mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-03 15:18:54 +08:00
Julian Oes
c9f0d1e645
pwm_input was not working correctly (only after a pwm_input reset) on Pixracer because fmu was started on all PWM output channels. This moves the check if PWM input is needed up before the fmu start.
960 lines
16 KiB
Plaintext
960 lines
16 KiB
Plaintext
#!nsh
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#
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# PX4FMU startup script.
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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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# Start CDC/ACM serial driver
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#
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sercon
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#
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# Default to auto-start mode.
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#
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set MODE autostart
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set TUNE_ERR ML<<CP4CP4CP4CP4CP4
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set LOG_FILE /fs/microsd/bootlog.txt
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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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# Start playing the startup tune
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tone_alarm start
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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] MicroSD card formatted"
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else
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echo "ERROR [init] Format failed"
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tone_alarm 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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#
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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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set FRC /fs/microsd/etc/rc.txt
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if [ -f $FRC ]
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then
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echo "INFO [init] Executing script: $FRC"
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sh $FRC
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set MODE custom
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fi
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unset FRC
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if [ $MODE == autostart ]
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then
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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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# Load parameters
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#
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set PARAM_FILE /fs/microsd/params
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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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param select $PARAM_FILE
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if param load
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then
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else
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if param reset
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then
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fi
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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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else
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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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# Currently unused, but might be useful down the road
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#if pca8574 start
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#then
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#fi
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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*
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param reset_nostart RC*
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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:
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# 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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# Set default values
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#
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set HIL no
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set VEHICLE_TYPE none
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set MIXER none
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set MIXER_AUX none
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set OUTPUT_MODE none
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set PWM_OUT none
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set PWM_RATE none
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set PWM_DISARMED none
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set PWM_MIN none
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set PWM_MAX none
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set PWM_AUX_OUT none
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set PWM_AUX_RATE none
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set PWM_ACHDIS none
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set PWM_AUX_DISARMED none
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set PWM_AUX_MIN none
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set PWM_AUX_MAX none
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set FAILSAFE_AUX none
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set MK_MODE none
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set FMU_MODE pwm
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set AUX_MODE pwm
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set MAVLINK_F default
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set EXIT_ON_END no
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set MAV_TYPE none
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set FAILSAFE none
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set USE_IO yes
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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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if ver hwcmp PX4FMU_V4
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then
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set USE_IO no
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fi
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if ver hwcmp MINDPX_V2
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then
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set USE_IO no
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fi
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if ver hwcmp CRAZYFLIE
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then
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set USE_IO no
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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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else
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set USE_IO no
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fi
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# should set to 0.8 for mindpx-v2 borad.
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if param compare INAV_LIDAR_ERR 0.5
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then
