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rcS and autostart scripts cleanup, WIP

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This commit is contained in:
Anton Babushkin
2014-01-10 22:04:56 +01:00
parent f5501a0508
commit 6e60984556
9 changed files with 183 additions and 209 deletions
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ROMFS/px4fmu_common/init.d/10015_tbs_discovery
+5 -4
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@@ -1,8 +1,9 @@
#!nsh #!nsh
#
# Maintainers: Anton Babushkin <anton.babushkin@me.com> # Team Blacksheep Discovery Quadcopter
#
echo "[init] Team Blacksheep Discovery Quad" # Maintainers: Simon Wilks <sjwilks@gmail.com>
#
if [ $DO_AUTOCONFIG == yes ] if [ $DO_AUTOCONFIG == yes ]
then then
ROMFS/px4fmu_common/init.d/10016_3dr_iris
+9 -6
View File
@@ -1,11 +1,9 @@
#!nsh #!nsh
#
# 3DR Iris Quadcopter
#
# Maintainers: Anton Babushkin <anton.babushkin@me.com> # Maintainers: Anton Babushkin <anton.babushkin@me.com>
#
echo "[init] 3DR Iris Quad"
# Use generic wide arm quad X PWM as base
sh /etc/init.d/10001_quad_w
if [ $DO_AUTOCONFIG == yes ] if [ $DO_AUTOCONFIG == yes ]
then then
@@ -41,3 +39,8 @@ then
param set MPC_Z_VEL_MAX 2 param set MPC_Z_VEL_MAX 2
param set MPC_Z_VEL_P 0.20 param set MPC_Z_VEL_P 0.20
fi fi
set VEHICLE_TYPE mc
set FRAME_GEOMETRY quad_w
set PWM_RATE 400
ROMFS/px4fmu_common/init.d/1001_rc_quad.hil → ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil
+5 -2
View File
@@ -1,6 +1,9 @@
#!nsh #!nsh
#
echo "[init] PX4FMU v1, v2 with or without IO on HIL Quad" # HIL Quadcopter X
#
# Maintainers: Anton Babushkin <anton.babushkin@me.com>
#
if [ $DO_AUTOCONFIG == yes ] if [ $DO_AUTOCONFIG == yes ]
then then
ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil
+37 -96
View File
@@ -1,105 +1,46 @@
#!nsh #!nsh
# #
# USB HIL start # HIL Quadcopter +
#
# Maintainers: Anton Babushkin <anton.babushkin@me.com>
# #
echo "[HIL] HILS quadrotor + starting.." if [ $DO_AUTOCONFIG == yes ]
#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then then
# Set all params here, then disable autoconfig #
param set SYS_AUTOCONFIG 0 # Default parameters for this platform
#
param set MC_ATTRATE_P 0.12
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_D 0.004
param set MC_ATT_P 7.0
param set MC_ATT_I 0.0
param set MC_ATT_D 0.0
param set MC_YAWPOS_P 2.0
param set MC_YAWPOS_I 0.0
param set MC_YAWPOS_D 0.0
param set MC_YAWRATE_P 0.3
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0.005
param set MC_ATTRATE_D 0.0 param set MPC_TILT_MAX 0.5
param set MC_ATTRATE_I 0.0 param set MPC_THR_MAX 0.8
param set MC_ATTRATE_P 0.05 param set MPC_THR_MIN 0.2
param set MC_ATT_D 0.0 param set MPC_XY_D 0
param set MC_ATT_I 0.0 param set MPC_XY_P 0.5
