mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-22 08:37:35 +08:00
Matthias Grob
efdd1e021f
* fix(rcS): reset the flight mode assignments during an airframe reset because there are many products that have a default flight mode assignment in the airframe file and if the user resets to airframe defaults the flight mode assignment stays custom and doesn't get reset to "factory settings". It's neither a unit specific calibration nor a parameter to track total flights or flight time. I suggest to reset it as well. * fix(posix rcS): sync airframe reset with the px4 common startup script to make simulation testing of an airframe reset more realistic.
688 lines
14 KiB
Bash
688 lines
14 KiB
Bash
#!/bin/sh
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# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
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set +e
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# Un comment the line below to help debug scripts by printing a trace of the script commands
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#set -x
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# PX4FMU startup script.
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#
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# NOTE: environment variable references:
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# If the dollar sign ('$') is followed by a left bracket ('{') then the
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# variable name is terminated with the right bracket character ('}').
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# Otherwise, the variable name goes to the end of the argument.
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#
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#
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# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
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#
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#------------------------------------------------------------------------------
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#
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# Set default paramter values.
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# Do not add intra word spaces
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# it wastes flash
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#
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set R /
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set FCONFIG /fs/microsd/etc/config.txt
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set FEXTRAS /fs/microsd/etc/extras.txt
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set FRC /fs/microsd/etc/rc.txt
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set IOFW "/etc/extras/px4_io-v2_default.bin"
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set LOGGER_ARGS ""
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set LOGGER_BUF 8
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set PARAM_FILE ""
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set PARAM_BACKUP_FILE ""
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set RC_INPUT_ARGS ""
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set STORAGE_AVAILABLE no
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set SDCARD_EXT_PATH /fs/microsd/ext_autostart
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set SDCARD_FORMAT no
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set STARTUP_TUNE 1
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set VEHICLE_TYPE none
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# Airframe parameter versioning
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# Value set to 1 by default but can optionally be overridden in the airframe configuration startup script.
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# Airframe maintainers can ensure a reset to the airframe defaults during an update by increasing by one.
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# e.g. add line "set PARAM_DEFAULTS_VER 2" in your airframe file to build the first update that enforces a reset.
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set PARAM_DEFAULTS_VER 1
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#
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# Print full system version.
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#
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ver all
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#
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# Try to mount the microSD card.
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#
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if [ -b "/dev/mmcsd0" ]
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then
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if mount -t vfat /dev/mmcsd0 /fs/microsd
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then
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if [ -f "/fs/microsd/.format" ]
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then
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echo "INFO [init] format /dev/mmcsd0 requested (/fs/microsd/.format)"
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set SDCARD_FORMAT yes
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rm /fs/microsd/.format
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umount /fs/microsd
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else
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set STORAGE_AVAILABLE yes
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fi
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fi
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if [ $STORAGE_AVAILABLE = no -o $SDCARD_FORMAT = yes ]
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then
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echo "INFO [init] formatting /dev/mmcsd0"
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set STARTUP_TUNE 15 # tune 15 = SD_ERROR (overridden to SD_INIT if format + mount succeeds)
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if mkfatfs -F 32 /dev/mmcsd0
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then
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echo "INFO [init] card formatted"
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if mount -t vfat /dev/mmcsd0 /fs/microsd
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then
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set STORAGE_AVAILABLE yes
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set STARTUP_TUNE 14 # tune 14 = SD_INIT
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else
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echo "ERROR [init] card mount failed"
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fi
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else
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echo "ERROR [init] format failed"
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fi
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fi
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else
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# Is there a device mounted for storage
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if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/microsd
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then
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set STORAGE_AVAILABLE yes
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fi
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fi
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if [ $STORAGE_AVAILABLE = yes ]
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then
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if hardfault_log check
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then
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set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
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if hardfault_log commit
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then
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hardfault_log reset
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fi
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fi
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# Check for an update of the ext_autostart folder, and replace the old one with it
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if [ -e /fs/microsd/ext_autostart_new ]
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then
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echo "Updating external autostart files"
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rm -r $SDCARD_EXT_PATH
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mv /fs/microsd/ext_autostart_new $SDCARD_EXT_PATH
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fi
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set PARAM_FILE /fs/microsd/params
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set PARAM_BACKUP_FILE "/fs/microsd/parameters_backup.bson"
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fi
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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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if [ -f $FRC ]
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then
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. $FRC
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else
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# Load param file location from kconfig
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. ${R}etc/init.d/rc.filepaths
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# Check if /fs/mtd_params is a valid BSON file
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if ! bsondump docsize /fs/mtd_caldata
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then
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echo "New /fs/mtd_caldata size is:"
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bsondump docsize /fs/mtd_caldata
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fi
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#
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# Load parameters.