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if ver hwcmp MINDPX_V2
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then
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param set INAV_LIDAR_ERR 0.8
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fi
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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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else
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sh /etc/init.d/rc.autostart
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fi
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unset MODE
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#
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# Wipe incompatible settings for boards not having two outputs
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if ver hwcmp PX4FMU_V4
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then
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set MIXER_AUX none
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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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set FCONFIG /fs/microsd/etc/config.txt
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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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unset FCONFIG
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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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param set SYS_AUTOCONFIG 0
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fi
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unset AUTOCNF
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set IO_PRESENT no
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if [ $USE_IO == yes ]
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then
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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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else
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set IO_FILE /etc/extras/px4io-v1.bin
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fi
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if px4io checkcrc ${IO_FILE}
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then
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echo "[init] PX4IO CRC OK" >> $LOG_FILE
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set IO_PRESENT yes
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else
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tone_alarm MLL32CP8MB
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if px4io start
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then
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# try to safe px4 io so motor outputs dont go crazy
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if px4io safety_on
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then
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# success! no-op
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else
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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 500000
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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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tone_alarm 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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tone_alarm $TUNE_ERR
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fi
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else
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echo "PX4IO update failed" >> $LOG_FILE
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tone_alarm $TUNE_ERR
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fi
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fi
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unset IO_FILE
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if [ $IO_PRESENT == no ]
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then
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echo "PX4IO not found" >> $LOG_FILE
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tone_alarm $TUNE_ERR
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fi
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fi
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#
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# Set default output if not set
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#
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if [ $OUTPUT_MODE == none ]
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then
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if [ $USE_IO == yes ]
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then
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set OUTPUT_MODE io
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else
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set OUTPUT_MODE fmu
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fi
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fi
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if [ $OUTPUT_MODE == io -a $IO_PRESENT != yes ]
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then
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# Need IO for output but it not present, disable output
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set OUTPUT_MODE none
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# Avoid using ttyS0 for MAVLink on FMUv1
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if ver hwcmp PX4FMU_V1
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then
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set FMU_MODE serial
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fi
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fi
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if [ $OUTPUT_MODE == ardrone ]
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then
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set FMU_MODE gpio_serial
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fi
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if [ $HIL == yes ]
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then
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set OUTPUT_MODE hil
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if ver hwcmp PX4FMU_V1
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then
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set FMU_MODE serial
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fi
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unset HIL
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else
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unset HIL
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gps start
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fi
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# waypoint storage
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# REBOOTWORK this needs to start in parallel
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if dataman start
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then
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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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#
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sh /etc/init.d/rc.sensors
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# Needs to be this early for in-air-restarts
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if [ $OUTPUT_MODE == hil ]
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then
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commander start -hil
