mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-15 00:57:35 +08:00
Lorenz Meier
aacbc04730
These changes remove the two code paths to updates (forceupdate and update) and try to reboot and bootload IO independent of its state, wether it is in bootloader mode already, safety switch is off or if it is in "nominal state" (running and safety on). This ensures that there are no conditions where user error or boot sequence can prevent a successful upgrade. The only state where an upgrade will not be done is if the system is fully armed.
589 lines
11 KiB
Bash
589 lines
11 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 AUTOCNF no
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set AUX_MODE pwm
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set DATAMAN_OPT ""
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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 FMU_MODE pwm
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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 IO_PRESENT no
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set LOGGER_ARGS ""
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set LOGGER_BUF 14
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set MAV_TYPE none
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set MIXER none
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set MIXER_AUX none
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set MIXER_FILE none
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set MIXER_EXTRA none
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set OUTPUT_MODE none
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set PARAM_FILE /fs/microsd/params
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set PWM_OUT none
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set PWM_MAIN_RATE p:PWM_MAIN_RATE
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set PWM_AUX_OUT none
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set PWM_AUX_RATE p:PWM_AUX_RATE
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set PWM_EXTRA_OUT none
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set PWM_EXTRA_RATE p:PWM_EXTRA_RATE
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set EXTRA_MIXER_MODE none
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set RC_INPUT_ARGS ""
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set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
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set STARTUP_TUNE 1
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set USE_IO no
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set VEHICLE_TYPE none
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# Airframe parameter versioning: airframe maintainers can set this in the
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# airframe startup script, and then increase it by one whenever an airframe
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# parameter is updated - it will ensure that these parameters will be updated
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# when the firmware is flashed.
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set PARAM_DEFAULTS_VER 1
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#
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# Mount the procfs.
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#
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mount -t procfs /proc
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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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# 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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# REBOOTWORK this needs to start after the flight control loop.
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if mount -t vfat /dev/mmcsd0 /fs/microsd
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then
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if hardfault_log check
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then
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# Error tune.
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set STARTUP_TUNE 2
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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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# Prevent MacOS and Ubuntu from creating unnecessary temporary files on the microSD card
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# block MacOS Spotlight indexing (.Spotlight-V100 folder)
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if [ ! -f "/fs/microsd/.metadata_never_index" ]; then
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cat > /fs/microsd/.metadata_never_index
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fi
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# block MacOS trashes
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if [ ! -f "/fs/microsd/.Trashes" ]; then
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cat > /fs/microsd/.Trashes
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fi
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# block MacOS logging of filesystem events
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if [ ! -d "/fs/microsd/.fseventsd" ]; then
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mkdir /fs/microsd/.fseventsd
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fi
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if [ ! -f "/fs/microsd/.fseventsd/no_log" ]; then
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cat > /fs/microsd/.fseventsd/no_log
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fi
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# block Ubuntu trash
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if [ ! -f "/fs/microsd/.Trash-1000" ]; then
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cat > /fs/microsd/.Trash-1000
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fi
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else
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# tune SD_INIT
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set STARTUP_TUNE 14 # tune 14 = SD_INIT
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if mkfatfs /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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echo "INFO [init] card formatted"
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else
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set STARTUP_TUNE 15 # tune 15 = SD_ERROR
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echo "ERROR [init] format failed"
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fi
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fi
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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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#
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# Set the parameter file the board supports params on
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# MTD device.
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#
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if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
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then
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set PARAM_FILE /fs/mtd_params
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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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param reset_all
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fi
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if ver hwtypecmp V5X00 V5X90 V5Xa0
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then
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netman update -i eth0
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fi
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#
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# Set AUTOCNF flag to use it in AUTOSTART scripts.
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#
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if param greater SYS_AUTOCONFIG 0
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then
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if param compare SYS_AUTOCONFIG 1
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then
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# Wipe out params except RC*, flight modes, total flight time, calibration parameters, next flight UUID
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param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT* SYS_PARAM_VER
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fi
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set AUTOCNF yes
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fi
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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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# 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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# 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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# Waypoint storage.
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# REBOOTWORK this needs to start in parallel.
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#
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dataman start $DATAMAN_OPT
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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 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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if param greater -s LIGHT_EN_BLINKM 0
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then
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if blinkm start -X
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then
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blinkm systemstate
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fi
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fi
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#
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# Set parameters and env variables for selected AUTOSTART.
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#
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if ! param compare SYS_AUTOSTART 0
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then
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. ${R}etc/init.d/rc.autostart
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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 $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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# If autoconfig parameter was set, reset it and save parameters.
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#
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if [ $AUTOCNF = yes ]
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then
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param set SYS_AUTOCONFIG 0
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fi
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#
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# Check if PX4IO present and update firmware if needed.
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# Assumption IOFW set to firmware file and IO_PRESENT = no
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#
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if [ -f $IOFW ]
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then
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# Check for the mini using build with px4io fw file
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# but not a px4IO
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if ver hwtypecmp V540 V560
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then
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param set SYS_USE_IO 0
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else
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if px4io checkcrc ${IOFW}
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then
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set IO_PRESENT yes
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else
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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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set IO_PRESENT yes
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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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fi
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fi
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fi
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fi
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#
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# Set USE_IO flag.
