mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
306 lines
9.4 KiB
Bash
Executable File
306 lines
9.4 KiB
Bash
Executable File
#!/bin/sh
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# PX4 commands need the 'px4-' prefix in bash.
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# (px4-alias.sh is expected to be in the PATH)
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. px4-alias.sh
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echo -e "\n*************************"
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echo "AIRFRAME: $AIRFRAME"
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echo "GPS: $GPS"
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echo "RC: $RC"
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echo "ESC: $ESC"
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echo "POWER MANAGER: $POWER_MANAGER"
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echo "AIRSPEED SENSOR: $AIRSPEED_SENSOR"
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echo "DISTANCE SENSOR: $DISTANCE_SENSOR"
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echo "OSD: $OSD"
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echo "EXTRA STEPS:"
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for i in "${EXTRA_STEPS[@]}"
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do
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echo -e "\t$i"
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done
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echo -e "*************************\n"
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# In order to just exit after starting the uorb / muorb modules define
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# the environment variable MINIMAL_PX4. (e.g. export MINIMAL_PX4=1)
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# This is useful for testing / debug where you may want to start drivers
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# and modules manually from the px4 command shell
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if [ ! -z $MINIMAL_PX4 ]; then
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/bin/echo "Running minimal script"
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param select /data/px4/param/parameters
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param load
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exit 0
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fi
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# Figure out what platform we are running on.
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PLATFORM=`/usr/bin/voxl-platform 2> /dev/null`
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RETURNCODE=$?
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if [ $RETURNCODE -ne 0 ]; then
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# If we couldn't get the platform from the voxl-platform utility then check
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# /etc/version to see if there is an M0052 substring in the version string. If so,
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# then we assume that we are on M0052.
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VERSIONSTRING=""
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if [ -f /etc/version ]; then
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VERSIONSTRING=$(</etc/version)
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fi
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M0052SUBSTRING="M0052"
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if [[ "$VERSIONSTRING" == *"$M0052SUBSTRING"* ]]; then
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PLATFORM="M0052"
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fi
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fi
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# We can only run on M0054, M0104, or M0197 so exit with error if that is not the case
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if [ $PLATFORM = "M0052" ]; then
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/bin/echo "Running on M0052"
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/bin/echo "Error M0052 is no longer supported!!!"
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exit 1
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elif [ $PLATFORM = "M0054" ]; then
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/bin/echo "Running on M0054"
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elif [ $PLATFORM = "M0104" ]; then
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/bin/echo "Running on M0104"
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elif [ $PLATFORM = "M0197" ]; then
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/bin/echo "Running on M0197"
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else
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/bin/echo "Error, cannot determine platform!"
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exit 1
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fi
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# Sleep a little here. A lot happens when the uorb and muorb start
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# and we need to make sure that it all completes successfully to avoid
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# any possible race conditions.
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/bin/sleep 1
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param select /data/px4/param/parameters
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# Change defaults before loading in updated parameters from the file
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# This was the default pre-v1.16.0 and for folks relying on that
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# we set it up here
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param set-default EKF2_EV_CTRL 15
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# Shouldn't need to do it separately with qshell but set-default
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# implementation needs to be updated to set it on DSP as well. Until
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# then need to do it as a separate step.
