mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-03 12:48:53 +08:00
Merge pull request #338 from PX4/autostart
Implemented new, simple system boot config and sane default value system
This commit is contained in:
sjwilks
@@ -0,0 +1,107 @@
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#!nsh
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#
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# Flight startup script for PX4FMU with PWM outputs.
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#
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||||
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# disable USB and autostart
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set USB no
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set MODE custom
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echo "[init] doing PX4FMU Quad startup..."
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#
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# Start the ORB
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#
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uorb start
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#
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# Load microSD params
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#
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echo "[init] loading 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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param load /fs/microsd/params
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fi
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#
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# Load default params for this platform
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#
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if param compare SYS_AUTOCONFIG 1
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then
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# Set all params here, then disable autoconfig
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param set MC_ATTRATE_P 0.14
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param set MC_ATTRATE_I 0
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param set MC_ATTRATE_D 0.006
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param set MC_ATT_P 5.5
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param set MC_ATT_I 0
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param set MC_ATT_D 0
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param set MC_YAWPOS_D 0
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param set MC_YAWPOS_I 0
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param set MC_YAWPOS_P 0.6
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param set MC_YAWRATE_D 0
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param set MC_YAWRATE_I 0
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param set MC_YAWRATE_P 0.08
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param set RC_SCALE_PITCH 1
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param set RC_SCALE_ROLL 1
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param set RC_SCALE_YAW 3
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param set SYS_AUTOCONFIG 0
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param save /fs/microsd/params
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fi
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#
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# Force some key parameters to sane values
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# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
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# see https://pixhawk.ethz.ch/mavlink/
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#
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param set MAV_TYPE 2
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#
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# Start MAVLink
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#
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mavlink start -d /dev/ttyS0 -b 57600
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usleep 5000
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#
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# Start the sensors and test them.
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#
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sh /etc/init.d/rc.sensors
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#
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# Start the commander.
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#
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commander start
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#
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# Start GPS interface (depends on orb)
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#
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gps start
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#
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# Start the attitude estimator
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#
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attitude_estimator_ekf start
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echo "[init] starting PWM output"
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fmu mode_pwm
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mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
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pwm -u 400 -m 0xff
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#
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# Start attitude control
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#
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multirotor_att_control start
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#
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# Start logging
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#
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sdlog2 start -r 50 -a -b 14
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#
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# Start system state
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#
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if blinkm start
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then
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blinkm systemstate
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fi
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@@ -1,8 +1,11 @@
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#!nsh
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#
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# Flight startup script for PX4FMU+PX4IO
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||||
#
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# Disable USB and autostart
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# disable USB and autostart
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set USB no
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set MODE quad
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set MODE custom
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#
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# Start the ORB (first app to start)
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@@ -18,6 +21,16 @@ if [ -f /fs/microsd/params ]
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then
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param load /fs/microsd/params
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fi
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|
||||
#
|
||||
# Load default params for this platform
|
||||
#
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||||
if param compare SYS_AUTOCONFIG 1
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||||
then
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# Set all params here, then disable autoconfig
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param set SYS_AUTOCONFIG 0
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param save /fs/microsd/params
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fi
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#
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# Force some key parameters to sane values
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@@ -68,6 +81,11 @@ px4io start
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# Allow PX4IO to recover from midair restarts.
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# this is very unlikely, but quite safe and robust.
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px4io recovery
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#
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# Disable px4io topic limiting
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#
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px4io limit 200
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#
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# Start the sensors (depends on orb, px4io)
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@@ -87,21 +105,19 @@ attitude_estimator_ekf start
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#
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# Load mixer and start controllers (depends on px4io)
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#
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mixer load /dev/pwm_output /etc/mixers/FMU_quad_+.mix
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mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
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pwm -u 400 -m 0xff
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multirotor_att_control start
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#
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# Start logging
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#
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#sdlog start -s 4
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sdlog2 start -r 50 -a -b 14
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#
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# Start system state
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#
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if blinkm start
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then
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echo "using BlinkM for state indication"
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blinkm systemstate
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else
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echo "no BlinkM found, OK."
