mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
Use rc.txt, config.txt, extras.txt files, minor boot messages fixes
This commit is contained in:
Anton Babushkin
parent
6e60984556
commit
f3a3d62cf9
@ -1,6 +1,6 @@
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#!nsh
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#
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# Script to load fixedwing mixer and set rate/disarmed/min/max values for PWM output
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# Script to configure fixedwing control interface
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#
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#
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@ -12,7 +12,7 @@ param set MAV_TYPE 1
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#
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# Load mixer
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#
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echo "Frame geometry: ${FRAME_GEOMETRY}"
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set MIXER /etc/mixers/FMU_${FRAME_GEOMETRY}.mix
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echo "Loading mixer: ${MIXER}"
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mixer load /dev/pwm_output ${MIXER}
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echo "[init] Frame geometry: $FRAME_GEOMETRY"
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set MIXER /etc/mixers/FMU_$FRAME_GEOMETRY.mix
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echo "[init] Loading mixer: $MIXER"
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mixer load /dev/pwm_output $MIXER
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@ -1,6 +1,6 @@
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#!nsh
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#
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# Script to load multicopter mixer and set rate/disarmed/min/max values for PWM output
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# Script to configure multicopter control interface
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#
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if [ $FRAME_GEOMETRY == quad_x -o $FRAME_GEOMETRY == quad_+ ]
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@ -27,9 +27,9 @@ fi
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#
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# Load mixer
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#
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echo "Frame geometry: $FRAME_GEOMETRY"
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set MIXER /etc/mixers/FMU_${FRAME_GEOMETRY}.mix
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echo "Loading mixer: $MIXER"
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echo "[init] Frame geometry: $FRAME_GEOMETRY"
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set MIXER /etc/mixers/FMU_$FRAME_GEOMETRY.mix
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echo "[init] Loading mixer: $MIXER"
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mixer load /dev/pwm_output $MIXER
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if [ $OUTPUT_MODE == fmu_pwm -o $OUTPUT_MODE == io_pwm ]
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@ -39,6 +39,7 @@ then
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#
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if [ $PWM_RATE != none ]
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then
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echo "[init] Set PWM rate: $PWM_RATE"
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pwm rate -c $OUTPUTS -r $PWM_RATE
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fi
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@ -47,14 +48,17 @@ then
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#
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if [ $PWM_DISARMED != none ]
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then
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echo "[init] Set PWM disarmed: $PWM_DISARMED"
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pwm disarmed -c $OUTPUTS -p $PWM_DISARMED
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fi
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if [ $PWM_MIN != none ]
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then
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echo "[init] Set PWM min: $PWM_MIN"
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pwm min -c $OUTPUTS -p $PWM_MIN
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fi
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if [ $PWM_MAX != none ]
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then
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echo "[init] Set PWM max: $PWM_MAX"
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pwm max -c $OUTPUTS -p $PWM_MAX
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fi
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fi
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@ -8,7 +8,10 @@
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#
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set MODE autostart
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set logfile /fs/microsd/bootlog.txt
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set LOG_FILE /fs/microsd/bootlog.txt
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set RC_FILE /fs/microsd/etc/rc.txt
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set CONFIG_FILE /fs/microsd/etc/config.txt
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set EXTRAS_FILE /fs/microsd/etc/extras.txt
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#
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# Try to mount the microSD card.
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@ -25,35 +28,17 @@ else
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tone_alarm error
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fi
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#
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# Set default values here, can be overriden in rc.txt from SD card
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#
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set HIL no
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set VEHICLE_TYPE none
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set FRAME_GEOMETRY none
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set OUTPUT_MODE none
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set VEHICLE_TYPE none
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set PWM_RATE none
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set PWM_DISARMED none
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set PWM_MIN none
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set PWM_MAX none
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#
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# Look for an init script on the microSD card.
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# Disable autostart if the script found.
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#
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# To prevent automatic startup in the current flight mode,
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# the script should set MODE to some other value.
