mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-26 01:17:51 +08:00
Merge branch 'master' into export-build
Clean up some script trash and update scripts.
This commit is contained in:
px4dev
@@ -5,7 +5,7 @@ set USB no
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set MODE camflyer
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#
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# Start the ORB
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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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@@ -27,38 +27,65 @@ fi
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param set MAV_TYPE 1
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#
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# Start the sensors.
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# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
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#
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sh /etc/init.d/rc.sensors
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if [ -f /fs/microsd/px4io.bin ]
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then
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echo "PX4IO Firmware found. Checking Upgrade.."
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if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
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then
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echo "No newer version, skipping upgrade."
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else
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echo "Loading /fs/microsd/px4io.bin"
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if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
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then
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cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
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echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
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else
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echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
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echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
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fi
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fi
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fi
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#
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# Start MAVLink
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# Start MAVLink (depends on orb)
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#
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mavlink start -d /dev/ttyS1 -b 57600
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usleep 5000
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#
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# Start the commander.
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# Start the commander (depends on orb, mavlink)
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#
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commander start
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#
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# Start GPS interface
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#
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gps start
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#
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# Start the attitude estimator
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#
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kalman_demo start
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#
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# Start PX4IO interface
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# Start PX4IO interface (depends on orb, commander)
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#
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px4io start
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#
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# Load mixer and start controllers
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# Allow PX4IO to recover from midair restarts.
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# this is very unlikely, but quite safe and robust.
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px4io recovery
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#
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# Start the sensors (depends on orb, px4io)
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#
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sh /etc/init.d/rc.sensors
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#
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# Start GPS interface (depends on orb)
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#
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gps start
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#
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# Start the attitude estimator (depends on orb)
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#
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kalman_demo start
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#
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# Load mixer and start controllers (depends on px4io)
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#
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mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
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control_demo start
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@@ -66,8 +93,8 @@ control_demo start
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#
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# Start logging
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#
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sdlog start -s 10
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#sdlog start -s 4
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#
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# Start system state
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#
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@@ -2,10 +2,10 @@
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#
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# Flight startup script for PX4FMU on PX4IOAR carrier board.
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#
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# Disable the USB interface
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set USB no
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# Disable autostarting other apps
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set MODE ardrone
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@@ -25,13 +25,18 @@ if [ -f /fs/microsd/parameters ]
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then
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param load /fs/microsd/parameters
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fi
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#
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# Force some key parameters to sane values
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# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
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# see https://pixhawk.ethz.ch/mavlink/
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#
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param set MAV_TYPE 2
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#
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# Configure PX4FMU for operation with PX4IOAR
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#
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fmu mode_gpio_serial
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#
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# Start the sensors.
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@@ -54,11 +59,6 @@ commander start
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#
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attitude_estimator_ekf start
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#
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# Configure PX4FMU for operation with PX4IOAR
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#
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fmu mode_gpio_serial
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#
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# Fire up the multi rotor attitude controller
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#
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@@ -68,17 +68,17 @@ multirotor_att_control start
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# Fire up the AR.Drone interface.
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#
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ardrone_interface start -d /dev/ttyS1
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#
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# Start GPS capture
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#
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gps start
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#
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# Start logging
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#
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sdlog start -s 10
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#
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# Start GPS capture
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#
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gps start
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#
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# Start system state
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#
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@@ -95,4 +95,5 @@ fi
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# use the same UART for telemetry
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#
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echo "[init] startup done"
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exit
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exit
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@@ -21,9 +21,9 @@ set MODE autostart
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set USB autoconnect
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#
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# Start playing the startup tune
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#
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tone_alarm start
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#
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# Try to mount the microSD card.
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@@ -32,8 +32,12 @@ echo "[init] looking for microSD..."
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if mount -t vfat /dev/mmcsd0 /fs/microsd
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then
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echo "[init] card mounted at /fs/microsd"
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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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echo "[init] no microSD card found"
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# Play SOS
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tone_alarm 2
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fi
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#
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@@ -0,0 +1,7 @@
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Multirotor mixer for PX4FMU
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===========================
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This file defines a single mixer for a quadrotor in the V configuration. All controls
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are mixed 100%.
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R: 4v 10000 10000 10000 0
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@@ -1,107 +0,0 @@
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#!nsh
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# Disable USB and autostart
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set USB no
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set MODE camflyer
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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 microSD params
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#
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echo "[init] loading microSD params"
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param select /fs/microsd/parameters
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if [ -f /fs/microsd/parameters ]
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then
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param load /fs/microsd/parameters
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fi
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#
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# Force some key parameters to sane values
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# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
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# see https://pixhawk.ethz.ch/mavlink/
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#
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param set MAV_TYPE 1
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#
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# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
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#
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if [ -f /fs/microsd/px4io.bin ]
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then
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echo "PX4IO Firmware found. Checking Upgrade.."
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if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
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then
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echo "No newer version, skipping upgrade."
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else
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echo "Loading /fs/microsd/px4io.bin"
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if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
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then
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cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
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echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
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else
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echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
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echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
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fi
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fi
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fi
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#
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# Start MAVLink (depends on orb)
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#
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mavlink start -d /dev/ttyS1 -b 57600
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usleep 5000
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#
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# Start the commander (depends on orb, mavlink)
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#
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commander start
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#
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# Start PX4IO interface (depends on orb, commander)
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#
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px4io start
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#
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# Allow PX4IO to recover from midair restarts.