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fi
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fi
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@@ -0,0 +1,139 @@
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#!nsh
|
||||
#
|
||||
# Flight startup script for PX4FMU+PX4IO
|
||||
#
|
||||
|
||||
# disable USB and autostart
|
||||
set USB no
|
||||
set MODE custom
|
||||
|
||||
#
|
||||
# Load default params for this platform
|
||||
#
|
||||
if param compare SYS_AUTOCONFIG 1
|
||||
then
|
||||
# Set all params here, then disable autoconfig
|
||||
param set SYS_AUTOCONFIG 0
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param set MC_ATTRATE_D 0.007
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param set MC_ATTRATE_I 0.0
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param set MC_ATTRATE_P 0.13
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param set MC_ATT_D 0.0
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param set MC_ATT_I 0.0
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param set MC_ATT_P 7.0
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param set MC_POS_P 0.1
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param set MC_RCLOSS_THR 0.0
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param set MC_YAWPOS_D 0.0
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param set MC_YAWPOS_I 0.5
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param set MC_YAWPOS_P 1.0
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param set MC_YAWRATE_D 0.0
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param set MC_YAWRATE_I 0.0
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param set MC_YAWRATE_P 0.2
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param save /fs/microsd/params
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fi
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||||
|
||||
#
|
||||
# Force some key parameters to sane values
|
||||
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
|
||||
# see https://pixhawk.ethz.ch/mavlink/
|
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#
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param set MAV_TYPE 2
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#
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# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
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#
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if [ -f /fs/microsd/px4io2.bin ]
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then
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echo "PX4IO Firmware found. Checking Upgrade.."
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if cmp /fs/microsd/px4io2.bin /fs/microsd/px4io2.cur
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then
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echo "No newer version, skipping upgrade."
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else
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echo "Loading /fs/microsd/px4io2.bin"
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if px4io update /fs/microsd/px4io2.bin > /fs/microsd/px4io2.log
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then
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cp /fs/microsd/px4io2.bin /fs/microsd/px4io2.cur
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echo "Flashed /fs/microsd/px4io2.bin OK" >> /fs/microsd/px4io2.log
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else
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||||
echo "Failed flashing /fs/microsd/px4io2.bin" >> /fs/microsd/px4io2.log
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||||
echo "Failed to upgrade PX4IO2 firmware - check if PX4IO2 is in bootloader mode"
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fi
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fi
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||||
fi
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||||
|
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#
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# Start MAVLink (depends on orb)
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#
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mavlink start
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usleep 5000
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#
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# Start PX4IO interface (depends on orb, commander)
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#
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px4io start
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pwm -u 400 -m 0xff
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|
||||
#
|
||||
# Allow PX4IO to recover from midair restarts.
|
||||
# this is very unlikely, but quite safe and robust.
|
||||
px4io recovery
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||||
|
||||
#
|
||||
# Disable px4io topic limiting
|
||||
#
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||||
px4io limit 200
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|
||||
#
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||||
# This sets a PWM right after startup (regardless of safety button)
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#
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px4io idle 900 900 900 900
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#
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# The values are for spinning motors when armed using DJI ESCs
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||||
#
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px4io min 1200 1200 1200 1200
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||||
#
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# Upper limits could be higher, this is on the safe side
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#
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px4io max 1800 1800 1800 1800
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|
||||
#
|
||||
# Start the sensors (depends on orb, px4io)
|
||||
#
|
||||
sh /etc/init.d/rc.sensors
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||||
|
||||
#
|
||||
# Start the commander (depends on orb, mavlink)
|
||||
#
|
||||
commander start
|
||||
|
||||
#
|
||||
# Start GPS interface (depends on orb)
|
||||
#
|
||||
gps start
|
||||
|
||||
#
|
||||
# Start the attitude estimator (depends on orb)
|
||||
#
|
||||
attitude_estimator_ekf start
|
||||
|
||||
#
|
||||
# Load mixer and start controllers (depends on px4io)
|
||||
#
|
||||
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
|
||||
multirotor_att_control start
|
||||
|
||||
#
|
||||
# Start logging
|
||||
#
|
||||
sdlog2 start -r 20 -a -b 14
|
||||
|
||||
#
|
||||
# Start system state
|
||||
#
|
||||
if blinkm start
|
||||
then
|
||||
blinkm systemstate
|
||||
fi
|
||||
@@ -1,8 +1,11 @@
|
||||
#!nsh
|
||||
#
|
||||
# Flight startup script for PX4FMU+PX4IO
|
||||
#
|
||||
|
||||
# Disable USB and autostart
|
||||
# disable USB and autostart
|
||||
set USB no
|
||||
set MODE camflyer
|
||||
set MODE custom
|
||||
|
||||
#
|
||||
# Start the ORB (first app to start)
|
||||
@@ -18,6 +21,16 @@ if [ -f /fs/microsd/params ]
