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WIP: px4log

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This commit is contained in:
Daniel Agar
2023-03-16 21:20:58 -04:00
parent 0ae296bfe2
commit b4555db0e7
245 changed files with 573 additions and 1185 deletions
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ROMFS/px4fmu_common/init.d-posix/rcS
+13 -11
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@@ -13,6 +13,8 @@ set +e
#search path for sourcing px4-rc.*
PATH="$PATH:${R}etc/init.d-posix"
px4log_tail &
#
# Main SITL startup script
#
@@ -40,7 +42,7 @@ then
elif [ -n "$PX4_SYS_AUTOSTART" ]
then
echo "env SYS_AUTOSTART: ${PX4_SYS_AUTOSTART}"
px4log "env SYS_AUTOSTART: ${PX4_SYS_AUTOSTART}"
SYS_AUTOSTART=${PX4_SYS_AUTOSTART}
elif [ "$PX4_SIM_MODEL" = "none" ] || [ -z $PX4_SIM_MODEL ]
@@ -55,11 +57,11 @@ then
# shellcheck disable=SC2012
REQUESTED_AUTOSTART=$(ls "${R}etc/init.d-posix/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
if [ -z "$REQUESTED_AUTOSTART" ]; then
echo "ERROR [init] Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
px4log "ERROR [init] Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
exit 1
else
SYS_AUTOSTART=$REQUESTED_AUTOSTART
echo "INFO [init] found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
px4log "INFO [init] found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
fi
fi
@@ -72,7 +74,7 @@ if [ -f $PARAM_FILE ]; then
if ! param import
then
echo "ERROR [init] param import failed"
px4log "ERROR [init] param import failed"
bsondump $PARAM_FILE
@@ -82,7 +84,7 @@ if [ -f $PARAM_FILE ]; then
# try importing from backup file
if [ -f $PARAM_BACKUP_FILE ]
then
echo "[init] importing from parameter backup"
px4log "[init] importing from parameter backup"
# dump current backup file contents for comparison
bsondump $PARAM_BACKUP_FILE
@@ -97,7 +99,7 @@ if [ -f $PARAM_FILE ]; then
fi
elif [ -f $PARAM_BACKUP_FILE ]; then
echo "ERROR [init] primary param file $PARAM_FILE unavailable, using backup $PARAM_BACKUP_FILE"
px4log "ERROR [init] primary param file $PARAM_FILE unavailable, using backup $PARAM_BACKUP_FILE"
param import $PARAM_BACKUP_FILE
fi
@@ -191,19 +193,19 @@ param set-default COM_LOW_BAT_ACT 2
# Adapt timeout parameters if simulation runs faster or slower than realtime.
if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
COM_DL_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 10" | bc)
echo "COM_DL_LOSS_T set to $COM_DL_LOSS_T_LONGER"
px4log "COM_DL_LOSS_T set to $COM_DL_LOSS_T_LONGER"
param set COM_DL_LOSS_T $COM_DL_LOSS_T_LONGER
COM_RC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 0.5" | bc)
echo "COM_RC_LOSS_T set to $COM_RC_LOSS_T_LONGER"
px4log "COM_RC_LOSS_T set to $COM_RC_LOSS_T_LONGER"
param set COM_RC_LOSS_T $COM_RC_LOSS_T_LONGER
COM_OF_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 0.5" | bc)
echo "COM_OF_LOSS_T set to $COM_OF_LOSS_T_LONGER"
px4log "COM_OF_LOSS_T set to $COM_OF_LOSS_T_LONGER"
param set COM_OF_LOSS_T $COM_OF_LOSS_T_LONGER
COM_OBC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 5.0" | bc)
echo "COM_OBC_LOSS_T set to $COM_OBC_LOSS_T_LONGER"
px4log "COM_OBC_LOSS_T set to $COM_OBC_LOSS_T_LONGER"
param set COM_OBC_LOSS_T $COM_OBC_LOSS_T_LONGER
fi
@@ -229,7 +231,7 @@ then
elif [ ! -e "$autostart_file" ] && [ "$SYS_AUTOSTART" -ne "0" ]
then
echo "Error: no autostart file found ($autostart_file)"
px4log "Error: no autostart file found ($autostart_file)"
exit 1
fi