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#
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if [ -f /fs/microsd/etc/rc ]
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if [ -f $RC_FILE ]
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then
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echo "[init] reading /fs/microsd/etc/rc"
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sh /fs/microsd/etc/rc
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fi
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# Also consider rc.txt files
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if [ -f /fs/microsd/etc/rc.txt ]
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then
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echo "[init] reading /fs/microsd/etc/rc.txt"
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sh /fs/microsd/etc/rc.txt
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echo "[init] Executing init script: $RC_FILE"
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sh $RC_FILE
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set MODE custom
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else
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echo "[init] Init script not found: $RC_FILE"
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fi
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# if this is an APM build then there will be a rc.APM script
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@ -72,15 +57,7 @@ fi
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if [ $MODE == autostart ]
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then
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#
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# Start CDC/ACM serial driver
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#
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sercon
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#
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# Start the ORB (first app to start)
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#
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uorb start
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echo "[init] AUTOSTART mode"
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#
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# Load parameters
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@ -95,6 +72,16 @@ then
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echo "[init] Parameter file corrupt - ignoring"
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fi
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fi
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#
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# Start CDC/ACM serial driver
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#
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sercon
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#
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# Start the ORB (first app to start)
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#
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uorb start
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#
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# Start system state indicator
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@ -114,36 +101,36 @@ then
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#
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if [ -f /etc/extras/px4io-v2_default.bin ]
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then
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set io_file /etc/extras/px4io-v2_default.bin
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set IO_FILE /etc/extras/px4io-v2_default.bin
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else
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set io_file /etc/extras/px4io-v1_default.bin
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set IO_FILE /etc/extras/px4io-v1_default.bin
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fi
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set IO_PRESENT no
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if px4io checkcrc $io_file
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if px4io checkcrc $IO_FILE
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then
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echo "[init] PX4IO CRC OK"
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echo "PX4IO CRC OK" >> $logfile
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echo "PX4IO CRC OK" >> $LOG_FILE
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set IO_PRESENT yes
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else
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echo "[init] PX4IO CRC failure"
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echo "PX4IO CRC failure" >> $logfile
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echo "PX4IO CRC failure" >> $LOG_FILE
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tone_alarm MBABGP
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if px4io forceupdate 14662 $io_file
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if px4io forceupdate 14662 $IO_FILE
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then
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usleep 500000
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if px4io start
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then
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echo "[init] PX4IO restart OK"
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echo "PX4IO restart OK" >> $logfile
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echo "PX4IO restart OK" >> $LOG_FILE
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tone_alarm MSPAA
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set IO_PRESENT yes
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else
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echo "[init] PX4IO restart failed"
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echo "PX4IO restart failed" >> $logfile
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echo "PX4IO restart failed" >> $LOG_FILE
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if hw_ver compare PX4FMU_V2
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then
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tone_alarm MNGGG
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@ -153,27 +140,35 @@ then
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fi
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else
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echo "[init] PX4IO update failed"
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echo "PX4IO update failed" >> $logfile
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echo "PX4IO update failed" >> $LOG_FILE
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if hw_ver compare PX4FMU_V2
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then
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tone_alarm MNGGG
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fi
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fi
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fi
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#
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# Set default output if it was not defined in rc.txt
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# Set default values
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#
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if [ $OUTPUT_MODE == none ]
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set HIL no
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set VEHICLE_TYPE none
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set FRAME_GEOMETRY none
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set PWM_RATE none
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set PWM_DISARMED none
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set PWM_MIN none
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set PWM_MAX none
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#
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# Set default output
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#
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if [ $IO_PRESENT == yes ]
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then
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if [ $IO_PRESENT == yes ]
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then
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# If PX4IO present, use it as primary PWM output by default
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set OUTPUT_MODE io_pwm
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else
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# Else use PX4FMU PWM output
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set OUTPUT_MODE fmu_pwm
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fi
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# If PX4IO present, use it as primary PWM output by default
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set OUTPUT_MODE io_pwm
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else
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# Else use PX4FMU PWM output
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set OUTPUT_MODE fmu_pwm
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fi
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set EXIT_ON_END no
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@ -193,179 +188,202 @@ then
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#
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sh /etc/init.d/rc.autostart
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if [ $MODE == autostart ]
