mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-02 05:04:08 +08:00
c7a8589afc
Add ARK_FMU_V6X to RCS netman Remove arkv6x rc single wire Fix arkv6x mtd arkv6x bootloader init all pins to prevent power cycling peripherals on boot arkv6x don't power cycle sd card on boot arkv6x add UART4 Telem 4
558 lines
11 KiB
Bash
558 lines
11 KiB
Bash
#!/bin/sh
|
|
# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
|
|
set +e
|
|
# Un comment the line below to help debug scripts by printing a trace of the script commands
|
|
#set -x
|
|
# PX4FMU startup script.
|
|
#
|
|
# NOTE: environment variable references:
|
|
# If the dollar sign ('$') is followed by a left bracket ('{') then the
|
|
# variable name is terminated with the right bracket character ('}').
|
|
# Otherwise, the variable name goes to the end of the argument.
|
|
#
|
|
#
|
|
# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
|
|
#
|
|
#------------------------------------------------------------------------------
|
|
|
|
#
|
|
# Set default paramter values.
|
|
# Do not add intra word spaces
|
|
# it wastes flash
|
|
#
|
|
set R /
|
|
set FCONFIG /fs/microsd/etc/config.txt
|
|
set FEXTRAS /fs/microsd/etc/extras.txt
|
|
set FRC /fs/microsd/etc/rc.txt
|
|
set IOFW "/etc/extras/px4_io-v2_default.bin"
|
|
set LOGGER_ARGS ""
|
|
set LOGGER_BUF 8
|
|
set PARAM_FILE ""
|
|
set PARAM_BACKUP_FILE ""
|
|
set RC_INPUT_ARGS ""
|
|
set SDCARD_AVAILABLE no
|
|
set SDCARD_EXT_PATH /fs/microsd/ext_autostart
|
|
set SDCARD_FORMAT no
|
|
set STARTUP_TUNE 1
|
|
set VEHICLE_TYPE none
|
|
|
|
#
|
|
# Print full system version.
|
|
#
|
|
ver all
|
|
|
|
#
|
|
# Try to mount the microSD card.
|
|
#
|
|
if [ -b "/dev/mmcsd0" ]
|
|
then
|
|
if mount -t vfat /dev/mmcsd0 /fs/microsd
|
|
then
|
|
if [ -f "/fs/microsd/.format" ]
|
|
then
|
|
echo "INFO [init] format /dev/mmcsd0 requested (/fs/microsd/.format)"
|
|
set SDCARD_FORMAT yes
|
|
rm /fs/microsd/.format
|
|
umount /fs/microsd
|
|
|
|
else
|
|
set SDCARD_AVAILABLE yes
|
|
fi
|
|
fi
|
|
|
|
if [ $SDCARD_AVAILABLE = no -o $SDCARD_FORMAT = yes ]
|
|
then
|
|
echo "INFO [init] formatting /dev/mmcsd0"
|
|
set STARTUP_TUNE 15 # tune 15 = SD_ERROR (overridden to SD_INIT if format + mount succeeds)
|
|
|
|
if mkfatfs -F 32 /dev/mmcsd0
|
|
then
|
|
echo "INFO [init] card formatted"
|
|
|
|
if mount -t vfat /dev/mmcsd0 /fs/microsd
|
|
then
|
|
set SDCARD_AVAILABLE yes
|
|
set STARTUP_TUNE 14 # tune 14 = SD_INIT
|
|
else
|
|
echo "ERROR [init] card mount failed"
|
|
fi
|
|
else
|
|
echo "ERROR [init] format failed"
|
|
fi
|
|
fi
|
|
|
|
if [ $SDCARD_AVAILABLE = yes ]
|
|
then
|
|
if hardfault_log check
|
|
then
|
|
set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
|
|
if hardfault_log commit
|
|
then
|
|
hardfault_log reset
|
|
fi
|
|
fi
|
|
fi
|
|
|
|
set PARAM_FILE /fs/microsd/params
|
|
set PARAM_BACKUP_FILE "/fs/microsd/parameters_backup.bson"
