Mirrors_Framework/PX4-Autopilot
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Autostart: fixes

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This commit is contained in:
Anton Babushkin
2014-01-11 17:52:29 +01:00
parent 41add86164
commit 4dd5c13b98
2 changed files with 147 additions and 95 deletions
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ROMFS/px4fmu_common/init.d/rc.mc_interface
+1 -1
View File
@@ -38,7 +38,7 @@ else
fi fi
mixer load $OUTPUT_DEV $MIXER mixer load $OUTPUT_DEV $MIXER
if [ $OUTPUT_MODE == fmu_pwm -o $OUTPUT_MODE == io_pwm ] if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == io ]
then then
# #
# Set PWM output frequency # Set PWM output frequency
ROMFS/px4fmu_common/init.d/rcS
+138 -86
View File
@@ -96,82 +96,20 @@ then
fi fi
fi fi
#
# Check if PX4IO present and update firmware if needed
#
if [ -f /etc/extras/px4io-v2_default.bin ]
then
set IO_FILE /etc/extras/px4io-v2_default.bin
else
set IO_FILE /etc/extras/px4io-v1_default.bin
fi
set IO_PRESENT no
if px4io checkcrc $IO_FILE
then
echo "[init] PX4IO CRC OK"
echo "PX4IO CRC OK" >> $LOG_FILE
set IO_PRESENT yes
else
echo "[init] PX4IO CRC failure"
echo "PX4IO CRC failure" >> $LOG_FILE
tone_alarm MBABGP
if px4io forceupdate 14662 $IO_FILE
then
usleep 500000
if px4io start
then
echo "[init] PX4IO restart OK"
echo "PX4IO restart OK" >> $LOG_FILE
tone_alarm MSPAA
set IO_PRESENT yes
else
echo "[init] PX4IO restart failed"
echo "PX4IO restart failed" >> $LOG_FILE
if hw_ver compare PX4FMU_V2
then
tone_alarm MNGGG
sleep 10
reboot
fi
fi
else
echo "[init] PX4IO update failed"
echo "PX4IO update failed" >> $LOG_FILE
if hw_ver compare PX4FMU_V2
then
tone_alarm MNGGG
fi
fi
fi
# #
# Set default values # Set default values
# #
set HIL no set HIL no
set VEHICLE_TYPE none set VEHICLE_TYPE none
set FRAME_GEOMETRY none set FRAME_GEOMETRY none
set USE_IO yes
set OUTPUT_MODE none
set PWM_RATE none set PWM_RATE none
set PWM_DISARMED none set PWM_DISARMED none
set PWM_MIN none set PWM_MIN none
set PWM_MAX none set PWM_MAX none
set MKBLCTRL_MODE none
# set FMU_MODE pwm
# Set default output
#
if [ $IO_PRESENT == yes ]
then
# If PX4IO present, use it as primary PWM output by default
set OUTPUT_MODE io_pwm
else
# Else use PX4FMU PWM output
set OUTPUT_MODE fmu_pwm
fi
set EXIT_ON_END no
# #
# Set DO_AUTOCONFIG flag to use it in AUTOSTART scripts # Set DO_AUTOCONFIG flag to use it in AUTOSTART scripts
@@ -204,14 +142,6 @@ then
echo "[init] Config file not found: $CONFIG_FILE" echo "[init] Config file not found: $CONFIG_FILE"
fi fi
if [ $HIL == yes ]
then
set OUTPUT_MODE hil
else
# Try to get an USB console if not in HIL mode
nshterm /dev/ttyACM0 &
fi
# #
# If autoconfig parameter was set, reset it and save parameters # If autoconfig parameter was set, reset it and save parameters
# #
@@ -221,6 +151,81 @@ then
param save param save
fi fi
set IO_PRESENT no
if [ $USE_IO == yes ]
then
#
# Check if PX4IO present and update firmware if needed
#
if [ -f /etc/extras/px4io-v2_default.bin ]
then
set IO_FILE /etc/extras/px4io-v2_default.bin
else
set IO_FILE /etc/extras/px4io-v1_default.bin
fi
if px4io checkcrc $IO_FILE
then
echo "[init] PX4IO CRC OK"
echo "PX4IO CRC OK" >> $LOG_FILE
set IO_PRESENT yes
else
echo "[init] PX4IO CRC failure"
echo "PX4IO CRC failure" >> $LOG_FILE
tone_alarm MBABGP
if px4io forceupdate 14662 $IO_FILE
then
usleep 500000
if px4io checkcrc $IO_FILE
then
echo "[init] PX4IO CRC OK after updating"
echo "PX4IO CRC OK after updating" >> $LOG_FILE
tone_alarm MSPAA
