start -d /dev/mavlink -b 921600 -m onboard -r 5000 -x
micrortps_client start -d /dev/rtps -b 921600 -l -1 -s 2000
else
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -m onboard -r 80000 -x -f
fi
else
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -m onboard -r 80000 -x -f
fi
fi
if param compare SYS_COMPANION 1921600
then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -r 20000
fi
#
# 1500000 Baud Rate.
#
if param compare SYS_COMPANION 1500000
then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 1500000 -m onboard -r 10000 -x -f
fi
ROMFS/px4fmu_common/init.d/rc.thermal_cal
+1 -1
View File
@@ -5,7 +5,7 @@
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
set TEMP_CALIB_ARGS ""
set TEMP_CALIB_ARGS ""
#
# Determine if a thermal calibration should be started.
ROMFS/px4fmu_common/init.d/rcS
+13 -179
View File
@@ -13,31 +13,6 @@ set +e
#
# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
#
# UART mapping on OMNIBUSF4SD:
#
# USART1 /dev/ttyS0 SerialRX
# USART4 /dev/ttyS1 TELEM1
# USART6 /dev/ttyS2 GPS
#
# UART mapping on FMUv2/3/4:
#
# UART1 /dev/ttyS0 IO debug (except v4, there ttyS0 is the wifi)
# USART2 /dev/ttyS1 TELEM1 (flow control)
# USART3 /dev/ttyS2 TELEM2 (flow control)
# UART4
# UART7 CONSOLE
# UART8 SERIAL4
#
#
# UART mapping on FMUv5:
#
# UART1 /dev/ttyS0 GPS
# USART2 /dev/ttyS1 TELEM1 (flow control)
# USART3 /dev/ttyS2 TELEM2 (flow control)
# UART4 /dev/ttyS3 TELEM4
# USART6 /dev/ttyS4 TELEM3 (flow control)
# UART7 /dev/ttyS5 ?
# UART8 /dev/ttyS6 CONSOLE
#
# Set default paramter values
@@ -549,154 +524,10 @@ then
fi
fi
if [ $MAVLINK_F == default ]
then
# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s
set MAVLINK_F "-r 1200 -f"
# Use ttyS1 for MAVLink on FMUv4 in addition to ttyS0 (debug)
if ver hwcmp PX4FMU_V4
then
set MAVLINK_F "-r 1200 -d /dev/ttyS1"
# Start MAVLink on Wifi (ESP8266 port)
mavlink start -r 20000 -b 921600 -d /dev/ttyS0
fi
# Use ttyS3 (TELEM4) for MAVLink on FMUv5 in addition to ttyS1 (TELEM1) and ttyS2 (TELEM2)
if ver hwcmp PX4FMU_V5
then
mavlink start -r 2000 -b 57600 -d /dev/ttyS3
fi
if ver hwcmp AEROFC_V1
then
set MAVLINK_F "-r 1200 -d /dev/ttyS3"
# Only start mavlink if the Benewake TFMini or LeddarOne isn't being used
if param greater SENS_EN_TFMINI 0
then
set MAVLINK_F none
fi
if param greater SENS_EN_LEDDAR1 0
then
set MAVLINK_F none
fi
fi
if ver hwcmp CRAZYFLIE OMNIBUS_F4SD
then
# Avoid using either of the two available serials
set MAVLINK_F none
fi
fi
if [ "x$MAVLINK_F" == xnone ]
then
else
mavlink start ${MAVLINK_F}
fi
#
# MAVLink onboard / TELEM2
# Start mavlink streams.
#
# XXX We need a better way for runtime eval of shell variables,
# but this works for now
if param compare SYS_COMPANION 10
then
frsky_telemetry start -d ${MAVLINK_COMPANION_DEVICE}
else
if ver hwcmp PX4FMU_V4 PX4FMU_V4PRO MINDPX_V2
then
# This is TELEM4 on Pixhawk 3 Pro
frsky_telemetry start -d /dev/ttyS6 -t 15
fi
fi
if param compare SYS_COMPANION 20
then
syslink start
mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000
fi
if param compare SYS_COMPANION 921600
then
if ver hwcmp AEROFC_V1
then
if protocol_splitter start ${MAVLINK_COMPANION_DEVICE}
then
mavlink start -d /dev/mavlink -b 921600 -m onboard -r 5000 -x
micrortps_client start -d /dev/rtps -b 921600 -l -1 -s 2000
else
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -m onboard -r 80000 -x -f
fi
else
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -m onboard -r 80000 -x -f
fi
fi
if param compare SYS_COMPANION 57600
then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m onboard -r 5000 -x -f
fi
if param compare SYS_COMPANION 460800
then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 460800 -m onboard -r 5000 -x -f
fi
if param compare SYS_COMPANION 157600
then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m osd -r 1000
fi
if param compare SYS_COMPANION 257600
then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m magic -r 5000 -x -f
fi
if param compare SYS_COMPANION 319200
then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 19200 -r 1000 -f
fi
if param compare SYS_COMPANION 338400
then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 38400 -r 1000 -f
fi
if param compare SYS_COMPANION 357600
then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -r 1000 -f
fi
if param compare SYS_COMPANION 3115200
then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 115200 -r 1000 -f
fi
if param compare SYS_COMPANION 419200
then
iridiumsbd start -d ${MAVLINK_COMPANION_DEVICE}
mavlink start -d /dev/iridium -b 19200 -m iridium -r 10
fi
if param compare SYS_COMPANION 519200
then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 19200 -m minimal -r 1000
fi
if param compare SYS_COMPANION 538400
then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 38400 -m minimal -r 1000
fi
if param compare SYS_COMPANION 557600
then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m minimal -r 1000
fi
if param compare SYS_COMPANION 5115200
then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 115200 -m minimal -r 1000
fi
if param compare SYS_COMPANION 6460800
then
micrortps_client start -t UART -d /dev/ttyS2 -b 460800
fi
if param compare SYS_COMPANION 1921600
then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -r 20000
fi
if param compare SYS_COMPANION 1500000
then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 1500000 -m onboard -r 10000 -x -f
fi
sh /etc/init.d/rc.mavlink
#
# Starting stuff according to UAVCAN_ENABLE value
@@ -894,12 +725,12 @@ then
fi
#
# Start the navigator
# Start the navigator.
#
navigator start
#
# Generic setup (autostart ID not found)
# Generic setup (autostart ID not found).
#
if [ $VEHICLE_TYPE == none ]
then
@@ -907,7 +738,7 @@ then
ekf2 start
fi
# Start any custom addons
# Start any custom addons.
if [ -f $FEXTRAS ]
then
echo "Addons script: ${FEXTRAS}"
@@ -916,17 +747,17 @@ then
if ver hwcmp CRAZYFLIE
then
# CF2 shouldn't have an sd card
# CF2 shouldn't have an sd card.
else
if ver hwcmp AEROCORE2
then
# AEROCORE2 shouldn't have an sd card
# AEROCORE2 shouldn't have an sd card.
else
# Run no SD alarm
# Run no SD alarm.
if [ $LOG_FILE == /dev/null ]
then
# Play SOS
# Play SOS.
tone_alarm error
fi
@@ -950,9 +781,12 @@ then
fi
fi
#
# Start the logger.
#
sh /etc/init.d/rc.logging
# End of autostart
# End of autostart.
fi
# There is no further script processing, so we can free some RAM