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qshell param set-default EKF2_EV_CTRL 15
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# Load in all of the parameters that have been saved in the file
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# after updating any default values
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param load
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# IMU (accelerometer / gyroscope)
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if [ "$PLATFORM" == "M0104" ]; then
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/bin/echo "Starting IMU driver with rotation 12"
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qshell icm42688p start -s -R 12 -C 32768
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elif [ "$PLATFORM" == "M0197" ]; then
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/bin/echo "Starting bmi270 IMU driver with rotation 26"
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qshell bmi270 start -s -R 26
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else
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/bin/echo "Starting IMU driver with no rotation"
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qshell icm42688p start -s -C 32768
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fi
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# First look for any external barometers connected to the apps proc
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EXTERNAL_BAROMETER=0
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/bin/echo "Looking for external DPS368 barometer"
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if dps310 start -X -b /dev/i2c-0; then
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/bin/echo "Detected external DPS368 barometer"
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EXTERNAL_BAROMETER=1
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fi
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if (( EXTERNAL_BAROMETER == 0 )); then
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/bin/echo "Looking for external ICP10100 barometer"
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if icp101xx start -X -b /dev/i2c-0; then
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/bin/echo "Detected external ICP10100 barometer"
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EXTERNAL_BAROMETER=1
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fi
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fi
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# If no external barometers found, use the builtin barometer
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if (( EXTERNAL_BAROMETER == 0 )); then
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/bin/echo "Did not detect an external barometer, starting onboard barometer"
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if [ "$PLATFORM" == "M0197" ]; then
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/bin/echo "Starting dps368 barometer on M0197"
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qshell dps310 start -I -b 5
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else
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# Start Invensense ICP 101xx barometer built on to VOXL 2
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qshell icp101xx start -I -b 5
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fi
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fi
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# Auto detect the magnetometer. If one or both of these devices
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# are not connected it will fail but not cause any harm.
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/bin/echo "Looking for qmc5883l magnetometer"
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qshell qmc5883l start -R 10 -X -b 1
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/bin/echo "Looking for ist8310 magnetometer"
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qshell ist8310 start -R 10 -X -b 1
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/bin/echo "Looking for ist8308 magnetometer"
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# Rotation 12 = PITCH_180
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qshell ist8308 start -R 12 -X -b 1
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/bin/echo "Looking for iis2mdc magnetometer"
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# Note: Rotation may not be correct
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qshell iis2mdc start -R 10 -X -b 1
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# GPS and magnetometer
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if [ "$GPS" != "NONE" ]; then
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if [ "$PLATFORM" == "M0197" ]; then
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gps start -d /dev/ttyHS7
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else
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qshell gps start
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fi
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fi
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# Auto detect an ncp5623c i2c RGB LED. If one isn't connected this will
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# fail but not cause any harm.
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/bin/echo "Looking for ncp5623c RGB LED"
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qshell rgbled_ncp5623c start -X -b 1 -f 400 -a 56
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# We do not change the value of SYS_AUTOCONFIG but if it does not
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# show up as used then it is not reported to QGC and we get a
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# missing parameter error. Also, we don't use SYS_AUTOSTART but QGC
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# complains about it as well.
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param touch SYS_AUTOCONFIG
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param touch SYS_AUTOSTART
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# ESC driver
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if [ "$ESC" == "VOXL_ESC" ]; then
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/bin/echo "Starting VOXL ESC driver"
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qshell voxl_esc start
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elif [ "$ESC" == "VOXL2_IO_PWM_ESC" ]; then
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if [ "$RC" == "M0065_SBUS" ]; then
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/bin/echo "Starting VOXL IO for PWM ESC with SBUS RC"
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qshell voxl2_io start
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else
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/bin/echo "Starting VOXL IO for PWM ESC without SBUS RC"
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qshell voxl2_io start -e
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fi
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else
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/bin/echo "No ESC type specified, not starting an ESC driver"
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fi
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# RC driver
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if [ "$RC" == "FAKE_RC_INPUT" ]; then
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/bin/echo "Starting fake RC driver"
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qshell rc_controller start
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elif [ "$RC" == "CRSF_RAW" ]; then
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/bin/echo "Starting CRSF RC driver"
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qshell crsf_rc start -d 7
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elif [ "$RC" == "CRSF_MAV" ]; then
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/bin/echo "Starting TBS crossfire RC - MAV Mode"
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qshell mavlink_rc_in start -m -p 7 -b 115200
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elif [ "$RC" == "SPEKTRUM" ]; then
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/bin/echo "Starting Spektrum RC"
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qshell spektrum_rc start
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elif [ "$RC" == "GHST" ]; then
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/bin/echo "Starting GHST RC driver"
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qshell ghst_rc start -d 7
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elif [ "$RC" == "M0065_SBUS" ]; then
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if [ "$ESC" != "VOXL2_IO_PWM_ESC" ]; then
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/bin/echo "Attempting to start M0065 SBUS RC driver for original M0065 FW"
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qshell dsp_sbus start
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retVal=$?
