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PX4-Autopilot/ROMFS/px4fmu_common/init.d/rcS
Daniel Agar f5d9b01f5c
NuttX build in place 
- cmake NuttX build wrapper compile in place instead of copying source tree to build directory
    - slightly faster skipping necessary copying (depending on system)
    - allows debugging in place
    - easier to work directly in NuttX following official documentation
    - simplifies overall build which should make it easier to resolve any remaining NuttX dependency issues in the build system
 - the downside is switching back and forth between different builds always require rebuilding NuttX, but I think this is worth the improved developer experience
 - also no longer builds px4io and bootloader in every single build, for most users these rarely change and we're wasting a lot of build time
2021-11-15 18:47:38 -05:00

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#!/bin/sh
# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
set +e
# Un comment the line below to help debug scripts by printing a trace of the script commands
#set -x
# PX4FMU startup script.
#
# NOTE: environment variable references:
# If the dollar sign ('$') is followed by a left bracket ('{') then the
# variable name is terminated with the right bracket character ('}').
# Otherwise, the variable name goes to the end of the argument.
#
#
# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
#
#------------------------------------------------------------------------------
#
# Set default paramter values.
# Do not add intra word spaces
# it wastes flash
#
set R /
set AUTOCNF no
set FCONFIG /fs/microsd/etc/config.txt
set FEXTRAS /fs/microsd/etc/extras.txt
set FRC /fs/microsd/etc/rc.txt
set IOFW "/etc/extras/px4_io-v2_default.bin"
set IO_PRESENT no
set LOGGER_ARGS ""
set LOGGER_BUF 8
set MAV_TYPE none
set MIXER none
set MIXER_AUX none
set MIXER_FILE none
set MIXER_EXTRA none
set OUTPUT_MODE none
set PARAM_FILE /fs/microsd/params
set PWM_OUT none
set PWM_MAIN_RATE p:PWM_MAIN_RATE
set PWM_AUX_OUT none
set PWM_AUX_RATE p:PWM_AUX_RATE
set PWM_EXTRA_OUT none
set PWM_EXTRA_RATE p:PWM_EXTRA_RATE
set EXTRA_MIXER_MODE none
set RC_INPUT_ARGS ""
set SDCARD_AVAILABLE no
set SDCARD_EXT_PATH /fs/microsd/ext_autostart
set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
set STARTUP_TUNE 1
set USE_IO no
set VEHICLE_TYPE none
#
# Print full system version.
#
ver all
#
# Try to mount the microSD card.
#
# REBOOTWORK this needs to start after the flight control loop.
if mount -t vfat /dev/mmcsd0 /fs/microsd
then
set PX4_INIT_TEST_FILE "/fs/microsd/.px4_init_test_file"
date >> $PX4_INIT_TEST_FILE
if [ -f $PX4_INIT_TEST_FILE ]
then
cat $PX4_INIT_TEST_FILE
rm $PX4_INIT_TEST_FILE
if [ ! -f $PX4_INIT_TEST_FILE ]
then
set SDCARD_AVAILABLE yes
fi
fi
fi
if [ $SDCARD_AVAILABLE = no ]
then
set STARTUP_TUNE 14 # tune 14 = SD_INIT
if mkfatfs -F 32 /dev/mmcsd0
then
if mount -t vfat /dev/mmcsd0 /fs/microsd
then
set SDCARD_AVAILABLE yes
echo "INFO [init] card formatted"
else
set STARTUP_TUNE 15 # tune 15 = SD_ERROR
echo "ERROR [init] format failed"
fi
fi
fi
if [ $SDCARD_AVAILABLE = yes ]
then
if hardfault_log check
then
set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
if hardfault_log commit
then
hardfault_log reset
fi
fi
fi
#
# Look for an init script on the microSD card.
# Disable autostart if the script found.
#
if [ -f $FRC ]