|
||||
then
|
||||
param load /fs/microsd/params
|
||||
fi
|
||||
|
||||
#
|
||||
# Load default params for this platform
|
||||
#
|
||||
if param compare SYS_AUTOCONFIG 1
|
||||
then
|
||||
# Set all params here, then disable autoconfig
|
||||
param set SYS_AUTOCONFIG 0
|
||||
param save /fs/microsd/params
|
||||
fi
|
||||
|
||||
#
|
||||
# Force some key parameters to sane values
|
||||
@@ -68,6 +81,10 @@ px4io start
|
||||
# Allow PX4IO to recover from midair restarts.
|
||||
# this is very unlikely, but quite safe and robust.
|
||||
px4io recovery
|
||||
|
||||
#
|
||||
# Set actuator limit to 100 Hz update (50 Hz PWM)
|
||||
px4io limit 100
|
||||
|
||||
#
|
||||
# Start the sensors (depends on orb, px4io)
|
||||
@@ -93,15 +110,12 @@ control_demo start
|
||||
#
|
||||
# Start logging
|
||||
#
|
||||
#sdlog start -s 4
|
||||
sdlog2 start -r 50 -a -b 14
|
||||
|
||||
#
|
||||
# Start system state
|
||||
#
|
||||
if blinkm start
|
||||
then
|
||||
echo "using BlinkM for state indication"
|
||||
blinkm systemstate
|
||||
else
|
||||
echo "no BlinkM found, OK."
|
||||
fi
|
||||
@@ -0,0 +1,121 @@
|
||||
#!nsh
|
||||
#
|
||||
# Flight startup script for PX4FMU+PX4IO
|
||||
#
|
||||
|
||||
# disable USB and autostart
|
||||
set USB no
|
||||
set MODE custom
|
||||
|
||||
#
|
||||
# Start the ORB (first app to start)
|
||||
#
|
||||
uorb start
|
||||
|
||||
#
|
||||
# Load microSD params
|
||||
#
|
||||
echo "[init] loading microSD params"
|
||||
param select /fs/microsd/params
|
||||
if [ -f /fs/microsd/params ]
|
||||
then
|
||||
param load /fs/microsd/params
|
||||
fi
|
||||
|
||||
#
|
||||
# Load default params for this platform
|
||||
#
|
||||
if param compare SYS_AUTOCONFIG 1
|
||||
then
|
||||
# Set all params here, then disable autoconfig
|
||||
param set SYS_AUTOCONFIG 0
|
||||
param save /fs/microsd/params
|
||||
fi
|
||||
|
||||
#
|
||||
# Force some key parameters to sane values
|
||||
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
|
||||
# see https://pixhawk.ethz.ch/mavlink/
|
||||
#
|
||||
param set MAV_TYPE 1
|
||||
|
||||
#
|
||||
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
|
||||
#
|
||||
if [ -f /fs/microsd/px4io.bin ]
|
||||
then
|
||||
echo "PX4IO Firmware found. Checking Upgrade.."
|
||||
if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
|
||||
then
|
||||
echo "No newer version, skipping upgrade."
|
||||
else
|
||||
echo "Loading /fs/microsd/px4io.bin"
|
||||
if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
|
||||
then
|
||||
cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
|
||||
echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
|
||||
else
|
||||
echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
|
||||
echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Start MAVLink (depends on orb)
