mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
577 lines
12 KiB
Plaintext
577 lines
12 KiB
Plaintext
#!nsh
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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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# UART mapping on FMUv2/3/4:
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#
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# UART1 /dev/ttyS0 IO debug (except v4, there ttyS0 is the wifi)
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# USART2 /dev/ttyS1 TELEM1 (flow control)
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# USART3 /dev/ttyS2 TELEM2 (flow control)
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# UART4
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# UART7 CONSOLE
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# UART8 SERIAL4
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#
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#------------------------------------------------------------------------------
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#
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# UART mapping on FMUv5:
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#
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# UART1 /dev/ttyS0 GPS
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# USART2 /dev/ttyS1 TELEM1 (flow control)
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# USART3 /dev/ttyS2 TELEM2 (flow control)
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# UART4 /dev/ttyS3 TELEM4
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# USART6 /dev/ttyS4 TELEM3 (flow control)
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# UART7 /dev/ttyS5
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# UART8 /dev/ttyS6 CONSOLE
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#
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#------------------------------------------------------------------------------
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#
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# UART mapping on OMNIBUSF4SD:
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#
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# USART1 /dev/ttyS0 SerialRX
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# USART4 /dev/ttyS1 TELEM1
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# USART6 /dev/ttyS2 GPS
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#
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#
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# Set default paramter values.
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#
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set AUX_MODE pwm
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set DATAMAN_OPT ""
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set FAILSAFE none
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set FAILSAFE_AUX none
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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 FMU_ARGS ""
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set FMU_MODE pwm
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set IO_FILE ""
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set IO_PRESENT no
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set LOG_FILE /fs/microsd/bootlog.txt
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set MAVLINK_F default
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set MAVLINK_COMPANION_DEVICE /dev/ttyS2
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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 MK_MODE none
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set MKBLCTRL_ARG ""
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set OUTPUT_MODE none
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set PARAM_FILE /fs/microsd/params
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set PWM_AUX_DISARMED p:PWM_AUX_DISARMED
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set PWM_AUX_MAX p:PWM_AUX_MAX
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set PWM_AUX_MIN p:PWM_AUX_MIN
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set PWM_AUX_OUT none
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set PWM_AUX_RATE none
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set PWM_DISARMED p:PWM_DISARMED
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set PWM_MAX p:PWM_MAX
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set PWM_MIN p:PWM_MIN
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set PWM_OUT none
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set PWM_RATE p:PWM_RATE
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set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
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set USE_IO no
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set VEHICLE_TYPE none
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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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tune_control play -t 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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tone_alarm stop
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fi
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fi
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else
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tone_alarm MBAGP
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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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echo "ERROR [init] format failed"
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tune_control play -m MNBG
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set LOG_FILE /dev/null
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fi
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else
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set LOG_FILE /dev/null
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fi
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fi
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# AEROCORE2 shouldn't have an sd card and CF2 may optionally have an sd card.
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if ! ver hwcmp CRAZYFLIE AEROCORE2
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then
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# Run no SD alarm.
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if [ $LOG_FILE == /dev/null ]
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then
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# Error tune.
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tune_control play -t 2
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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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sh $FRC
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else
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#
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# Start the ORB (first app to start).
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#
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uorb start
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#
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# Start the tone_alarm driver.
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#
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tone_alarm start
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#
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# Play the startup tone.
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#
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tune_control play -t 1
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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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# Set the parameter file if mtd starts successfully.
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#
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if mtd start
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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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param select $PARAM_FILE
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if ! param load
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then
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param reset
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fi
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#
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# Start system state indicator.
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#
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if ! rgbled start
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then
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if blinkm start
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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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# FMUv5 may have both PWM I2C RGB LED support.
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#
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rgbled_pwm start
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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 compare SYS_AUTOCONFIG 1
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then
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# Wipe out params except RC*, flight modes and total flight time.
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param reset_nostart RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO*
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set AUTOCNF yes
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else
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set AUTOCNF no
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#
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# Release 1.4.0 transitional support: set to old default if unconfigured,
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# this preserves the previous behaviour.
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#
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if param compare BAT_N_CELLS 0
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then
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param set BAT_N_CELLS 3
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fi
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fi
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###############################################################################
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# Begin setup for board specific configurations. #
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###############################################################################
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if ver hwcmp AEROCORE2
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then
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set DATAMAN_OPT "-f /fs/mtd_dataman"
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fi
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if ver hwcmp AEROFC_V1
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then
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if param compare SYS_AUTOSTART 0
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then
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set AUTOCNF yes
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fi
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# We don't allow changing AUTOSTART as it doesn't work in
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# other configurations.
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param set SYS_AUTOSTART 4070
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set DATAMAN_OPT -i
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fi
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if ver hwcmp CRAZYFLIE
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then
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if param compare SYS_AUTOSTART 0
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then
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param set SYS_AUTOSTART 4900
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set AUTOCNF yes
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fi
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fi
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if ver hwcmp NXPHLITE_V3
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then
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param set SYS_FMU_TASK 1
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fi
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###############################################################################
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# End Setup for board specific configurations. #
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###############################################################################
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if param compare SYS_FMU_TASK 1
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then
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set FMU_ARGS "-t"
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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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sh /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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sh $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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# Run FMU as task on Pixracer and on boards with enough RAM.