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else
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commander start
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fi
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#
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# Start CPU load monitor
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#
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load_mon start
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#
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# Start primary output
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#
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set TTYS1_BUSY no
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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 2
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then
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set OUTPUT_MODE uavcan_esc
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fi
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# Sensors on the PWM interface bank
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# clear pins 5 and 6
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if param compare SENS_EN_LL40LS 1
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then
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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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set FMU_MODE pwm4
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set AUX_MODE pwm4
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camera_trigger start
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fi
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# If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output
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if [ $OUTPUT_MODE != none ]
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then
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if [ $OUTPUT_MODE == uavcan_esc ]
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then
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if param compare UAVCAN_ENABLE 0
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then
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echo "OVERRIDING UAVCAN_ENABLE = 1" >> $LOG_FILE
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param set UAVCAN_ENABLE 1
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fi
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fi
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if [ $OUTPUT_MODE == io -o $OUTPUT_MODE == uavcan_esc ]
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then
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if px4io start
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then
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sh /etc/init.d/rc.io
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else
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echo "PX4IO start failed" >> $LOG_FILE
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tone_alarm $TUNE_ERR
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fi
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fi
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if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == ardrone ]
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then
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if fmu mode_$FMU_MODE
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then
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else
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echo "FMU start failed" >> $LOG_FILE
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tone_alarm $TUNE_ERR
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fi
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if ver hwcmp PX4FMU_V1
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then
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if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ]
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then
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set TTYS1_BUSY yes
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fi
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if [ $FMU_MODE == pwm_gpio -o $OUTPUT_MODE == ardrone ]
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then
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set TTYS1_BUSY yes
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fi
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fi
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fi
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if [ $OUTPUT_MODE == mkblctrl ]
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then
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set MKBLCTRL_ARG ""
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if [ $MKBLCTRL_MODE == x ]
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then
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set MKBLCTRL_ARG "-mkmode x"
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fi
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if [ $MKBLCTRL_MODE == + ]
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then
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set MKBLCTRL_ARG "-mkmode +"
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fi
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if mkblctrl $MKBLCTRL_ARG
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then
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else
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echo "MK start failed" >> $LOG_FILE
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tone_alarm $TUNE_ERR
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fi
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unset MKBLCTRL_ARG
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fi
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unset MK_MODE
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if [ $OUTPUT_MODE == hil ]
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then
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if pwm_out_sim mode_pwm16
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then
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else
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tone_alarm $TUNE_ERR
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fi
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fi
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#
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# Start IO or FMU for RC PPM input if needed
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#
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if [ $IO_PRESENT == yes ]
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then
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if [ $OUTPUT_MODE != io ]
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then
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if px4io start
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then
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sh /etc/init.d/rc.io
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else
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echo "PX4IO start failed" >> $LOG_FILE
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tone_alarm $TUNE_ERR
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fi
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fi
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else
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if [ $OUTPUT_MODE != fmu -a $OUTPUT_MODE != ardrone ]
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then
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if fmu mode_$FMU_MODE