set IO_PRESENT yes
else
echo "[init] PX4IO update failed"
echo "PX4IO update failed" >> $LOG_FILE
fi
else
echo "[init] PX4IO update failed"
echo "PX4IO update failed" >> $LOG_FILE
fi
fi
if [ $IO_PRESENT == no ]
then
echo "[init] ERROR: PX4IO not found, set vehicle type to NONE"
tone_alarm MNGGG
set VEHICLE_TYPE none
fi
fi
#
# Set default output if not set
#
if [ $OUTPUT_MODE == none ]
then
if [ $IO_PRESENT == yes ]
then
# If PX4IO present, use it as primary PWM output by default
set OUTPUT_MODE io
else
# Else use PX4FMU PWM output
set OUTPUT_MODE fmu
fi
fi
if [ $HIL == yes ]
then
set OUTPUT_MODE hil
else
# Try to get an USB console if not in HIL mode
nshterm /dev/ttyACM0 &
fi
# #
# Start the Commander (needs to be this early for in-air-restarts) # Start the Commander (needs to be this early for in-air-restarts)
# #
@@ -229,7 +234,9 @@ then
# #
# Start primary output # Start primary output
# #
if [ $OUTPUT_MODE == io_pwm ] set TTYS1_BUSY no
if [ $OUTPUT_MODE == io ]
then then
echo "[init] Use PX4IO PWM as primary output" echo "[init] Use PX4IO PWM as primary output"
if px4io start if px4io start
@@ -241,21 +248,43 @@ then
tone_alarm MNGGG tone_alarm MNGGG
fi fi
fi fi
if [ $OUTPUT_MODE == fmu_pwm ] if [ $OUTPUT_MODE == fmu ]
then then
echo "[init] Use PX4FMU PWM as primary output" echo "[init] Use FMU PWM as primary output"
if fmu mode_pwm if fmu mode_$FMU_MODE
then then
echo "[init] PX4FMU PWM output started" echo "[init] FMU mode_$FMU_MODE started"
else else
echo "[init] PX4FMU PWM output start error" echo "[init] FMU mode_$FMU_MODE start error"
tone_alarm MNGGG tone_alarm MNGGG
fi fi
if hw_ver compare PX4FMU_V1
then
if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ]
then
set TTYS1_BUSY yes
fi
if [ $FMU_MODE == pwm_gpio ]
then
set TTYS1_BUSY yes
fi
fi
fi fi
if [ $OUTPUT_MODE == mkblctrl ] if [ $OUTPUT_MODE == mkblctrl ]
then then
echo "[init] Use MKBLCTRL as primary output" echo "[init] Use MKBLCTRL as primary output"
if mkblctrl set MKBLCTRL_ARG ""
if [ $MKBLCTRL_MODE == x ]
then
set MKBLCTRL_ARG "-mkmode x"
fi
if [ $MKBLCTRL_MODE == + ]
then
set MKBLCTRL_ARG "-mkmode +"
fi
if mkblctrl $MKBLCTRL_ARG
then then
echo "[init] MKBLCTRL started" echo "[init] MKBLCTRL started"
else else
@@ -277,11 +306,12 @@ then
fi fi
# #
# Start PX4IO as secondary output if needed # Start IO or FMU for RC PPM input if needed
# #
if [ $IO_PRESENT == yes -a $OUTPUT_MODE != io_pwm ] if [ $IO_PRESENT == yes ]
then
if [ $OUTPUT_MODE != io ]
then then
echo "[init] Use PX4IO PWM as secondary output"
if px4io start if px4io start
then then
echo "[init] PX4IO started" echo "[init] PX4IO started"
@@ -291,18 +321,40 @@ then
tone_alarm MNGGG tone_alarm MNGGG
fi fi
fi fi
else
if [ $OUTPUT_MODE != fmu ]
then
if fmu mode_$FMU_MODE
then
echo "[init] FMU mode_$FMU_MODE started"
else
echo "[init] FMU mode_$FMU_MODE start error"
tone_alarm MNGGG
fi
if hw_ver compare PX4FMU_V1
then
if [ $FMU_MODE == pwm -o $FMU_MODE == gpio -o $FMU_MODE == pwm_gpio ]
then
set TTYS1_BUSY yes
fi
fi
fi
fi
# #
# MAVLink # MAVLink
# #
set EXIT_ON_END no
if [ $HIL == yes ] if [ $HIL == yes ]
then then
mavlink start -b 230400 -d /dev/ttyACM0 mavlink start -b 230400 -d /dev/ttyACM0
usleep 5000 usleep 5000
else else
if [ $OUTPUT_MODE == fmu_pwm -a hw_ver compare PX4FMU_V1 ] if [ $TTYS1_BUSY == yes ]
then then
# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as PWM output # Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else
mavlink start -d /dev/ttyS0 mavlink start -d /dev/ttyS0
usleep 5000 usleep 5000