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then
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if [ $HIL == yes ]
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then
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set OUTPUT_MODE hil
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else
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# Try to get an USB console if not in HIL mode
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nshterm /dev/ttyACM0 &
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fi
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#
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# If autoconfig parameter was set, reset it and save parameters
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#
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if [ $DO_AUTOCONFIG == yes ]
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then
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param set SYS_AUTOCONFIG 0
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param save
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fi
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#
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# Override parameters from user configuration file
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#
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if [ -f $CONFIG_FILE ]
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then
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echo "[init] Reading config: $CONFIG_FILE"
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sh $CONFIG_FILE
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else
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echo "[init] Config file not found: $CONFIG_FILE"
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fi
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#
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# Start the Commander (needs to be this early for in-air-restarts)
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#
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commander start
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#
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# Start primary output
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#
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if [ $OUTPUT_MODE == io_pwm ]
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then
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echo "[init] Use PX4IO PWM as primary output"
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if px4io start
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then
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echo "[init] PX4IO started"
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sh /etc/init.d/rc.io
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else
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echo "[init] PX4IO start error"
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tone_alarm MNGGG
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fi
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fi
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if [ $OUTPUT_MODE == fmu_pwm ]
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then
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echo "[init] Use PX4FMU PWM as primary output"
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if fmu mode_pwm
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then
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echo "[init] PX4FMU PWM output started"
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sh /etc/init.d/rc.io
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else
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echo "[init] PX4FMU PWM output start error"
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tone_alarm MNGGG
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fi
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fi
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if [ $OUTPUT_MODE == mkblctrl ]
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then
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echo "[init] Use MKBLCTRL as primary output"
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if mkblctrl
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then
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echo "[init] MKBLCTRL started"
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else
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echo "[init] MKBLCTRL start error"
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tone_alarm MNGGG
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fi
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fi
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if [ $OUTPUT_MODE == hil ]
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then
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echo "[init] Use HIL as primary output"
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if hil mode_pwm
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then
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echo "[init] HIL output started"
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else
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echo "[init] HIL output error"
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tone_alarm MNGGG
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fi
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fi
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#
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# Start PX4IO as secondary output if needed
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#
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if [ $IO_PRESENT == yes -a $OUTPUT_MODE != io_pwm ]
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then
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echo "[init] Use PX4IO PWM as secondary output"
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if px4io start
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then
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echo "[init] PX4IO started"
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sh /etc/init.d/rc.io
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else
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echo "[init] PX4IO start error"
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tone_alarm MNGGG
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fi
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fi
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#
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# MAVLink
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#
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if [ $HIL == yes ]
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then
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mavlink start -b 230400 -d /dev/ttyACM0
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usleep 5000
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else
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if [ $OUTPUT_MODE == fmu_pwm -a hw_ver compare PX4FMU_V1 ]
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then
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# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as PWM output
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mavlink start -d /dev/ttyS0
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usleep 5000
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# Exit from nsh to free port for mavlink
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set EXIT_ON_END yes
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else
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# Start MAVLink on default port: ttyS1
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mavlink start
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usleep 5000
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fi
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fi
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#
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# Sensors, Logging, GPS
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#
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echo "[init] Start sensors"
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sh /etc/init.d/rc.sensors
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if [ $HIL == no ]
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then
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echo "[init] Start logging"
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sh /etc/init.d/rc.logging
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echo "[init] Start GPS"
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gps start
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fi
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#
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# Fixed wing setup
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#
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if [ $VEHICLE_TYPE == fw ]
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then
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echo "[init] Vehicle type: FIXED WING"
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# Load mixer and configure outputs
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sh /etc/init.d/rc.fw_interface
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# Start standard fixedwing apps
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sh /etc/init.d/rc.mc_apps
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fi
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if [ $HIL == yes ]
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then
