mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-11 06:41:37 +08:00
Daniel AgarandBeat Küng
089c962d92
Using mixers on the IO side had a remote benefit of being able to override all control surfaces with a radio remote on a fixed wing. This ended up not being used that much and since the original design 10 years ago (2011) we have been able to convince ourselves that the overall system stability is at a level where this marginal benefit, which is not present on multicopters, is not worth the hazzle. Co-authored-by: Beat Küng <beat-kueng@gmx.net> Co-authored-by: Daniel Agar <daniel@agar.ca>
137 lines
2.2 KiB
Bash
137 lines
2.2 KiB
Bash
#!/bin/sh
|
|
#
|
|
# PX4FMU startup script for test hackery.
|
|
#
|
|
set +e
|
|
set R /
|
|
set unit_test_failure 0
|
|
|
|
set BOARD_RC ${R}etc/init.d/rc.board
|
|
|
|
if rgbled start -X
|
|
then
|
|
led_control on -c blue
|
|
fi
|
|
|
|
if sercon
|
|
then
|
|
echo "[i] USB interface connected"
|
|
|
|
# Try to get an USB console
|
|
nshterm /dev/ttyACM0 &
|
|
fi
|
|
|
|
#
|
|
# Try to mount the microSD card.
|
|
#
|
|
mount -t vfat /dev/mmcsd0 /fs/microsd
|
|
if [ $? = 0 ]
|
|
then
|
|
echo "[i] card mounted at /fs/microsd"
|
|
# Start playing the startup tune
|
|
tune_control play -t 1 # tune 1 = STARTUP
|
|
else
|
|
echo "[i] no microSD card found"
|
|
tune_control play error
|
|
fi
|
|
|
|
#
|
|
# Start a minimal system
|
|
#
|
|
|
|
#
|
|
# Load parameters
|
|
#
|
|
set PARAM_FILE /fs/microsd/params
|
|
if mtd start
|
|
then
|
|
set PARAM_FILE /fs/mtd_params
|
|
fi
|
|
|
|
param select $PARAM_FILE
|
|
if param load
|
|
then
|
|
echo "[param] Loaded: $PARAM_FILE"
|
|
else
|
|
echo "[param] FAILED loading $PARAM_FILE"
|
|
fi
|
|
|
|
#
|
|
# run boards rc.board if available
|
|
#
|
|
if [ -f $BOARD_RC ]
|
|
then
|
|
echo "Board init: ${BOARD_RC}"
|
|
. $BOARD_RC
|
|
fi
|
|
|
|
if [ -f /etc/extras/px4_io-v2_default.bin ]
|
|
then
|
|
set io_file /etc/extras/px4_io-v2_default.bin
|
|
fi
|
|
|
|
if px4io checkcrc $io_file
|
|
then
|
|
echo "PX4IO CRC OK"
|
|
else
|
|
echo "PX4IO CRC failure"
|
|
tune_control play -t 16 # tune 16 = PROG_PX4IO
|
|
if px4io update $io_file
|
|
then
|
|
if px4io start
|
|
then
|
|
echo "PX4IO restart OK"
|
|
tune_control play-t 17 # tune 17 = PROG_PX4IO_OK
|
|
else
|
|
echo "PX4IO restart failed"
|
|
tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
|
|
set unit_test_failure 1
|
|
set unit_test_failure_list "${unit_test_failure_list} px4io_flash"
|
|
fi
|
|
else
|
|
echo "PX4IO update failed"
|
|
tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
|
|
set unit_test_failure 1
|
|
set unit_test_failure_list "${unit_test_failure_list} px4io_flash"
|
|
fi
|
|
fi
|
|
|
|
if px4io start
|
|
then
|
|
echo "PX4IO OK"
|
|
else
|
|
set unit_test_failure 1
|
|
set unit_test_failure_list "${unit_test_failure_list} px4io_start"
|
|
fi
|
|
|
|
|
|
#
|
|
# The presence of this file suggests we're running a mount stress test
|
|
#
|
|
if [ -f /fs/microsd/mount_test_cmds.txt ]
|
|
then
|
|
tests mount
|
|
fi
|
|
|
|
. ${R}etc/init.d/rc.sensors
|
|
|
|
ver all
|
|
|
|
#
|
|
# Run unit tests at board boot, reporting failure as needed.
|
|
# Add new unit tests using the same pattern as below.
|
|
#
|
|
|
|
if tests all
|
|
then
|
|
echo
|
|
echo "All Unit Tests PASSED"
|
|
led_control on -c green
|
|
else
|
|
echo
|
|
echo "Some Unit Tests FAILED"
|
|
led_control on -c red
|
|
fi
|
|
|
|
free
|