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move omnibus_f4sd init to rc.board

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This commit is contained in:
Daniel Agar 2018-11-30 14:23:24 -05:00
parent 60ade5d82b
commit a4830f8d7b
3 changed files with 50 additions and 43 deletions
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16
ROMFS/px4fmu_common/init.d/rc.sensors
View File

@ -94,22 +94,6 @@ then
l3gd20 -R 14 start
fi
if ver hwcmp OMNIBUS_F4SD
then
if ! mpu6000 -R 12 -s start
then
# some boards such as the Hobbywing XRotor F4 G2 use the ICM-20602
mpu6000 -R 12 -T 20602 -s start
fi
# Possible external compasses
hmc5883 -X start
bmp280 start
adc start
fi
if ver hwcmp ATMEL_SAME70XPLAINED_V1
then
# External I2C bus

28
ROMFS/px4fmu_common/init.d/rcS
View File

@ -14,14 +14,6 @@ set +e
# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
#
#------------------------------------------------------------------------------
#
# UART mapping on OMNIBUSF4SD:
#
# USART1 /dev/ttyS0 SerialRX
# (USART3 configured as I2C)
# USART4 /dev/ttyS1 TELEM2 (TX=RSSI, RX=PWM out 5)
# USART6 /dev/ttyS2 URT6
#
#
# Set default paramter values.
@ -290,24 +282,6 @@ else
#
if [ $AUTOCNF = yes ]
then
# Disable safety switch by default on OmnibusF4SD.
if ver hwcmp OMNIBUS_F4SD
then
param set CBRK_IO_SAFETY 22027
fi
if ver hwcmp OMNIBUS_F4SD
then
param set SYS_FMU_TASK 1
param set SYS_HAS_MAG 0
# use the Q attitude estimator, it works w/o mag or GPS.
param set SYS_MC_EST_GROUP 1
param set ATT_ACC_COMP 0
param set ATT_W_ACC 0.4000
param set ATT_W_GYRO_BIAS 0.0000
fi
param set SYS_AUTOCONFIG 0
fi
@ -502,7 +476,7 @@ else
#
# Launch the flow sensor as a background task.
#
if ver hwcmp PX4_FMU_V4 AIRMIND_MINDPX_V2 OMNIBUS_F4SD
if ver hwcmp PX4_FMU_V4 AIRMIND_MINDPX_V2
then
px4flow start &
fi

49
boards/omnibus/f4sd/init/rc.board Normal file
View File

@ -0,0 +1,49 @@
#!nsh
#
# Omnibus F4SD specific board init
#
#------------------------------------------------------------------------------
#
# UART mapping on OMNIBUSF4SD:
#
# USART1 /dev/ttyS0 SerialRX
# (USART3 configured as I2C)
# USART4 /dev/ttyS1 TELEM2 (TX=RSSI, RX=PWM out 5)
# USART6 /dev/ttyS2 URT6
#
#------------------------------------------------------------------------------
#
if [ $AUTOCNF = yes ]
then
# Disable safety switch by default
param set CBRK_IO_SAFETY 22027
# use the Q attitude estimator, it works w/o mag or GPS.
param set SYS_MC_EST_GROUP 1
param set ATT_ACC_COMP 0
param set ATT_W_ACC 0.4000
param set ATT_W_GYRO_BIAS 0.0000
param set SYS_HAS_MAG 0
param set SYS_FMU_TASK 1
fi
set MIXER_AUX none
if ! mpu6000 -R 12 -s start
then
# some boards such as the Hobbywing XRotor F4 G2 use the ICM-20602
mpu6000 -R 12 -T 20602 -s start
fi
# Possible external compasses
hmc5883 -X start
bmp280 start
adc start
px4flow start &