then
. $FRC
else
#
# Set the parameter file the board supports params on
# MTD device.
#
if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
then
set PARAM_FILE /fs/mtd_params
fi
#
# Load parameters.
#
# if the board has a storage for (factory) calibration data
if mft query -q -k MTD -s MTD_CALDATA -v /fs/mtd_caldata
then
param load /fs/mtd_caldata
fi
param select $PARAM_FILE
if ! param import
then
param reset_all
fi
if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X
then
netman update -i eth0
fi
#
# Set AUTOCNF flag to use it in AUTOSTART scripts.
#
if param greater SYS_AUTOCONFIG 0
then
# Wipe out params except RC*, flight modes, total flight time, calibration parameters, next flight UUID
param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT*
set AUTOCNF yes
fi
#
# Optional board architecture defaults: rc.board_arch_defaults
#
set BOARD_ARCH_RC_DEFAULTS ${R}etc/init.d/rc.board_arch_defaults
if [ -f $BOARD_ARCH_RC_DEFAULTS ]
then
echo "Board architecture defaults: ${BOARD_ARCH_RC_DEFAULTS}"
. $BOARD_ARCH_RC_DEFAULTS
fi
unset BOARD_ARCH_RC_DEFAULTS
#
# Optional board defaults: rc.board_defaults
#
set BOARD_RC_DEFAULTS ${R}etc/init.d/rc.board_defaults
if [ -f $BOARD_RC_DEFAULTS ]
then
echo "Board defaults: ${BOARD_RC_DEFAULTS}"
. $BOARD_RC_DEFAULTS
fi
unset BOARD_RC_DEFAULTS
#
# Start the tone_alarm driver.
# Needs to be started after the parameters are loaded (for CBRK_BUZZER).
#
tone_alarm start
#
# Waypoint storage.
# REBOOTWORK this needs to start in parallel.
#
dataman start
#
# Start the socket communication send_event handler.
#
send_event start
#
# Start the resource load monitor.
#
load_mon start
#
# Start system state indicator.
#
rgbled start -X -q
rgbled_ncp5623c start -X -q
#
# Set parameters and env variables for selected AUTOSTART.
#
set AUTOSTART_PATH etc/init.d/rc.autostart
if ! param compare SYS_AUTOSTART 0
then
if param greater SYS_AUTOSTART 1000000
then
# Use external startup file
if [ $SDCARD_AVAILABLE = yes ]
then
set AUTOSTART_PATH etc/init.d/rc.autostart_ext
else
echo "ERROR [init] SD card not mounted - trying to load airframe from ROMFS"
fi
fi
. ${R}$AUTOSTART_PATH
fi
unset AUTOSTART_PATH
#
# Override parameters from user configuration file.
#
if [ -f $FCONFIG ]
then
echo "Custom: ${FCONFIG}"
. $FCONFIG
fi
#
# If autoconfig parameter was set, reset it and save parameters.
#
if [ $AUTOCNF = yes ]
then
param set SYS_AUTOCONFIG 0
fi
#
# Check if UAVCAN is enabled, default to it for ESCs.
#
if param greater -s UAVCAN_ENABLE 0
then
# Start core UAVCAN module.
if uavcan start
then
if param greater UAVCAN_ENABLE 1
then
# Start UAVCAN firmware update server and dynamic node ID allocation server.
uavcan start fw
if param greater UAVCAN_ENABLE 2
then
set OUTPUT_MODE uavcan_esc
fi
fi
else
tune_control play error
fi
else
if param greater -s UAVCAN_V1_ENABLE 0
then
uavcan_v1 start
fi
fi
#
# Check if PX4IO present and update firmware if needed.
# Assumption IOFW set to firmware file and IO_PRESENT = no
#
if [ -f $IOFW ]
then
# Check for the mini using build with px4io fw file
# but not a px4IO
if ver hwtypecmp V540 V560
then
param set SYS_USE_IO 0
else
if px4io checkcrc ${IOFW}
then
set IO_PRESENT yes
else
# tune Program PX4IO
tune_control play -t 16 # tune 16 = PROG_PX4IO
if px4io update ${IOFW}
then
usleep 10000
tune_control stop
if px4io checkcrc ${IOFW}
then
tune_control play -t 17 # tune 17 = PROG_PX4IO_OK
set IO_PRESENT yes
else
tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
fi
else
tune_control stop
fi
fi
fi
fi
#
# Set USE_IO flag.
#
if param compare -s SYS_USE_IO 1
then
set USE_IO yes
fi
if [ $USE_IO = yes -a $IO_PRESENT = no ]
then
echo "PX4IO not found"