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set OUTPUT_MODE hil
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else
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# Try to get an USB console if not in HIL mode
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nshterm /dev/ttyACM0 &
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fi
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#
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# Multicopters setup
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#
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if [ $VEHICLE_TYPE == mc ]
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then
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echo "[init] Vehicle type: MULTICOPTER"
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# Load mixer and configure outputs
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sh /etc/init.d/rc.mc_interface
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# Start standard multicopter apps
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sh /etc/init.d/rc.mc_apps
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fi
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#
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# If autoconfig parameter was set, reset it and save parameters
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#
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if [ $DO_AUTOCONFIG == yes ]
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then
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param set SYS_AUTOCONFIG 0
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param save
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fi
|
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|
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#
|
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# Generic setup (autostart ID not found)
|
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#
|
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if [ $VEHICLE_TYPE == none ]
|
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#
|
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# Start the Commander (needs to be this early for in-air-restarts)
|
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#
|
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commander start
|
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|
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#
|
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# Start primary output
|
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#
|
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if [ $OUTPUT_MODE == io_pwm ]
|
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then
|
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echo "[init] Use PX4IO PWM as primary output"
|
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if px4io start
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then
|
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echo "[init] Vehicle type: GENERIC"
|
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|
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attitude_estimator_ekf start
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position_estimator_inav start
|
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echo "[init] PX4IO started"
|
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sh /etc/init.d/rc.io
|
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else
|
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echo "[init] PX4IO start error"
|
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tone_alarm MNGGG
|
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fi
|
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fi
|
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if [ $OUTPUT_MODE == fmu_pwm ]
|
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then
|
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echo "[init] Use PX4FMU PWM as primary output"
|
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if fmu mode_pwm
|
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then
|
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echo "[init] PX4FMU PWM output started"
|
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sh /etc/init.d/rc.io
|
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else
|
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echo "[init] PX4FMU PWM output start error"
|
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tone_alarm MNGGG
|
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fi
|
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fi
|
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if [ $OUTPUT_MODE == mkblctrl ]
|
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then
|
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echo "[init] Use MKBLCTRL as primary output"
|
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if mkblctrl
|
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then
|
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echo "[init] MKBLCTRL started"
|
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else
|
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echo "[init] MKBLCTRL start error"
|
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tone_alarm MNGGG
|
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fi
|
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|
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fi
|
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if [ $OUTPUT_MODE == hil ]
|
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then
|
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echo "[init] Use HIL as primary output"
|
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if hil mode_pwm
|
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then
|
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echo "[init] HIL output started"
|
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else
|
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echo "[init] HIL output error"
|
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tone_alarm MNGGG
|
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fi
|
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fi
|
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|
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#
|
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# Start PX4IO as secondary output if needed
|
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#
|
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if [ $IO_PRESENT == yes -a $OUTPUT_MODE != io_pwm ]
|
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then
|
||||
echo "[init] Use PX4IO PWM as secondary output"
|
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if px4io start
|
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then
|
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echo "[init] PX4IO started"
|
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sh /etc/init.d/rc.io
|
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else
|
||||
echo "[init] PX4IO start error"
|
||||
tone_alarm MNGGG
|
||||
fi
|
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fi
|
||||
|
||||
# Start any custom extensions
|
||||
if [ -f /fs/microsd/etc/rc.local ]
|
||||
#
|
||||
# MAVLink
|
||||
#
|
||||
if [ $HIL == yes ]
|
||||
then
|
||||
sh /fs/microsd/etc/rc.local
|
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mavlink start -b 230400 -d /dev/ttyACM0
|
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usleep 5000
|
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else
|
||||
if [ $OUTPUT_MODE == fmu_pwm -a hw_ver compare PX4FMU_V1 ]
|
||||
then
|
||||
# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as PWM output
|
||||
mavlink start -d /dev/ttyS0
|
||||
usleep 5000
|
||||
|
||||
# Exit from nsh to free port for mavlink
|
||||
set EXIT_ON_END yes
|
||||
else
|
||||
# Start MAVLink on default port: ttyS1
|
||||
mavlink start
|
||||
usleep 5000
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Sensors, Logging, GPS
|
||||
#
|
||||
echo "[init] Start sensors"
|
||||
sh /etc/init.d/rc.sensors
|
||||
|
||||
if [ $HIL == no ]
|
||||
then
|
||||
echo "[init] Start logging"
|
||||
sh /etc/init.d/rc.logging
|
||||
|
||||
echo "[init] Start GPS"
|
||||
gps start
|
||||
fi
|
||||
|
||||
#
|
||||
# Fixed wing setup
|
||||
#
|
||||
if [ $VEHICLE_TYPE == fw ]
|
||||
then
|
||||
echo "[init] Vehicle type: FIXED WING"
|
||||
|
||||
if [ $FRAME_GEOMETRY == none ]
|
||||
then
|
||||
# Set default frame geometry for fixed wing
|
||||
set FRAME_GEOMETRY AERT
|
||||
fi
|
||||
|
||||
# Load mixer and configure outputs
|
||||
sh /etc/init.d/rc.fw_interface
|
||||
|
||||
# Start standard fixedwing apps
|
||||
sh /etc/init.d/rc.mc_apps
|
||||
fi
|
||||
|
||||
#
|
||||
# Multicopters setup
|
||||
#
|
||||
if [ $VEHICLE_TYPE == mc ]
|
||||
then
|
||||
echo "[init] Vehicle type: MULTICOPTER"
|
||||
|
||||
if [ $FRAME_GEOMETRY == none ]
|
||||
then
|
||||
# Set default frame geometry for multicopter
|
||||
set FRAME_GEOMETRY quad_x
|
||||
fi
|
||||
|
||||
# Load mixer and configure outputs
|
||||
sh /etc/init.d/rc.mc_interface
|
||||
|
||||
# Start standard multicopter apps
|
||||
sh /etc/init.d/rc.mc_apps
|
||||
fi
|
||||
|
||||
#
|
||||
# Generic setup (autostart ID not found)
|
||||
#
|
||||
if [ $VEHICLE_TYPE == none ]
|
||||
then
|
||||
echo "[init] Vehicle type: GENERIC"
|
||||
|
||||
attitude_estimator_ekf start
|
||||
position_estimator_inav start
|
||||
fi
|
||||
|
||||
# Start any custom addons
|
||||
if [ -f $EXTRAS_FILE ]
|
||||
then
|
||||
echo "[init] Starting addons script: $EXTRAS_FILE"
|
||||
sh $EXTRAS_FILE
|
||||
else
|
||||
echo "[init] Addons script not found: $EXTRAS_FILE"
|
||||
fi
|
||||
|
||||
if [ $EXIT_ON_END == yes ]
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user