|
|
fi
|
|
|
|
#
|
|
# Look for an init script on the microSD card.
|
|
# Disable autostart if the script found.
|
|
#
|
|
if [ -f $FRC ]
|
|
then
|
|
. $FRC
|
|
else
|
|
|
|
#
|
|
# Set the parameter file the board supports params on
|
|
# MTD device.
|
|
#
|
|
if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
|
|
then
|
|
set PARAM_FILE /fs/mtd_params
|
|
fi
|
|
|
|
#
|
|
# Load parameters.
|
|
#
|
|
# if the board has a storage for (factory) calibration data
|
|
if mft query -q -k MTD -s MTD_CALDATA -v /fs/mtd_caldata
|
|
then
|
|
param load /fs/mtd_caldata
|
|
fi
|
|
|
|
param select $PARAM_FILE
|
|
if ! param import
|
|
then
|
|
echo "ERROR [init] param import failed"
|
|
set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
|
|
|
|
param dump $PARAM_FILE
|
|
|
|
if [ -d "/fs/microsd" ]
|
|
then
|
|
# try to make a backup copy
|
|
cp $PARAM_FILE /fs/microsd/param_import_fail.bson
|
|
|
|
# try importing from backup file
|
|
if [ -f $PARAM_BACKUP_FILE ]
|
|
then
|
|
echo "[init] importing from parameter backup"
|
|
|
|
# dump current backup file contents for comparison
|
|
param dump $PARAM_BACKUP_FILE
|
|
|
|
param import $PARAM_BACKUP_FILE
|
|
|
|
# overwrite invalid $PARAM_FILE with backup
|
|
cp $PARAM_BACKUP_FILE $PARAM_FILE
|
|
fi
|
|
|
|
param status
|
|
|
|
dmesg >> /fs/microsd/param_import_fail.txt &
|
|
fi
|
|
fi
|
|
|
|
if [ $SDCARD_AVAILABLE = yes ]
|
|
then
|
|
param select-backup $PARAM_BACKUP_FILE
|
|
fi
|
|
|
|
if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X ARK_FMU_V6X
|
|
then
|
|
netman update -i eth0
|
|
fi
|
|
|
|
#
|
|
# If the airframe has been previously reset SYS_AUTCONFIG will have been set to 1 and other params will be reset on the next boot.
|
|
#
|
|
if param greater SYS_AUTOCONFIG 0
|
|
then
|
|
# Reset params except Airframe, RC calibration, sensor calibration, flight modes, total flight time, and next flight UUID.
|
|
param reset_all SYS_AUTOSTART RC* CAL_* COM_FLTMODE* LND_FLIGHT* TC_* COM_FLIGHT*
|
|
fi
|
|
|
|
#
|
|
# Optional board architecture defaults: rc.board_arch_defaults
|
|
#
|
|
set BOARD_ARCH_RC_DEFAULTS ${R}etc/init.d/rc.board_arch_defaults
|
|
if [ -f $BOARD_ARCH_RC_DEFAULTS ]
|
|
then
|
|
echo "Board architecture defaults: ${BOARD_ARCH_RC_DEFAULTS}"
|
|
. $BOARD_ARCH_RC_DEFAULTS
|
|
fi
|
|
unset BOARD_ARCH_RC_DEFAULTS
|
|
|
|
#
|
|
# Optional board defaults: rc.board_defaults
|
|
#
|
|
set BOARD_RC_DEFAULTS ${R}etc/init.d/rc.board_defaults
|
|
if [ -f $BOARD_RC_DEFAULTS ]
|
|
then
|
|
echo "Board defaults: ${BOARD_RC_DEFAULTS}"