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#
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# if the board has a storage for (factory) calibration data
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if mft query -q -k MTD -s MTD_CALDATA -v /fs/mtd_caldata
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then
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param load /fs/mtd_caldata
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fi
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param select $PARAM_FILE
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if ! param import
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then
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echo "ERROR [init] param import failed"
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set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
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bsondump $PARAM_FILE
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if [ -d "/fs/microsd" ]
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then
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# try to make a backup copy
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cp $PARAM_FILE /fs/microsd/param_import_fail.bson
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# try importing from backup file
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if [ -f $PARAM_BACKUP_FILE ]
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then
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echo "[init] importing from parameter backup"
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# dump current backup file contents for comparison
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bsondump $PARAM_BACKUP_FILE
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param import $PARAM_BACKUP_FILE
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# overwrite invalid $PARAM_FILE with backup
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cp $PARAM_BACKUP_FILE $PARAM_FILE
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fi
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param status
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dmesg >> /fs/microsd/param_import_fail.txt &
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fi
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fi
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if [ $STORAGE_AVAILABLE = yes ]
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then
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param select-backup $PARAM_BACKUP_FILE
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fi
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if mft query -q -k MFT -s MFT_ETHERNET -v 1
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then
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netman update -i eth0
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fi
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# To trigger a parameter reset during boot SYS_AUTCONFIG was set to 1 before
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if param greater SYS_AUTOCONFIG 0
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then
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# Reset parameters except airframe, parameter version, RC calibration, sensor calibration, total flight time, flight UUID
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param reset_all SYS_AUTOSTART SYS_PARAM_VER RC* CAL_* LND_FLIGHT* TC_* COM_FLIGHT*
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fi
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#
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# Optional board architecture defaults: rc.board_arch_defaults
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#
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set BOARD_ARCH_RC_DEFAULTS ${R}etc/init.d/rc.board_arch_defaults
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if [ -f $BOARD_ARCH_RC_DEFAULTS ]
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then
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echo "Board architecture defaults: ${BOARD_ARCH_RC_DEFAULTS}"
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. $BOARD_ARCH_RC_DEFAULTS
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fi
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unset BOARD_ARCH_RC_DEFAULTS
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#
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# Optional board defaults: rc.board_defaults
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#
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set BOARD_RC_DEFAULTS ${R}etc/init.d/rc.board_defaults
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if [ -f $BOARD_RC_DEFAULTS ]
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then
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echo "Board defaults: ${BOARD_RC_DEFAULTS}"
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. $BOARD_RC_DEFAULTS
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fi
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unset BOARD_RC_DEFAULTS
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#
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# Optional additional init file: rc.additional_init
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#
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set BOARD_RC_ADDITIONAL_INIT ${R}etc/init.d/rc.additional_init
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if [ -f $BOARD_RC_ADDITIONAL_INIT ]
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then
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echo "Board additional init: ${BOARD_RC_ADDITIONAL_INIT}"
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. $BOARD_RC_ADDITIONAL_INIT
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fi
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unset BOARD_RC_ADDITIONAL_INIT
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# Load airframe configuration based on SYS_AUTOSTART parameter if successful VEHICLE_TYPE gets set
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# Run autogenerated ROMFS airframe script
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. ${R}etc/init.d/rc.autostart
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if [ ${VEHICLE_TYPE} = none ]
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then
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# Run external airframe script on SD card
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if [ $STORAGE_AVAILABLE = yes ]
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then
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. ${R}etc/init.d/rc.autostart_ext
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else
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echo "ERROR [init] SD not mounted, skipping external airframe"
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fi
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fi
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if [ ${VEHICLE_TYPE} = none ]
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then
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echo "ERROR [init] No airframe file found for SYS_AUTOSTART value"
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param set SYS_AUTOSTART 0
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tune_control play error
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fi
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# Check parameter version and reset upon airframe configuration version mismatch.