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if [ $retVal -ne 0 ]; then
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/bin/echo "Starting M0065 SBUS RC driver for original M0065 FW failed"
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/bin/echo "Attempting to start M0065 SBUS RC driver for new M0065 FW"
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qshell voxl2_io start -d -p 7
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fi
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else
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/bin/echo "M0065 SBUS RC driver already started with PWM ESC start"
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fi
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fi
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if [ "$DISTANCE_SENSOR" == "LIGHTWARE_SF000" ]; then
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# Make sure to set the parameter SENS_EN_SF0X to 8 for sf000/b sensor
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qshell lightware_laser_serial start -d 7
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fi
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if [ "$POWER_MANAGER" == "VOXLPM" ]; then
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# APM power monitor
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qshell voxlpm start -X -b 2
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fi
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if [ "$AIRSPEED_SENSOR" == "MS4525DO" ]; then
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qshell ms4525do start -X -b 4
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fi
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# Optional distance sensor on spare i2c
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# qshell vl53l0x start -X -b 4
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# qshell vl53l1x start -X -b 4
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# Start all of the processing modules on DSP
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qshell sensors start
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qshell ekf2 start
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if [ "$AIRFRAME" == "FIXED_WING" ]; then
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qshell fw_pos_control start
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qshell fw_att_control start
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qshell fw_rate_control start
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qshell airspeed_selector start
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qshell fw_autotune_attitude_control start
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qshell land_detector start fixedwing
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elif [ $AIRFRAME = "MULTICOPTER" ]; then
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qshell mc_pos_control start
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qshell mc_att_control start
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qshell mc_rate_control start
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qshell mc_hover_thrust_estimator start
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qshell mc_autotune_attitude_control start
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qshell land_detector start multicopter
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fi
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qshell manual_control start
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qshell control_allocator start
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qshell load_mon start
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qshell rc_update start
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qshell commander start
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# This is needed for altitude and position hold modes
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qshell flight_mode_manager start
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# Start all of the processing modules on the applications processor
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dataman start
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navigator start
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vehicle_air_data_bridge start
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sensor_baro_bridge start
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vehicle_local_position_bridge start
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# Start uxrce_dds_client for ros2 offboard messages from agent over localhost
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uxrce_dds_client start -t udp -h 127.0.0.1 -p 8888
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voxl_save_cal_params start
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# start the onboard fast link to connect to voxl-mavlink-server
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mavlink start -x -u 14556 -o 14557 -r 100000 -n lo -m onboard
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# slow down some of the fastest streams
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mavlink stream -u 14556 -s HIGHRES_IMU -r 10
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mavlink stream -u 14556 -s ATTITUDE -r 10
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mavlink stream -u 14556 -s ATTITUDE_QUATERNION -r 10
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mavlink stream -u 14556 -s GLOBAL_POSITION_INT -r 30
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mavlink stream -u 14556 -s SCALED_PRESSURE -r 10
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# Increase heartbeat rate so VFC can get faster mode updates
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mavlink stream -u 14556 -s HEARTBEAT -r 10
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# start the slow normal mode for voxl-mavlink-server to forward to GCS
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mavlink start -x -u 14558 -o 14559 -r 100000 -n lo
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mavlink boot_complete
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# Optional MSP OSD driver for DJI goggles
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# This is only supported on M0054 (with M0125 accessory board)
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if [ "$OSD" == "ENABLE" ]; then
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/bin/echo "Starting OSD driver"
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msp_osd start -d /dev/ttyHS1
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fi
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# Start optional EXTRA_STEPS
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for i in "${EXTRA_STEPS[@]}"
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do
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$i
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done
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# Start logging module. This is done as the last step because any topics
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# marked as optional will only be logged if they have been advertised when
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# this is started. By starting it last it makes sure to see those
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# advertisements as the other modules are starting before it.
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logger start
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