|
|
. $BOARD_RC_DEFAULTS
|
|
fi
|
|
unset BOARD_RC_DEFAULTS
|
|
|
|
#
|
|
# Set parameters and env variables for selected SYS_AUTOSTART.
|
|
#
|
|
set AUTOSTART_PATH etc/init.d/rc.autostart
|
|
if ! param compare SYS_AUTOSTART 0
|
|
then
|
|
if param greater SYS_AUTOSTART 1000000
|
|
then
|
|
# Use external startup file
|
|
if [ $SDCARD_AVAILABLE = yes ]
|
|
then
|
|
set AUTOSTART_PATH etc/init.d/rc.autostart_ext
|
|
else
|
|
echo "ERROR [init] SD card not mounted - trying to load airframe from ROMFS"
|
|
fi
|
|
fi
|
|
. ${R}$AUTOSTART_PATH
|
|
fi
|
|
unset AUTOSTART_PATH
|
|
|
|
#
|
|
# Start the tone_alarm driver.
|
|
# Needs to be started after the parameters are loaded (for CBRK_BUZZER).
|
|
#
|
|
tone_alarm start
|
|
|
|
#
|
|
# Waypoint storage.
|
|
# REBOOTWORK this needs to start in parallel.
|
|
#
|
|
if param compare -s SYS_DM_BACKEND 1
|
|
then
|
|
dataman start -r
|
|
else
|
|
if param compare SYS_DM_BACKEND 0
|
|
then
|
|
# dataman start default
|
|
dataman start
|
|
fi
|
|
fi
|
|
|
|
#
|
|
# Start the socket communication send_event handler.
|
|
#
|
|
send_event start
|
|
|
|
#
|
|
# Start the resource load monitor.
|
|
#
|
|
load_mon start
|
|
|
|
#
|
|
# Start system state indicator.
|
|
#
|
|
rgbled start -X -q
|
|
rgbled_ncp5623c start -X -q
|
|
|
|
#
|
|
# Override parameters from user configuration file.
|
|
#
|
|
if [ -f $FCONFIG ]
|
|
then
|
|
echo "Custom: ${FCONFIG}"
|
|
. $FCONFIG
|
|
fi
|
|
|
|
#
|
|
# Start IO for PWM output or RC input if enabled
|
|
#
|
|
if param compare -s SYS_USE_IO 1
|
|
then
|
|
# Check if PX4IO present and update firmware if needed.
|
|
if [ -f $IOFW ]
|
|
then
|
|
if ! px4io checkcrc ${IOFW}
|
|
then
|
|
# tune Program PX4IO
|
|
tune_control play -t 16 # tune 16 = PROG_PX4IO
|
|
|
|
if px4io update ${IOFW}
|
|
then
|
|
usleep 10000
|
|
tune_control stop
|
|
if px4io checkcrc ${IOFW}
|
|
then
|
|
tune_control play -t 17 # tune 17 = PROG_PX4IO_OK
|
|
else
|
|
tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
|
|
fi
|
|
else
|
|
tune_control stop
|
|
fi
|
|
fi
|
|
fi
|
|
|
|
if ! px4io start
|
|
then
|
|
echo "PX4IO start failed"
