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Clean up UAVCAN startup

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This commit is contained in:
Lorenz Meier
2015-09-19 17:09:45 +02:00
parent b067a0c094
commit ecb45b656a
1 changed files with 2 additions and 25 deletions
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ROMFS/px4fmu_common/init.d/rc.uavcan
+2 -25
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@@ -3,26 +3,10 @@
# UAVCAN initialization script. # UAVCAN initialization script.
# #
#
# Mirriring the UAVCAN_ENABLE param value to an eponymous environment variable.
# TODO there should be a smarter way.
#
set UAVCAN_ENABLE 0
if param compare UAVCAN_ENABLE 1
then
set UAVCAN_ENABLE 1
fi
if param compare UAVCAN_ENABLE 2
then
set UAVCAN_ENABLE 2
fi
echo "[i] UAVCAN_ENABLE is $UAVCAN_ENABLE"
# #
# Starting stuff according to UAVCAN_ENABLE value # Starting stuff according to UAVCAN_ENABLE value
# #
if [ $UAVCAN_ENABLE -ge 1 ] if param greater UAVCAN_ENABLE 0
then then
if uavcan start if uavcan start
then then
@@ -33,7 +17,7 @@ then
fi fi
fi fi
if [ $UAVCAN_ENABLE -ge 2 ] if param greater UAVCAN_ENABLE 1
then then
if uavcan start fw if uavcan start fw
then then
@@ -43,10 +27,3 @@ then
tone_alarm $TUNE_ERR tone_alarm $TUNE_ERR
fi fi
fi fi
if [ $UAVCAN_ENABLE -ge 1 ]
then
# First sensor publisher to initialize takes lowest instance ID
# This delay ensures that UAVCAN-interfaced sensors will be allocated on lowest instance IDs
sleep 8
fi