Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-22 06:14:14 +08:00
Code Issues Actions 7 Packages Projects Releases Wiki Activity

rcS: shift sensors + EKF startup earlier

Browse Source 
- we want the drivers, sensors hub, and estimator running as soon as possible to initialize and avoid commander false positives complaining about missing data
This commit is contained in:
Daniel Agar
2025-01-22 15:27:56 -05:00
committed by GitHub
parent 752b25235c
commit 6322ebc3db
1 changed files with 72 additions and 58 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/px4fmu_common/init.d/rcS
+72 -58
View File
@@ -302,6 +302,75 @@ else
. $FCONFIG
fi
#
# Sensors System (start before Commander so Preflight checks are properly run).
#
if param greater SYS_HITL 0
then
sensors start -h
# disable GPS
param set GPS_1_CONFIG 0
# start the simulator in hardware if needed
if param compare SYS_HITL 2
then
simulator_sih start
sensor_baro_sim start
sensor_mag_sim start
sensor_gps_sim start
sensor_agp_sim 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
sensors start
fi
#
# state estimator selection
#
if param compare -s EKF2_EN 1
then
ekf2 start &
fi
if param compare -s LPE_EN 1
then
local_position_estimator start
fi
if param compare -s ATT_EN 1
then
attitude_estimator_q start
fi
#
# px4io
#
if px4io supported
then
# Check if PX4IO present and update firmware if needed.
@@ -369,79 +438,24 @@ else
fi
#
# Sensors System (start before Commander so Preflight checks are properly run).
# Commander needs to be this early for in-air-restarts.
# Commander
#
if param greater SYS_HITL 0
then
commander start -h
if ! pwm_out_sim start -m hil
then
tune_control play error
fi
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
simulator_sih start
sensor_baro_sim start
sensor_mag_sim start
sensor_gps_sim start
sensor_agp_sim 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
sensors start
commander start
dshot start
pwm_out start
fi
#
# state estimator selection
if param compare -s EKF2_EN 1
then
ekf2 start &
fi
if param compare -s LPE_EN 1
then
local_position_estimator start
fi
if param compare -s ATT_EN 1
then
attitude_estimator_q start
fi
#
# Configure vehicle type specific parameters.
# Note: rc.vehicle_setup is the entry point for all vehicle type specific setup.