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# Reboot required because "param reset_all" would reset all "param set" lines from airframe.
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if ! param compare SYS_PARAM_VER ${PARAM_DEFAULTS_VER}
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then
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echo "Switched to different parameter version. Resetting parameters."
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param set SYS_PARAM_VER ${PARAM_DEFAULTS_VER}
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param set SYS_AUTOCONFIG 1
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param save
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reboot
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fi
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#
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# Start the tone_alarm driver.
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# Needs to be started after the parameters are loaded (for CBRK_BUZZER).
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#
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tone_alarm start
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#
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# Waypoint storage.
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# REBOOTWORK this needs to start in parallel.
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#
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if param compare -s SYS_DM_BACKEND 1
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then
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dataman start -r
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else
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if param compare SYS_DM_BACKEND 0
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then
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# dataman start default
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dataman start
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fi
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fi
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#
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# Start the socket communication send_event handler.
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#
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send_event start
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#
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# Start the hardfault streamer.
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#
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if param compare -s SYS_HF_MAV 1
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then
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hardfault_stream start
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fi
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#
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# Start the resource load monitor.
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#
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load_mon start
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#
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# Start system state indicator.
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#
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rgbled start -X -q
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rgbled_ncp5623c start -X -q
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rgbled_lp5562 start -X -q
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rgbled_is31fl3195 start -X -q
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#
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# Override parameters from user configuration file.
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#
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if [ -f $FCONFIG ]
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then
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echo "Custom: ${FCONFIG}"
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. $FCONFIG
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fi
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#
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# Sensors System (start before Commander so Preflight checks are properly run).
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#
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if param greater SYS_HITL 0
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then
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sensors start -h
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# disable GPS
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param set GPS_1_CONFIG 0
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# start the simulator in hardware if needed
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if param compare SYS_HITL 2
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then
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simulator_sih start
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sensor_baro_sim start
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sensor_mag_sim start
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sensor_gps_sim start
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sensor_agp_sim start
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fi
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else
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#
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# board sensors: rc.sensors
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#
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set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors
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if [ -f $BOARD_RC_SENSORS ]
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then
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echo "Board sensors: ${BOARD_RC_SENSORS}"
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. $BOARD_RC_SENSORS
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fi
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unset BOARD_RC_SENSORS
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. ${R}etc/init.d/rc.sensors
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if param compare -s BAT1_SOURCE 2
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then
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esc_battery start
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fi
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if ! param compare BAT1_SOURCE 1
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then
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battery_status start
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fi
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sensors start
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fi
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#
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# state estimator selection
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#
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if param compare -s EKF2_EN 1
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then
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ekf2 start &
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fi
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if param compare -s LPE_EN 1
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then
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local_position_estimator start
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fi
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if param compare -s ATT_EN 1
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then
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attitude_estimator_q start
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fi
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#
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# px4io
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#
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if px4io supported
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then
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# Check if PX4IO present and update firmware if needed.