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if ver hwcmp PX4FMU_V4 PX4FMU_V4PRO PX4FMU_V5
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then
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param set SYS_FMU_TASK 1
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fi
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# Disable safety switch by default on Pixracer and OmnibusF4SD.
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if ver hwcmp PX4FMU_V4 OMNIBUS_F4SD
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then
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param set CBRK_IO_SAFETY 22027
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fi
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if ver hwcmp OMNIBUS_F4SD
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then
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param set SYS_FMU_TASK 1
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param set SYS_HAS_MAG 0
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# use the Q attitude estimator, it works w/o mag or GPS.
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param set SYS_MC_EST_GROUP 1
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param set ATT_ACC_COMP 0
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param set ATT_W_ACC 0.4000
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param set ATT_W_GYRO_BIAS 0.0000
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fi
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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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#
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if [ -f /etc/extras/px4io-v2.bin ]
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then
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set IO_FILE /etc/extras/px4io-v2.bin
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if px4io checkcrc ${IO_FILE}
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then
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set IO_PRESENT yes
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else
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tune_control play -m MLL32CP8MB
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if px4io start
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then
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# Try to safety px4 io so motor outputs don't go crazy.
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if ! px4io safety_on
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then
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# px4io did not respond to the safety command.
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px4io stop
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fi
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fi
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if px4io forceupdate 14662 ${IO_FILE}
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then
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usleep 10000
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if px4io checkcrc ${IO_FILE}
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then
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echo "PX4IO CRC OK after updating" >> $LOG_FILE
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tune_control play -m MLL8CDE
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set IO_PRESENT yes
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else
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echo "PX4IO update failed" >> $LOG_FILE
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# Error tune.
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tune_control play -t 2
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fi
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else
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echo "PX4IO update failed" >> $LOG_FILE
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# Error tune.
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tune_control play -t 2
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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 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" >> $LOG_FILE
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# Error tune.
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tune_control play -t 2
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fi
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if [ $IO_PRESENT == no -o $USE_IO == no ]
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then
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rc_input start
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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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# Commander needs to be this early for in-air-restarts.
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#
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if param compare SYS_HITL 1
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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 --hil
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else
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if ver hwcmp PX4_SAME70XPLAINED_V1
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then
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gps start -d /dev/ttyS2
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else
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gps start
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fi
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sh /etc/init.d/rc.sensors
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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 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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if param greater TRIG_MODE 0
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then
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# We ONLY support trigger on pins 5 and 6 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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set FMU_MODE none
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set AUX_MODE none
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fi
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camera_trigger start
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param set CAM_FBACK_MODE 1
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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 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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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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# Error tune.
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tune_control play -t 2
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fi
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fi
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#
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# Start mavlink streams.
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#
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sh /etc/init.d/rc.mavlink
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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.ugv_apps, and rc.vtol_apps.
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#
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sh /etc/init.d/rc.vehicle_setup
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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 the standalone wind estimator.
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#
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if param compare WEST_EN 1
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then
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wind_estimator start
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fi
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#
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# Start a thermal calibration if required.
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#
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sh /etc/init.d/rc.thermal_cal
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#
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# Start the logger.
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#
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sh /etc/init.d/rc.logging
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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 compare MNT_MODE_IN -1
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then
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vmount start
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fi
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#
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# Launch the flow sensor as a background task.
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#
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if ver hwcmp PX4FMU_V2 PX4FMU_V4 PX4FMU_V4PRO MINDPX_V2 PX4FMU_V5 OMNIBUS_F4SD
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then
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px4flow start &
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fi
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#
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# Start any custom addons.
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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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sh $FEXTRAS
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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 AUX_MODE
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unset DATAMAN_OPT
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unset FAILSAFE
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unset FAILSAFE_AUX
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unset FCONFIG
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unset FEXTRAS
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unset FRC
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unset FMU_ARGS
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unset FMU_MODE
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unset IO_FILE
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unset IO_PRESENT
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unset LOG_FILE
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unset MAVLINK_F
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unset MAVLINK_COMPANION_DEVICE
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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 MK_MODE
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unset MKBLCTRL_ARG
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unset OUTPUT_DEV
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unset OUTPUT_MODE
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unset PARAM_FILE
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unset PWM_AUX_DISARMED
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unset PWM_AUX_MAX
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unset PWM_AUX_MIN
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unset PWM_AUX_OUT
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unset PWM_AUX_RATE
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unset PWM_OUT
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unset PWM_RATE
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unset PWM_DISARMED
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unset PWM_MAX
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unset PWM_MIN
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unset SDCARD_MIXERS_PATH
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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.
|
|
#
|
|
mavlink boot_complete
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