param set MC_ATT_P 3.0 param set MPC_XY_VEL_D 0
param set MC_YAWPOS_D 0.0 param set MPC_XY_VEL_I 0
param set MC_YAWPOS_I 0.0 param set MPC_XY_VEL_MAX 3
param set MC_YAWPOS_P 2.1 param set MPC_XY_VEL_P 0.2
param set MC_YAWRATE_D 0.0 param set MPC_Z_D 0
param set MC_YAWRATE_I 0.0 param set MPC_Z_P 1
param set MC_YAWRATE_P 0.05 param set MPC_Z_VEL_D 0
param set NAV_TAKEOFF_ALT 3.0 param set MPC_Z_VEL_I 0.1
param set MPC_TILT_MAX 0.5 param set MPC_Z_VEL_MAX 2
param set MPC_THR_MAX 0.5 param set MPC_Z_VEL_P 0.20
param set MPC_THR_MIN 0.1
param set MPC_XY_D 0
param set MPC_XY_P 0.5
param set MPC_XY_VEL_D 0
param set MPC_XY_VEL_I 0
param set MPC_XY_VEL_MAX 3
param set MPC_XY_VEL_P 0.2
param set MPC_Z_D 0
param set MPC_Z_P 1
param set MPC_Z_VEL_D 0
param set MPC_Z_VEL_I 0.1
param set MPC_Z_VEL_MAX 2
param set MPC_Z_VEL_P 0.20
param save
fi fi
# Allow USB some time to come up set HIL yes
sleep 1
# Tell MAVLink that this link is "fast"
mavlink start -b 230400 -d /dev/ttyACM0
# Create a fake HIL /dev/pwm_output interface
hil mode_pwm
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
#
param set MAV_TYPE 2
#
# Check if we got an IO
#
if px4io start
then
echo "IO started"
else
fmu mode_serial
echo "FMU started"
fi
#
# Start the sensors (depends on orb, px4io)
#
sh /etc/init.d/rc.sensors
#
# Start the attitude estimator (depends on orb)
#
att_pos_estimator_ekf start
#
# Load mixer and start controllers (depends on px4io)
#
mixer load /dev/pwm_output /etc/mixers/FMU_quad_+.mix
#
# Start position estimator
#
position_estimator_inav start
#
# Start attitude control
#
multirotor_att_control start
#
# Start position control
#
multirotor_pos_control start
echo "[HIL] setup done, running"
set VEHICLE_TYPE mc
set FRAME_GEOMETRY quad_+
ROMFS/px4fmu_common/init.d/4010_dji_f330
+4 -3
View File
@@ -1,8 +1,9 @@
#!nsh #!nsh
#
# DJI Flame Wheel F330 Quadcopter
#
# Maintainers: Anton Babushkin <anton.babushkin@me.com> # Maintainers: Anton Babushkin <anton.babushkin@me.com>
#
echo "[init] DJI F330"
if [ $DO_AUTOCONFIG == yes ] if [ $DO_AUTOCONFIG == yes ]
then then
ROMFS/px4fmu_common/init.d/4011_dji_f450
+4 -3
View File
@@ -1,8 +1,9 @@
#!nsh #!nsh
#
# DJI Flame Wheel F450 Quadcopter
#
# Maintainers: Lorenz Meier <lm@inf.ethz.ch> # Maintainers: Lorenz Meier <lm@inf.ethz.ch>
#
echo "[init] DJI F450"
if [ $DO_AUTOCONFIG == yes ] if [ $DO_AUTOCONFIG == yes ]
then then
ROMFS/px4fmu_common/init.d/4012_hk_x550
+6 -3
View File
@@ -1,8 +1,9 @@
#!nsh #!nsh
#
# HobbyKing X550 Quadcopter
#
# Maintainers: Todd Stellanova <tstellanova@gmail.com> # Maintainers: Todd Stellanova <tstellanova@gmail.com>
#
echo "[init] PX4FMU v1, v2 with or without IO on HobbyKing X550"
if [ $DO_AUTOCONFIG == yes ] if [ $DO_AUTOCONFIG == yes ]