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#
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if param compare -s SYS_USE_IO 1
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then
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set USE_IO yes
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fi
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if [ $USE_IO = yes -a $IO_PRESENT = no ]
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then
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echo "PX4IO not found"
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tune_control play error
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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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#
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# Sensors System (start before Commander so Preflight checks are properly run).
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# Commander needs to be this early for in-air-restarts.
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#
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if param greater SYS_HITL 0
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then
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set OUTPUT_MODE hil
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sensors start -h
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commander 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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sih 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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commander start
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fi
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# Sensors on the PWM interface bank.
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if param compare -s SENS_EN_LL40LS 1
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then
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# Clear pins 5 and 6.
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set FMU_MODE pwm4
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set AUX_MODE pwm4
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fi
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# Check if ATS is enabled
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if param compare FD_EXT_ATS_EN 1
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then
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# Clear pins 5 and 6.
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set FMU_MODE pwm4
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set AUX_MODE pwm4
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fi
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if param greater -s TRIG_MODE 0
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then
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# We ONLY support trigger on pins 5+6 or 7+8 when simultanously using AUX for actuator output.
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if param compare TRIG_PINS 56
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then
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# clear pins 5 and 6
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set FMU_MODE pwm4
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set AUX_MODE pwm4
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else
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if param compare TRIG_PINS 78
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then
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# clear pins 7 and 8
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set FMU_MODE pwm6
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set AUX_MODE pwm6
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else
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set FMU_MODE none
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set AUX_MODE none
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fi
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fi
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camera_trigger start
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camera_feedback start
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fi
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#
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# Check if UAVCAN is enabled, default to it for ESCs.
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#
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if param greater -s UAVCAN_ENABLE 0
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then
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# Start core UAVCAN module.
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if uavcan start
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then
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if param greater UAVCAN_ENABLE 1
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then
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# Start UAVCAN firmware update server and dynamic node ID allocation server.
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uavcan start fw
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tune_control play -t 1
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if param greater UAVCAN_ENABLE 2
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then
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set OUTPUT_MODE uavcan_esc
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fi
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fi
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else
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tune_control play error
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fi
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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 extras: ${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 [ $IO_PRESENT = no ]
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then
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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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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 rc.interface,
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# rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
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#
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. ${R}etc/init.d/rc.vehicle_setup
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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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# 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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. ${R}etc/init.d/rc.thermal_cal
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#
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# Start vmount 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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vmount start
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fi
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# Check for flow sensor
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if param compare -s SENS_EN_PX4FLOW 1
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then
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px4flow start -X
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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
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fi
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if param compare -s IMU_GYRO_FFT_EN 1
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then
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gyro_fft start
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fi
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#
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# Optional board supplied extras: rc.board_extras
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#
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set BOARD_RC_EXTRAS ${R}etc/init.d/rc.board_extras
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if [ -f $BOARD_RC_EXTRAS ]
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then
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echo "Board extras: ${BOARD_RC_EXTRAS}"
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. $BOARD_RC_EXTRAS
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fi
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unset BOARD_RC_EXTRAS
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#
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# Start any custom addons from the sdcard.
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#
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if [ -f $FEXTRAS ]
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then
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echo "Addons script: ${FEXTRAS}"
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. $FEXTRAS
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fi
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#
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# Start the logger.
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#
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. ${R}etc/init.d/rc.logging
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#
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# Set additional parameters and env variables for selected AUTOSTART.
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#
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if ! param compare SYS_AUTOSTART 0
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then
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. ${R}etc/init.d/rc.autostart.post
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fi
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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 2
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param save
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reboot
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fi
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#
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# End of autostart.
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#
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fi
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#
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# Unset all script parameters to free RAM.
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#
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unset R
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unset AUTOCNF
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unset AUX_MODE
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unset DATAMAN_OPT
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unset FCONFIG
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unset FEXTRAS
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unset FMU_MODE
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unset FRC
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unset IO_PRESENT
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unset IOFW
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unset LOGGER_ARGS
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unset LOGGER_BUF
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unset MAV_TYPE
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unset MIXER
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unset MIXER_AUX
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unset MIXER_FILE
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unset OUTPUT_MODE
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unset PARAM_DEFAULTS_VER
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unset PARAM_FILE
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unset PWM_AUX_OUT
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unset PWM_AUX_RATE
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unset PWM_MAIN_RATE
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unset PWM_OUT
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unset PWM_EXTRA_OUT
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unset PWM_EXTRA_RATE
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unset RC_INPUT_ARGS
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unset SDCARD_MIXERS_PATH
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unset STARTUP_TUNE
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unset USE_IO
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unset VEHICLE_TYPE
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#
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|
# Boot is complete, inform MAVLink app(s) that the system is now fully up and running.
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|
#
|
|
mavlink boot_complete
|