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Alphabetize vehicle type logic block order and Update param set MAV_TYPE logic to only set the parameter if no MAV_TYPE was previously set.

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mcsauder 2018-07-31 11:17:09 -06:00 committed by Daniel Agar
parent c7e572d2c2
commit e79fa1773d
1 changed files with 46 additions and 53 deletions
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99
ROMFS/px4fmu_common/init.d/rc.vehicle_setup
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@ -18,16 +18,17 @@ then
if [ $MAV_TYPE == none ]
then
# Use MAV_TYPE = 1 (fixed wing) if not defined.
# Set a default MAV_TYPE = 1 if not defined.
set MAV_TYPE 1
fi
# Set the mav type parameter.
param set MAV_TYPE ${MAV_TYPE}
# Load mixer and configure outputs
# Load mixer and configure outputs.
sh /etc/init.d/rc.interface
# Start standard fixedwing apps
# Start standard fixedwing apps.
sh /etc/init.d/rc.fw_apps
fi
@ -38,11 +39,14 @@ if [ $VEHICLE_TYPE == mc ]
then
if [ $MIXER == none ]
then
echo "Mixer undefined"
echo "MC mixer undefined"
fi
if [ $MAV_TYPE == none ]
then
# Set a default MAV_TYPE = 2 if not defined.
set MAV_TYPE 2
# Use mixer to detect vehicle type
if [ $MIXER == quad_x -o $MIXER == quad_+ ]
then
@ -56,9 +60,9 @@ then
then
set MAV_TYPE 2
fi
if [ $MIXER == tri_y_yaw- -o $MIXER == tri_y_yaw+ ]
if [ $MIXER == coax ]
then
set MAV_TYPE 15
set MAV_TYPE 3
fi
if [ $MIXER == hexa_x -o $MIXER == hexa_+ ]
then
@ -76,19 +80,14 @@ then
then
set MAV_TYPE 14
fi
if [ $MIXER == coax ]
if [ $MIXER == tri_y_yaw- -o $MIXER == tri_y_yaw+ ]
then
set MAV_TYPE 3
set MAV_TYPE 15
fi
fi
# Still no MAV_TYPE found.
if [ $MAV_TYPE == none ]
then
param set MAV_TYPE 2
else
param set MAV_TYPE ${MAV_TYPE}
fi
# Set the mav type parameter.
param set MAV_TYPE ${MAV_TYPE}
# Load mixer and configure outputs.
sh /etc/init.d/rc.interface
@ -97,6 +96,33 @@ then
sh /etc/init.d/rc.mc_apps
fi
#
# UGV setup.
#
if [ $VEHICLE_TYPE == ugv ]
then
if [ $MIXER == none ]
then
# Set default mixer for UGV if not defined.
set MIXER ugv_generic
fi
if [ $MAV_TYPE == none ]
then
# Set a default MAV_TYPE = 10 if not defined.
set MAV_TYPE 10
fi
# Set the mav type parameter.
param set MAV_TYPE ${MAV_TYPE}
# Load mixer and configure outputs.
sh /etc/init.d/rc.interface
# Start standard UGV apps.
sh /etc/init.d/rc.ugv_apps
fi
#
# VTOL setup.
#
@ -109,11 +135,10 @@ then
if [ $MAV_TYPE == none ]
then
# Set a default MAV_TYPE = 19 if not defined.
set MAV_TYPE 19
# Use mixer to detect vehicle type.
if [ $MIXER == caipirinha_vtol ]
then
set MAV_TYPE 19
fi
if [ $MIXER == firefly6 ]
then
set MAV_TYPE 21
@ -124,14 +149,8 @@ then
fi
fi
# Still no MAV_TYPE found.
if [ $MAV_TYPE == none ]
then
echo "Unknown MAV_TYPE"
param set MAV_TYPE 19
else
param set MAV_TYPE ${MAV_TYPE}
fi
# Set the mav type parameter.
param set MAV_TYPE ${MAV_TYPE}
# Load mixer and configure outputs.
sh /etc/init.d/rc.interface
@ -140,32 +159,6 @@ then
sh /etc/init.d/rc.vtol_apps
fi
#
# UGV setup
#
if [ $VEHICLE_TYPE == ugv ]
then
if [ $MIXER == none ]
then
# Set default mixer for UGV if not defined.
set MIXER ugv_generic
fi
if [ $MAV_TYPE == none ]
then
# Use MAV_TYPE = 10 (UGV) if not defined.
set MAV_TYPE 10
fi
param set MAV_TYPE ${MAV_TYPE}
# Load mixer and configure outputs.
sh /etc/init.d/rc.interface
# Start standard UGV apps.
sh /etc/init.d/rc.ugv_apps
fi
#
# Generic setup (autostart ID not found).
#