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if [ -f $IOFW ]
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then
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if ! px4io checkcrc ${IOFW}
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then
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# tune Program PX4IO
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tune_control play -t 16 # tune 16 = PROG_PX4IO
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if px4io update ${IOFW}
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then
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usleep 10000
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tune_control stop
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if px4io checkcrc ${IOFW}
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then
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tune_control play -t 17 # tune 17 = PROG_PX4IO_OK
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else
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tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
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fi
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else
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tune_control stop
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fi
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fi
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if ! px4io start
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then
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echo "PX4IO start failed"
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set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
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fi
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fi
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fi
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# Heater driver for temperature regulated IMUs.
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# The heater needs to start after px4io.
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if param compare -s SENS_EN_THERMAL 1
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then
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heater start
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fi
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#
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# RC update (map raw RC input to calibrate manual control)
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# start before commander
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#
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rc_update start
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manual_control start
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# Start camera trigger, capture and PPS before pwm_out as they might access
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# pwm pins
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if param greater -s TRIG_MODE 0
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then
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camera_trigger start
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camera_feedback start
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fi
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# PPS capture driver
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if param greater -s PPS_CAP_ENABLE 0
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then
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pps_capture start
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fi
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# RPM capture driver
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if param greater -s RPM_CAP_ENABLE 0
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then
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rpm_capture start
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fi
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# Camera capture driver
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if param greater -s CAM_CAP_FBACK 0
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then
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if camera_capture start
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then
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camera_capture on
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fi
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fi
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#
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# Commander
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#
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if param greater SYS_HITL 0
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then
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commander start -h
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if ! pwm_out_sim start -m hil
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then
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tune_control play error
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fi
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else
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commander start
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dshot start
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pwm_out start
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fi
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#
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# Optional UAVCAN/DroneCAN or Cyphal
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#
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if param greater -s UAVCAN_ENABLE 0
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then
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uavcan start
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else
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if param greater -s CYPHAL_ENABLE 0
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then
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cyphal start
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fi
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fi
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#
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# Configure vehicle type specific parameters.
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# Note: rc.vehicle_setup is the entry point for all vehicle type specific setup.
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. ${R}etc/init.d/rc.vehicle_setup
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# Pre-takeoff continuous magnetometer calibration
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if param compare -s MBE_ENABLE 1
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then
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mag_bias_estimator start
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fi
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#
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# Optional board mavlink streams: rc.board_mavlink
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#
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set BOARD_RC_MAVLINK ${R}etc/init.d/rc.board_mavlink
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if [ -f $BOARD_RC_MAVLINK ]
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then
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echo "Board mavlink: ${BOARD_RC_MAVLINK}"
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. $BOARD_RC_MAVLINK
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fi
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unset BOARD_RC_MAVLINK
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#
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# Start UART/Serial device drivers.
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# Note: rc.serial is auto-generated from Tools/serial/generate_config.py
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#
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. ${R}etc/init.d/rc.serial
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if param greater -s ZENOH_ENABLE 0
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then
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zenoh start
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fi
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# Must be started after the serial config is read
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rc_input start $RC_INPUT_ARGS
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# Manages USB interface
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if param greater -s SYS_USB_AUTO -1
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then
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if ! cdcacm_autostart start
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then
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sercon
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echo "Starting MAVLink on /dev/ttyACM0"
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mavlink start -d /dev/ttyACM0
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fi
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fi
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|
#
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# Play the startup tune (if not disabled or there is an error)
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#
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param compare CBRK_BUZZER 782090
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if [ "$?" != "0" -o "$STARTUP_TUNE" != "1" ]
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then
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tune_control play -t $STARTUP_TUNE
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fi
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|
#
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# Start the navigator.
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#
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navigator start
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|
|
|
#
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# Start a thermal calibration if required.
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#
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set RC_THERMAL_CAL ${R}etc/init.d/rc.thermal_cal
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if [ -f ${RC_THERMAL_CAL} ]
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then
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. ${RC_THERMAL_CAL}
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fi
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unset RC_THERMAL_CAL
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|
|
#
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# Start gimbal to control mounts such as gimbals, disabled by default.