set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
fi
#
# RC update (map raw RC input to calibrate manual control)
# start before commander
#
rc_update start
manual_control start
#
# Sensors System (start before Commander so Preflight checks are properly run).
# Commander needs to be this early for in-air-restarts.
#
if param greater SYS_HITL 0
then
set OUTPUT_MODE hil
sensors start -h
commander start -h
# disable GPS
param set GPS_1_CONFIG 0
# start the simulator in hardware if needed
if param compare SYS_HITL 2
then
sih start
fi
else
#
# board sensors: rc.sensors
#
set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors
if [ -f $BOARD_RC_SENSORS ]
then
echo "Board sensors: ${BOARD_RC_SENSORS}"
. $BOARD_RC_SENSORS
fi
unset BOARD_RC_SENSORS
. ${R}etc/init.d/rc.sensors
if param compare -s BAT1_SOURCE 2
then
esc_battery start
fi
if ! param compare BAT1_SOURCE 1
then
battery_status start
fi
commander start
fi
#
# Play the startup tune (if not disabled or there is an error)
#
param compare CBRK_BUZZER 782090
if [ $? != 0 -o $STARTUP_TUNE != 1 ]
then
tune_control play -t $STARTUP_TUNE
fi
# Pre-takeoff continuous magnetometer calibration
if param compare -s MBE_ENABLE 1
then
mag_bias_estimator start
fi
if param greater -s TRIG_MODE 0
then
camera_trigger start
camera_feedback start
fi
#
# Optional board mavlink streams: rc.board_mavlink
#
set BOARD_RC_MAVLINK ${R}etc/init.d/rc.board_mavlink
if [ -f $BOARD_RC_MAVLINK ]
then
echo "Board extras: ${BOARD_RC_MAVLINK}"
. $BOARD_RC_MAVLINK
fi
unset BOARD_RC_MAVLINK
#
# Start UART/Serial device drivers.
# Note: rc.serial is auto-generated from Tools/serial/generate_config.py
#
. ${R}etc/init.d/rc.serial
if [ $IO_PRESENT = no ]
then
# Must be started after the serial config is read
rc_input start $RC_INPUT_ARGS
fi
# Camera capture driver (before pwm_out)
if param greater -s CAM_CAP_FBACK 0
then
if camera_capture start
then
camera_capture on
fi
fi
#
# Configure vehicle type specific parameters.
# Note: rc.vehicle_setup is the entry point for rc.interface,
# rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
#
. ${R}etc/init.d/rc.vehicle_setup
#
# Start the navigator.
#
navigator start
#
# Start a thermal calibration if required.
#
. ${R}etc/init.d/rc.thermal_cal
#
# Start vmount to control mounts such as gimbals, disabled by default.
#
if param greater -s MNT_MODE_IN -1
then
vmount start
fi
# Check for flow sensor
if param compare -s SENS_EN_PX4FLOW 1
then
px4flow start -X
fi
# Blacksheep telemetry
if param compare -s TEL_BST_EN 1
then
bst start -X
fi
if param compare -s IMU_GYRO_FFT_EN 1
then
gyro_fft start
fi
if param compare -s IMU_GYRO_CAL_EN 1
then
gyro_calibration start
fi
#
# Optional board supplied extras: rc.board_extras
#
set BOARD_RC_EXTRAS ${R}etc/init.d/rc.board_extras
if [ -f $BOARD_RC_EXTRAS ]
then
echo "Board extras: ${BOARD_RC_EXTRAS}"
. $BOARD_RC_EXTRAS
fi
unset BOARD_RC_EXTRAS
#
# Start any custom addons from the sdcard.
#
if [ -f $FEXTRAS ]
then
echo "Addons script: ${FEXTRAS}"
. $FEXTRAS
fi
#
# Start the logger.
#
. ${R}etc/init.d/rc.logging
#
# Set additional parameters and env variables for selected AUTOSTART.
#
if ! param compare SYS_AUTOSTART 0
then
. ${R}etc/init.d/rc.autostart.post
fi
set BOARD_BOOTLOADER_UPGRADE ${R}etc/init.d/rc.board_bootloader_upgrade
if [ -f $BOARD_BOOTLOADER_UPGRADE ]
then
sh $BOARD_BOOTLOADER_UPGRADE
fi
unset BOARD_BOOTLOADER_UPGRADE
#
# End of autostart.
#
fi
#
# Unset all script parameters to free RAM.
#
unset R
unset AUTOCNF
unset FCONFIG
unset FEXTRAS
unset FRC
unset IO_PRESENT
unset IOFW
unset LOGGER_ARGS
unset LOGGER_BUF
unset MAV_TYPE
unset MIXER
unset MIXER_AUX
unset MIXER_FILE
unset OUTPUT_MODE
unset PARAM_FILE
unset PWM_AUX_OUT
unset PWM_AUX_RATE
unset PWM_MAIN_RATE
unset PWM_OUT
unset PWM_EXTRA_OUT
unset PWM_EXTRA_RATE
unset RC_INPUT_ARGS
unset SDCARD_AVAILABLE
unset SDCARD_EXT_PATH
unset SDCARD_MIXERS_PATH
unset STARTUP_TUNE
unset USE_IO
unset VEHICLE_TYPE
#
# Boot is complete, inform MAVLink app(s) that the system is now fully up and running.
#
mavlink boot_complete
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