|
||||
#
|
||||
mavlink start -d /dev/ttyS1 -b 57600
|
||||
usleep 5000
|
||||
|
||||
#
|
||||
# Start the commander (depends on orb, mavlink)
|
||||
#
|
||||
commander start
|
||||
|
||||
#
|
||||
# Start PX4IO interface (depends on orb, commander)
|
||||
#
|
||||
px4io start
|
||||
|
||||
#
|
||||
# Allow PX4IO to recover from midair restarts.
|
||||
# this is very unlikely, but quite safe and robust.
|
||||
px4io recovery
|
||||
|
||||
#
|
||||
# Set actuator limit to 100 Hz update (50 Hz PWM)
|
||||
px4io limit 100
|
||||
|
||||
#
|
||||
# Start the sensors (depends on orb, px4io)
|
||||
#
|
||||
sh /etc/init.d/rc.sensors
|
||||
|
||||
#
|
||||
# Start GPS interface (depends on orb)
|
||||
#
|
||||
gps start
|
||||
|
||||
#
|
||||
# Start the attitude estimator (depends on orb)
|
||||
#
|
||||
kalman_demo start
|
||||
|
||||
#
|
||||
# Load mixer and start controllers (depends on px4io)
|
||||
#
|
||||
mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
|
||||
control_demo start
|
||||
|
||||
#
|
||||
# Start logging
|
||||
#
|
||||
sdlog2 start -r 50 -a -b 14
|
||||
|
||||
#
|
||||
# Start system state
|
||||
#
|
||||
if blinkm start
|
||||
then
|
||||
blinkm systemstate
|
||||
fi
|
||||
@@ -1,67 +0,0 @@
|
||||
#!nsh
|
||||
#
|
||||
# Flight startup script for PX4FMU with PWM outputs.
|
||||
#
|
||||
|
||||
# Disable the USB interface
|
||||
set USB no
|
||||
|
||||
# Disable autostarting other apps
|
||||
set MODE custom
|
||||
|
||||
echo "[init] doing PX4FMU Quad startup..."
|
||||
|
||||
#
|
||||
# Start the ORB
|
||||
#
|
||||
uorb start
|
||||
|
||||
#
|
||||
# Load microSD params
|
||||
#
|
||||
echo "[init] loading microSD params"
|
||||
param select /fs/microsd/params
|
||||
if [ -f /fs/microsd/params ]
|
||||
then
|
||||
param load /fs/microsd/params
|
||||
fi
|
||||
|
||||
#
|
||||
# Force some key parameters to sane values
|
||||
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
|
||||
# see https://pixhawk.ethz.ch/mavlink/
|
||||
#
|
||||
param set MAV_TYPE 2
|
||||
|
||||
#
|
||||
# Start MAVLink
|
||||
#
|
||||
mavlink start -d /dev/ttyS0 -b 57600
|
||||
usleep 5000
|
||||
|
||||
#
|
||||
# Start the sensors and test them.
|
||||
#
|
||||
sh /etc/init.d/rc.sensors
|
||||
|
||||
#
|
||||
# Start the commander.
|
||||
#
|
||||
commander start
|
||||
|
||||
#
|
||||
# Start the attitude estimator
|
||||
#
|
||||
attitude_estimator_ekf start
|
||||
|
||||
echo "[init] starting PWM output"
|
||||
fmu mode_pwm
|
||||
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
|
||||
|
||||
#
|
||||
# Start attitude control
|
||||
#
|
||||
multirotor_att_control start
|
||||
|
||||
echo "[init] startup done, exiting"
|
||||
exit
|
||||
@@ -82,3 +82,42 @@ else
|
||||
fi
|
||||
|
||||
fi
|
||||
|
||||
#
|
||||
# Check if auto-setup from one of the standard scripts is wanted
|
||||
# SYS_AUTOSTART = 0 means no autostart (default)
|
||||
#
|
||||
if param compare SYS_AUTOSTART 1
|
||||
then
|
||||
sh /etc/init.d/01_fmu_quad_x
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 2
|
||||
then
|
||||
sh /etc/init.d/02_io_quad_x
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 8
|
||||
then
|
||||
sh /etc/init.d/08_ardrone
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 9
|
||||
then
|
||||
sh /etc/init.d/09_ardrone_flow
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 10
|
||||
then
|
||||
sh /etc/init.d/10_io_f330
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 30
|
||||
then
|
||||
sh /etc/init.d/30_io_camflyer
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 31
|
||||
then
|
||||
sh /etc/init.d/31_io_phantom
|
||||
fi
|
||||
|
||||
Reference in New Issue
Block a user