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# this is very unlikely, but quite safe and robust.
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px4io recovery
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#
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# Start the sensors (depends on orb, px4io)
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#
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sh /etc/init.d/rc.sensors
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#
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# Start GPS interface (depends on orb)
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#
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gps start
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#
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# Start the attitude estimator (depends on orb)
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#
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kalman_demo start
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#
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# Load mixer and start controllers (depends on px4io)
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#
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mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
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control_demo start
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#
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# Start logging
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#
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#sdlog start -s 4
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#
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# Start system state
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#
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if blinkm start
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then
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echo "using BlinkM for state indication"
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blinkm systemstate
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else
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echo "no BlinkM found, OK."
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fi
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@@ -1,99 +0,0 @@
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#!nsh
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#
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# Flight startup script for PX4FMU on PX4IOAR carrier board.
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#
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# Disable the USB interface
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set USB no
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# Disable autostarting other apps
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set MODE ardrone
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echo "[init] doing PX4IOAR startup..."
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#
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# Start the ORB
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#
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uorb start
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#
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# Init the parameter storage
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#
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echo "[init] loading microSD params"
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param select /fs/microsd/parameters
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if [ -f /fs/microsd/parameters ]
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then
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param load /fs/microsd/parameters
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fi
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#
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# Force some key parameters to sane values
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# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
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# see https://pixhawk.ethz.ch/mavlink/
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#
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param set MAV_TYPE 2
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#
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# Configure PX4FMU for operation with PX4IOAR
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#
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fmu mode_gpio_serial
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#
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# Start the sensors.
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#
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sh /etc/init.d/rc.sensors
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#
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# Start MAVLink
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#
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mavlink start -d /dev/ttyS0 -b 57600
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usleep 5000
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#
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# Start the commander.
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#
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commander start
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#
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# Start the attitude estimator
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#
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attitude_estimator_ekf start
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#
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# Fire up the multi rotor attitude controller
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#
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multirotor_att_control start
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#
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# Fire up the AR.Drone interface.
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#
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ardrone_interface start -d /dev/ttyS1
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#
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# Start logging
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#
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sdlog start -s 10
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#
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# Start GPS capture
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#
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gps start
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#
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# Start system state
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#
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if blinkm start
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then
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echo "using BlinkM for state indication"
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blinkm systemstate
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else
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echo "no BlinkM found, OK."
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fi
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#
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# startup is done; we don't want the shell because we
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# use the same UART for telemetry
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#
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echo "[init] startup done"
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exit
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@@ -1,83 +0,0 @@
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#!nsh
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#
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# PX4FMU startup script.
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#
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# This script is responsible for:
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#
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# - mounting the microSD card (if present)
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# - running the user startup script from the microSD card (if present)
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# - detecting the configuration of the system and picking a suitable
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# startup script to continue with
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#
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# Note: DO NOT add configuration-specific commands to this script;
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# add them to the per-configuration scripts instead.
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#
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#
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# Default to auto-start mode. An init script on the microSD card
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# can change this to prevent automatic startup of the flight script.
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#
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set MODE autostart
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set USB autoconnect
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||||
#
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||||
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||||
#
|
||||
|
||||
|
||||
#
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||||
# Try to mount the microSD card.
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||||
#
|
||||
echo "[init] looking for microSD..."
|
||||
if mount -t vfat /dev/mmcsd0 /fs/microsd
|
||||
then
|
||||
echo "[init] card mounted at /fs/microsd"
|
||||
# Start playing the startup tune
|
||||
tone_alarm start
|
||||
else
|
||||
echo "[init] no microSD card found"
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||||
# Play SOS
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||||
tone_alarm 2
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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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#
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||||
# To prevent automatic startup in the current flight mode,
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# the script should set MODE to some other value.
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#
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if [ -f /fs/microsd/etc/rc ]
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||||
then
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||||
echo "[init] reading /fs/microsd/etc/rc"
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||||
sh /fs/microsd/etc/rc
|
||||
fi
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||||
# Also consider rc.txt files
|
||||
if [ -f /fs/microsd/etc/rc.txt ]
|
||||
then
|
||||
echo "[init] reading /fs/microsd/etc/rc.txt"
|
||||
sh /fs/microsd/etc/rc.txt
|
||||
fi
|
||||
|
||||
#
|
||||
# Check for USB host
|
||||
#
|
||||
if [ $USB != autoconnect ]
|
||||
then
|
||||
echo "[init] not connecting USB"
|
||||
else
|
||||
if sercon
|
||||
then
|
||||
echo "[init] USB interface connected"
|
||||
else
|
||||
echo "[init] No USB connected"
|
||||
fi
|
||||
fi
|
||||
|
||||
# if this is an APM build then there will be a rc.APM script
|
||||
# from an EXTERNAL_SCRIPTS build option
|
||||
if [ -f /etc/init.d/rc.APM ]
|
||||
then
|
||||
echo Running rc.APM
|
||||
# if APM startup is successful then nsh will exit
|
||||
sh /etc/init.d/rc.APM
|
||||
fi
|
||||
Reference in New Issue
Block a user