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then
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else
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echo "FMU mode_$FMU_MODE start failed" >> $LOG_FILE
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tone_alarm $TUNE_ERR
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fi
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if ver hwcmp PX4FMU_V1
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then
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if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ]
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then
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set TTYS1_BUSY yes
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fi
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if [ $FMU_MODE == pwm_gpio -o $OUTPUT_MODE == ardrone ]
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then
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set TTYS1_BUSY yes
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fi
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fi
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fi
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fi
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fi
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if [ $MAVLINK_F == default ]
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then
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# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s
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if [ $TTYS1_BUSY == yes ]
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then
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# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else
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set MAVLINK_F "-r 1200 -d /dev/ttyS0"
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# Exit from nsh to free port for mavlink
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set EXIT_ON_END yes
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else
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set MAVLINK_F "-r 1200"
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# Avoid using ttyS1 for MAVLink on FMUv4
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if ver hwcmp PX4FMU_V4
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then
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set MAVLINK_F "-r 1200 -d /dev/ttyS1"
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# Start MAVLink on Wifi (ESP8266 port)
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mavlink start -r 20000 -m config -b 921600 -d /dev/ttyS0
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fi
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fi
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if ver hwcmp CRAZYFLIE
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then
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# Avoid using either of the two available serials
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set MAVLINK_F none
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fi
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fi
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if [ "x$MAVLINK_F" == xnone ]
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then
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else
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mavlink start $MAVLINK_F
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fi
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unset MAVLINK_F
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#
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# MAVLink onboard / TELEM2
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#
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if ver hwcmp PX4FMU_V1
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then
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else
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# XXX We need a better way for runtime eval of shell variables,
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# but this works for now
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if param compare SYS_COMPANION 10
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then
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frsky_telemetry start -d /dev/ttyS2
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fi
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if param compare SYS_COMPANION 20
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then
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syslink start
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mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000
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fi
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if param compare SYS_COMPANION 921600
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then
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mavlink start -d /dev/ttyS2 -b 921600 -m onboard -r 80000 -x
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fi
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if param compare SYS_COMPANION 57600
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then
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mavlink start -d /dev/ttyS2 -b 57600 -m onboard -r 5000 -x
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fi
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if param compare SYS_COMPANION 157600
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then
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mavlink start -d /dev/ttyS2 -b 57600 -m osd -r 1000
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fi
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if param compare SYS_COMPANION 257600
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then
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mavlink start -d /dev/ttyS2 -b 57600 -m magic -r 5000 -x
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fi
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if param compare SYS_COMPANION 319200
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then
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mavlink start -d /dev/ttyS2 -b 19200 -r 1000
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fi
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if param compare SYS_COMPANION 338400
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then
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mavlink start -d /dev/ttyS2 -b 38400 -r 1000
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fi
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if param compare SYS_COMPANION 357600
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then
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mavlink start -d /dev/ttyS2 -b 57600 -r 1000
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fi
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if param compare SYS_COMPANION 1921600
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then
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mavlink start -d /dev/ttyS2 -b 921600 -r 20000
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fi
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fi
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#
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# Starting stuff according to UAVCAN_ENABLE value
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#
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if param greater UAVCAN_ENABLE 0
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then
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if uavcan start
