mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-13 06:21:35 +08:00
Daniel Agar
beb51a219f
- differential pressure now processed downstream like other sensor data (accel/gyro/mag/etc) - rename msg differential_pressure -> sensor_differential_pressure - add device id and timestamp_sample to all messages - calibration performend directly on raw data and SENS_DPRES_OFF parameter updated - remove Airspeed base class from existing differential pressure drivers - name differential pressure drivers consistently (no _airspeed suffix)
143 lines
2.8 KiB
Bash
143 lines
2.8 KiB
Bash
#!/bin/sh
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#
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# Standard startup script for sensor drivers.
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#
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# NOTE: Script variables are declared/initialized/unset in the rcS script.
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#
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if ! ver hwcmp AEROFC_V1 OMNIBUS_F4SD
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then
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if ! ver hwcmp BITCRAZE_CRAZYFLIE
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then
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# Configure all I2C buses to 100 KHz as they
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# are all external or slow
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# TODO: move this
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pwm_out i2c 1 100000
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pwm_out i2c 2 100000
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fi
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fi
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###############################################################################
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# Begin Optional drivers #
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###############################################################################
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if param compare -s SENS_EN_BATT 1
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then
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batt_smbus start -X
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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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if pwm_input start
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then
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ll40ls_pwm start
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fi
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fi
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# External automatic trigger system
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if param compare FD_EXT_ATS_EN 1
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then
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pwm_input start
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fi
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# Lidar-Lite on I2C
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if param compare -s SENS_EN_LL40LS 2
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then
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ll40ls start -X
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fi
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# mappydot lidar sensor
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if param compare -s SENS_EN_MPDT 1
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then
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mappydot start -X
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fi
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# mb12xx sonar sensor
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if param greater -s SENS_EN_MB12XX 0
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then
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mb12xx start -X
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fi
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# pga460 sonar sensor
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if param greater -s SENS_EN_PGA460 0
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then
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pga460 start
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fi
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# Lightware i2c lidar sensor
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if param greater -s SENS_EN_SF1XX 0
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then
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lightware_laser_i2c start -X
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fi
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# Sensor HY-SRF05 or HC-SR05 ultrasonic sensor
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if param compare -s SENS_EN_SR05 1
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then
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srf05 start
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fi
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# Heater driver for temperature regulated IMUs.
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if param compare -s SENS_EN_THERMAL 1
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then
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heater start
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fi
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# Teraranger one tof sensor
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if param greater -s SENS_EN_TRANGER 0
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then
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teraranger start -X
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fi
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# Possible external pmw3901 optical flow sensor
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if param greater -s SENS_EN_PMW3901 0
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then
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pmw3901 -S start
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fi
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# Possible external paw3902 optical flow sensor
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if param greater -s SENS_EN_PAW3902 0
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then
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paw3902 -S start
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fi
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# vl53l1x i2c distance sensor
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if param compare -s SENS_EN_VL53L1X 1
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then
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vl53l1x start -X
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fi
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# probe for optional external I2C devices
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if param compare SENS_EXT_I2C_PRB 1
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then
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# compasses
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ak09916 -X -R 6 -q start # external AK09916 (Here2) is rotated 270 degrees yaw
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hmc5883 -T -X -q start
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ist8308 -X -q start
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ist8310 -X -q start
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lis2mdl -X -q start
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lis3mdl -X -q start
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qmc5883l -X -q start
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rm3100 -X -q start
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# differential pressure sensors
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if [ ${VEHICLE_TYPE} = fw -o ${VEHICLE_TYPE} = vtol ]
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then
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if param compare CBRK_AIRSPD_CHK 0
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then
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sdp3x start -X -q
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sdp3x start -X -a 0x22 -q
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ms4525 start -X -q
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ms5525 start -X -q
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ets_airspeed start -X -q
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fi
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fi
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fi
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###############################################################################
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# End Optional drivers #
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###############################################################################
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