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|
#
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if param greater -s MNT_MODE_IN -1
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then
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gimbal start
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fi
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|
# Blacksheep telemetry
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|
if param compare -s TEL_BST_EN 1
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then
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bst start -X
|
|
fi
|
|
|
|
if param compare -s IMU_GYRO_FFT_EN 1
|
|
then
|
|
gyro_fft start
|
|
fi
|
|
|
|
if param compare -s IMU_GYRO_CAL_EN 1
|
|
then
|
|
gyro_calibration start
|
|
fi
|
|
|
|
# Check for px4flow sensor
|
|
if param compare -s SENS_EN_PX4FLOW 1
|
|
then
|
|
px4flow start -X &
|
|
fi
|
|
|
|
payload_deliverer start
|
|
|
|
if param compare -s ICE_EN 1
|
|
then
|
|
internal_combustion_engine_control start
|
|
fi
|
|
|
|
#
|
|
# Optional board supplied extras: rc.board_extras
|
|
#
|
|
set BOARD_RC_EXTRAS ${R}etc/init.d/rc.board_extras
|
|
if [ -f $BOARD_RC_EXTRAS ]
|
|
then
|
|
echo "Board extras: ${BOARD_RC_EXTRAS}"
|
|
. $BOARD_RC_EXTRAS
|
|
fi
|
|
unset BOARD_RC_EXTRAS
|
|
|
|
#
|
|
# Start any custom addons from the sdcard.
|
|
#
|
|
if [ -f $FEXTRAS ]
|
|
then
|
|
echo "Addons script: ${FEXTRAS}"
|
|
. $FEXTRAS
|
|
fi
|
|
|
|
#
|
|
# Start the logger.
|
|
#
|
|
set RC_LOGGING ${R}etc/init.d/rc.logging
|
|
if [ -f ${RC_LOGGING} ]
|
|
then
|
|
. ${RC_LOGGING}
|
|
fi
|
|
unset RC_LOGGING
|
|
|
|
#
|
|
# Start the VTX services.
|
|
#
|
|
set RC_VTXTABLE ${R}etc/init.d/rc.vtxtable
|
|
if [ -f ${RC_VTXTABLE} ]
|
|
then
|
|
. ${RC_VTXTABLE}
|
|
fi
|
|
unset RC_VTXTABLE
|
|
|
|
#
|
|
# Set additional parameters and env variables for selected AUTOSTART.
|
|
#
|
|
if ! param compare SYS_AUTOSTART 0
|
|
then
|
|
. ${R}etc/init.d/rc.autostart.post
|
|
fi
|
|
|
|
|
|
set BOARD_BOOTLOADER_UPGRADE ${R}etc/init.d/rc.board_bootloader_upgrade
|
|
if [ -f $BOARD_BOOTLOADER_UPGRADE ]
|
|
then
|
|
sh $BOARD_BOOTLOADER_UPGRADE
|
|
fi
|
|
unset BOARD_BOOTLOADER_UPGRADE
|
|
|
|
#
|
|
# End of autostart.
|
|
#
|
|
fi
|
|
|
|
#
|
|
# Unset all script parameters to free RAM.
|
|
#
|
|
unset R
|
|
unset FCONFIG
|
|
unset FEXTRAS
|
|
unset FRC
|
|
unset IOFW
|
|
unset LOGGER_ARGS
|
|
unset LOGGER_BUF
|
|
unset PARAM_FILE
|
|
unset PARAM_BACKUP_FILE
|
|
unset PARAM_DEFAULTS_VER
|
|
unset RC_INPUT_ARGS
|
|
unset STORAGE_AVAILABLE
|
|
unset SDCARD_EXT_PATH
|
|
unset SDCARD_FORMAT
|
|
unset STARTUP_TUNE
|
|
unset VEHICLE_TYPE
|
|
|
|
#
|
|
# Boot is complete, inform MAVLink app(s) that the system is now fully up and running.
|
|
#
|
|
mavlink boot_complete
|