|
|
set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
|
|
fi
|
|
fi
|
|
|
|
#
|
|
# RC update (map raw RC input to calibrate manual control)
|
|
# start before commander
|
|
#
|
|
rc_update start
|
|
manual_control start
|
|
|
|
# Start camera trigger, capture and PPS before pwm_out as they might access
|
|
# pwm pins
|
|
if param greater -s TRIG_MODE 0
|
|
then
|
|
camera_trigger start
|
|
camera_feedback start
|
|
fi
|
|
# PPS capture driver
|
|
if param greater -s PPS_CAP_ENABLE 0
|
|
then
|
|
pps_capture start
|
|
fi
|
|
# Camera capture driver
|
|
if param greater -s CAM_CAP_FBACK 0
|
|
then
|
|
if camera_capture start
|
|
then
|
|
camera_capture on
|
|
fi
|
|
fi
|
|
|
|
#
|
|
# Sensors System (start before Commander so Preflight checks are properly run).
|
|
# Commander needs to be this early for in-air-restarts.
|
|
#
|
|
if param greater SYS_HITL 0
|
|
then
|
|
if ! pwm_out_sim start -m hil
|
|
then
|
|
tune_control play error
|
|
fi
|
|
|
|
sensors start -h
|
|
commander start -h
|
|
# disable GPS
|
|
param set GPS_1_CONFIG 0
|
|
|
|
# start the simulator in hardware if needed
|
|
if param compare SYS_HITL 2
|
|
then
|
|
simulator_sih start
|
|
sensor_baro_sim start
|
|
sensor_mag_sim start
|
|
fi
|
|
|
|
else
|
|
#
|
|
# board sensors: rc.sensors
|
|
#
|
|
set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors
|
|
if [ -f $BOARD_RC_SENSORS ]
|
|
then
|
|
echo "Board sensors: ${BOARD_RC_SENSORS}"
|
|
. $BOARD_RC_SENSORS
|
|
fi
|
|
unset BOARD_RC_SENSORS
|
|
|
|
. ${R}etc/init.d/rc.sensors
|
|
|
|
if param compare -s BAT1_SOURCE 2
|
|
then
|
|
esc_battery start
|
|
fi
|
|
|
|
if ! param compare BAT1_SOURCE 1
|
|
then
|
|
battery_status start
|
|
fi
|
|
|
|
sensors start
|
|
commander start
|
|
|
|
dshot start
|
|
pwm_out start
|
|
fi
|
|
|
|
#
|
|
# Configure vehicle type specific parameters.
|
|
# Note: rc.vehicle_setup is the entry point for all vehicle type specific setup.
|
|
. ${R}etc/init.d/rc.vehicle_setup
|
|
|
|
# Pre-takeoff continuous magnetometer calibration
|
|
if param compare -s MBE_ENABLE 1
|
|
then
|
|
mag_bias_estimator start
|
|
fi
|
|
|
|
#
|
|
# Optional board mavlink streams: rc.board_mavlink
|
|
#
|
|
set BOARD_RC_MAVLINK ${R}etc/init.d/rc.board_mavlink
|
|
if [ -f $BOARD_RC_MAVLINK ]
|
|
then
|
|
echo "Board mavlink: ${BOARD_RC_MAVLINK}"
|
|
. $BOARD_RC_MAVLINK
|
|
fi
|
|
unset BOARD_RC_MAVLINK
|
|
|
|
#
|
|
# Start UART/Serial device drivers.
|
|
# Note: rc.serial is auto-generated from Tools/serial/generate_config.py
|
|
#
|
|
. ${R}etc/init.d/rc.serial
|
|
|
|
# Must be started after the serial config is read
|
|
rc_input start $RC_INPUT_ARGS
|
|
|
|
#
|
|
# Play the startup tune (if not disabled or there is an error)
|
|
#
|
|
param compare CBRK_BUZZER 782090
|
|
if [ "$?" != "0" -o "$STARTUP_TUNE" != "1" ]
|
|
then
|
|
tune_control play -t $STARTUP_TUNE
|
|
fi
|
|
|
|
#
|
|
# Start the navigator.
|
|
#
|
|
navigator start
|
|
|
|
#
|
|
# Start a thermal calibration if required.
|
|
#
|
|
. ${R}etc/init.d/rc.thermal_cal
|
|
|
|
#
|
|
# Start gimbal to control mounts such as gimbals, disabled by default.
|
|
#
|
|
if param greater -s MNT_MODE_IN -1
|
|
then
|
|
gimbal start
|
|
fi
|
|
|
|
# Blacksheep telemetry
|
|
if param compare -s TEL_BST_EN 1
|
|
then
|
|
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 module if gripper is enabled
|
|
if param compare -s PD_GRIPPER_EN 1
|
|
then
|
|
payload_deliverer 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.
|
|
#
|
|
. ${R}etc/init.d/rc.logging
|
|
|
|
#
|
|
# 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
|
|
|
|
#
|
|
# Check if UAVCAN is enabled, default to it for ESCs.
|
|
#
|
|
if param greater -s UAVCAN_ENABLE 0
|
|
then
|
|
# Start core UAVCAN module.
|
|
if ! uavcan start
|
|
then
|
|
tune_control play error
|
|
fi
|
|
else
|
|
if param greater -s CYPHAL_ENABLE 0
|
|
then
|
|
cyphal start
|
|
fi
|
|
fi
|
|
|
|
#
|
|
# 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 RC_INPUT_ARGS
|
|
unset SDCARD_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
|