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then
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else
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tone_alarm $TUNE_ERR
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fi
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fi
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if param greater UAVCAN_ENABLE 1
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then
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if uavcan start fw
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then
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else
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tone_alarm $TUNE_ERR
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fi
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fi
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#
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# Optional drivers
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#
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|
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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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if pwm_input start
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then
|
|
if ll40ls start pwm
|
|
then
|
|
fi
|
|
fi
|
|
fi
|
|
|
|
# sf0x lidar sensor
|
|
if param compare SENS_EN_SF0X 1
|
|
then
|
|
sf0x start
|
|
fi
|
|
|
|
# mb12xx sonar sensor
|
|
if param compare SENS_EN_MB12XX 1
|
|
then
|
|
mb12xx start
|
|
fi
|
|
|
|
# teraranger one tof sensor
|
|
if param compare SENS_EN_TRONE 1
|
|
then
|
|
trone start
|
|
fi
|
|
|
|
if ver hwcmp PX4FMU_V4
|
|
then
|
|
frsky_telemetry start -d /dev/ttyS6
|
|
fi
|
|
|
|
if ver hwcmp PX4FMU_V2
|
|
then
|
|
# Check for flow sensor - as it is a background task, launch it last
|
|
px4flow start &
|
|
fi
|
|
|
|
if ver hwcmp PX4FMU_V4
|
|
then
|
|
# Check for flow sensor - as it is a background task, launch it last
|
|
px4flow start &
|
|
fi
|
|
|
|
if ver hwcmp MINDPX_V2
|
|
then
|
|
#mindxp also need flow
|
|
px4flow start &
|
|
fi
|
|
|
|
# Start MAVLink
|
|
mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
|
|
|
|
#
|
|
# Logging
|
|
#
|
|
if ver hwcmp PX4FMU_V1
|
|
then
|
|
if sdlog2 start -r 30 -a -b 2 -t
|
|
then
|
|
fi
|
|
else
|
|
# check if we should increase logging rate for ekf2 replay message logging
|
|
if param greater EKF2_REC_RPL 0
|
|
then
|
|
if param compare SYS_LOGGER 0
|
|
then
|
|
if sdlog2 start -r 500 -e -b 18 -t
|
|
then
|
|
fi
|
|
else
|
|
if logger start -r 500
|
|
then
|
|
fi
|
|
fi
|
|
else
|
|
if param compare SYS_LOGGER 0
|
|
then
|
|
if sdlog2 start -r 100 -a -b 9 -t
|
|
then
|
|
fi
|
|
else
|
|
if logger start -b 12 -t
|
|
then
|
|
fi
|
|
fi
|
|
fi
|
|
fi
|
|
|
|
#
|
|
# Start up ARDrone Motor interface
|
|
#
|
|
if [ $OUTPUT_MODE == ardrone ]
|
|
then
|
|
ardrone_interface start -d /dev/ttyS1
|
|
fi
|
|
|
|
#
|
|
# Fixed wing setup
|
|
#
|
|
if [ $VEHICLE_TYPE == fw ]
|
|
then
|
|
if [ $MIXER == none ]
|
|
then
|
|
# Set default mixer for fixed wing if not defined
|
|
set MIXER AERT
|
|
fi
|
|
|
|
if [ $MAV_TYPE == none ]
|
|
then
|
|
# Use MAV_TYPE = 1 (fixed wing) if not defined
|
|
set MAV_TYPE 1
|
|
fi
|
|
|
|
param set MAV_TYPE $MAV_TYPE
|
|
|
|
# Load mixer and configure outputs
|
|
sh /etc/init.d/rc.interface
|
|
|
|
# Start standard fixedwing apps
|
|
sh /etc/init.d/rc.fw_apps
|
|
fi
|
|
|
|
#
|
|
# Multicopters setup
|
|
#
|
|
if [ $VEHICLE_TYPE == mc ]
|
|
then
|
|
if [ $MIXER == none ]
|
|
then
|
|
echo "Mixer undefined"
|
|
fi
|
|
|
|
if [ $MAV_TYPE == none ]
|
|
then
|
|
# Use mixer to detect vehicle type
|
|
if [ $MIXER == quad_x -o $MIXER == quad_+ ]
|
|
then
|
|
set MAV_TYPE 2
|
|
fi
|
|
if [ $MIXER == quad_w -o $MIXER == sk450_deadcat ]
|
|
then
|
|
set MAV_TYPE 2
|
|
fi
|
|
if [ $MIXER == quad_h ]
|
|
then
|
|
set MAV_TYPE 2
|
|
fi
|
|
if [ $MIXER == tri_y_yaw- -o $MIXER == tri_y_yaw+ ]
|
|
then
|
|
set MAV_TYPE 15
|
|
fi
|
|
if [ $MIXER == hexa_x -o $MIXER == hexa_+ ]
|
|
then
|
|
set MAV_TYPE 13
|
|
fi
|
|
if [ $MIXER == hexa_cox ]
|
|
then
|
|
set MAV_TYPE 13
|
|
fi
|
|
if [ $MIXER == octo_x -o $MIXER == octo_+ ]
|
|
then
|
|
set MAV_TYPE 14
|
|
fi
|
|
if [ $MIXER == octo_cox -o $MIXER == octo_cox_w ]
|
|
then
|
|
set MAV_TYPE 14
|
|
fi
|
|
if [ $MIXER == coax ]
|
|
then
|
|
set MAV_TYPE 3
|
|
fi
|
|
fi
|
|
|
|
# Still no MAV_TYPE found
|
|
if [ $MAV_TYPE == none ]
|
|
then
|
|
echo "Unknown MAV_TYPE"
|
|
param set MAV_TYPE 2
|
|
else
|
|
param set MAV_TYPE $MAV_TYPE
|
|
fi
|
|
|
|
# Load mixer and configure outputs
|
|
sh /etc/init.d/rc.interface
|
|
|
|
# Start standard multicopter apps
|
|
sh /etc/init.d/rc.mc_apps
|
|
fi
|
|
|
|
#
|
|
# VTOL setup
|
|
#
|
|
if [ $VEHICLE_TYPE == vtol ]
|
|
then
|
|
if [ $MIXER == none ]
|
|
then
|
|
echo "VTOL mixer undefined"
|
|
fi
|
|
|
|
if [ $MAV_TYPE == none ]
|
|
then
|
|
# Use mixer to detect vehicle type
|
|
if [ $MIXER == caipirinha_vtol ]
|
|
then
|
|
set MAV_TYPE 19
|
|
fi
|
|
if [ $MIXER == firefly6 ]
|
|
then
|
|
set MAV_TYPE 21
|
|
fi
|
|
if [ $MIXER == quad_x_pusher_vtol ]
|
|
then
|
|
set MAV_TYPE 22
|
|
fi
|
|
fi
|
|
|
|
# Still no MAV_TYPE found
|
|
if [ $MAV_TYPE == none ]
|
|
then
|
|
echo "Unknown MAV_TYPE"
|
|
param set MAV_TYPE 19
|
|
else
|
|
param set MAV_TYPE $MAV_TYPE
|
|
fi
|
|
|
|
# Load mixer and configure outputs
|
|
sh /etc/init.d/rc.interface
|
|
|
|
# Start standard vtol apps
|
|
sh /etc/init.d/rc.vtol_apps
|
|
fi
|
|
|
|
#
|
|
# Rover setup
|
|
#
|
|
if [ $VEHICLE_TYPE == rover ]
|
|
then
|
|
# 10 is MAV_TYPE_GROUND_ROVER
|
|
set MAV_TYPE 10
|
|
|
|
# Load mixer and configure outputs
|
|
sh /etc/init.d/rc.interface
|
|
|
|
# Start standard rover apps
|
|
sh /etc/init.d/rc.axialracing_ax10_apps
|
|
|
|
param set MAV_TYPE 10
|
|
fi
|
|
|
|
#
|
|
# For snapdragon, we need a passthrough mode
|
|
# Do not run any mavlink instances since we need the serial port for
|
|
# communication with Snapdragon.
|
|
#
|
|
if [ $VEHICLE_TYPE == passthrough ]
|
|
then
|
|
mavlink stop-all
|
|
commander stop
|
|
|
|
# Stop multicopter attitude controller if it is running, the controls come
|
|
# from Snapdragon.
|
|
if mc_att_control stop
|
|
then
|
|
fi
|
|
|
|
# Start snapdragon interface on serial port.
|
|
if ver hwcmp PX4FMU_V2
|
|
then
|
|
# On Pixfalcon use the standard telemetry port (Telem 1).
|
|
snapdragon_rc_pwm start -d /dev/ttyS1
|
|
px4io start
|
|
fi
|
|
|
|
if ver hwcmp PX4FMU_V4
|
|
then
|
|
# On Pixracer use Telem 2 port (TL2).
|
|
snapdragon_rc_pwm start -d /dev/ttyS2
|
|
fmu mode_pwm4
|
|
fi
|
|
|
|
pwm failsafe -c 1234 -p 900
|
|
pwm disarmed -c 1234 -p 900
|
|
|
|
# Arm straightaway.
|
|
pwm arm
|
|
# Use 400 Hz PWM on all channels.
|
|
pwm rate -a -r 400
|
|
fi
|
|
|
|
unset MIXER
|
|
unset MAV_TYPE
|
|
unset OUTPUT_MODE
|
|
|
|
#
|
|
# Start the navigator
|
|
#
|
|
navigator start
|
|
|
|
#
|
|
# Generic setup (autostart ID not found)
|
|
#
|
|
if [ $VEHICLE_TYPE == none ]
|
|
then
|
|
echo "No autostart ID found"
|
|
fi
|
|
|
|
# Start any custom addons
|
|
set FEXTRAS /fs/microsd/etc/extras.txt
|
|
if [ -f $FEXTRAS ]
|
|
then
|
|
echo "Addons script: $FEXTRAS"
|
|
sh $FEXTRAS
|
|
fi
|
|
unset FEXTRAS
|
|
|
|
if ver hwcmp CRAZYFLIE
|
|
then
|
|
# CF2 shouldn't have an sd card
|
|
else
|
|
|
|
# Run no SD alarm
|
|
if [ $LOG_FILE == /dev/null ]
|
|
then
|
|
# Play SOS
|
|
tone_alarm error
|
|
fi
|
|
|
|
fi
|
|
|
|
# End of autostart
|
|
fi
|
|
|
|
# There is no further script processing, so we can free some RAM
|
|
# XXX potentially unset all script variables.
|
|
unset TUNE_ERR
|
|
|
|
# Boot is complete, inform MAVLink app(s) that the system is now fully up and running
|
|
mavlink boot_complete
|
|
|
|
if [ $EXIT_ON_END == yes ]
|
|
then
|
|
echo "NSH exit"
|
|
exit
|
|
fi
|
|
unset EXIT_ON_END
|