then then
@@ -21,6 +22,8 @@ then
param set MC_YAWRATE_P 0.08 param set MC_YAWRATE_P 0.08
param set MC_YAWRATE_I 0 param set MC_YAWRATE_I 0
param set MC_YAWRATE_D 0 param set MC_YAWRATE_D 0
# TODO add default MPC parameters
fi fi
set VEHICLE_TYPE mc set VEHICLE_TYPE mc
ROMFS/px4fmu_common/init.d/rc.autostart
+2 -2
View File
@@ -28,7 +28,7 @@ fi
if param compare SYS_AUTOSTART 1001 if param compare SYS_AUTOSTART 1001
then then
sh /etc/init.d/1001_rc_quad.hil sh /etc/init.d/1001_rc_quad_x.hil
fi fi
if param compare SYS_AUTOSTART 1002 if param compare SYS_AUTOSTART 1002
@@ -38,7 +38,7 @@ fi
if param compare SYS_AUTOSTART 1003 if param compare SYS_AUTOSTART 1003
then then
#sh /etc/init.d/1003_rc_quad_+.hil sh /etc/init.d/1003_rc_quad_+.hil
fi fi
if param compare SYS_AUTOSTART 1004 if param compare SYS_AUTOSTART 1004
ROMFS/px4fmu_common/init.d/rcS
+108 -87
View File
@@ -13,18 +13,31 @@ set logfile /fs/microsd/bootlog.txt
# #
# Try to mount the microSD card. # Try to mount the microSD card.
# #
echo "[init] looking for microSD..." echo "[init] Looking for microSD..."
if mount -t vfat /dev/mmcsd0 /fs/microsd if mount -t vfat /dev/mmcsd0 /fs/microsd
then then
echo "[init] card mounted at /fs/microsd" echo "[init] microSD card mounted at /fs/microsd"
# Start playing the startup tune # Start playing the startup tune
tone_alarm start tone_alarm start
else else
echo "[init] no microSD card found" echo "[init] No microSD card found"
# Play SOS # Play SOS
tone_alarm error tone_alarm error
fi fi
#
# Set default values here, can be overriden in rc.txt from SD card
#
set HIL no
set VEHICLE_TYPE none
set FRAME_GEOMETRY none
set OUTPUT_MODE none
set VEHICLE_TYPE none
set PWM_RATE none
set PWM_DISARMED none
set PWM_MIN none
set PWM_MAX none
# #
# Look for an init script on the microSD card. # Look for an init script on the microSD card.
# #
@@ -70,27 +83,18 @@ then
uorb start uorb start
# #
# Load microSD params # Load parameters
# #
#if ramtron start param select /fs/microsd/params
#then if [ -f /fs/microsd/params ]
# param select /ramtron/params then
# if [ -f /ramtron/params ] if param load /fs/microsd/params
# then
# param load /ramtron/params
# fi
#else
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
then then
if param load /fs/microsd/params echo "[init] Parameters loaded"
then else
echo "[init] Parameters loaded" echo "[init] Parameter file corrupt - ignoring"
else
echo "[init] Parameter file corrupt - ignoring"
fi
fi fi
#fi fi
# #
# Start system state indicator # Start system state indicator
@@ -105,12 +109,8 @@ then
fi fi
fi fi
# Use FMU PWM output by default
set OUTPUT_MODE fmu_pwm
set IO_PRESENT no
# #
# Upgrade PX4IO firmware # Check if PX4IO present and update firmware if needed
# #
if [ -f /etc/extras/px4io-v2_default.bin ] if [ -f /etc/extras/px4io-v2_default.bin ]
then then
@@ -119,15 +119,14 @@ then
set io_file /etc/extras/px4io-v1_default.bin set io_file /etc/extras/px4io-v1_default.bin
fi fi
set IO_PRESENT no
if px4io checkcrc $io_file if px4io checkcrc $io_file
then then
echo "[init] PX4IO CRC OK" echo "[init] PX4IO CRC OK"
echo "PX4IO CRC OK" >> $logfile echo "PX4IO CRC OK" >> $logfile
set IO_PRESENT yes set IO_PRESENT yes
# If PX4IO present, use it as primary PWM output by default
set OUTPUT_MODE io_pwm
else else
echo "[init] PX4IO CRC failure" echo "[init] PX4IO CRC failure"
echo "PX4IO CRC failure" >> $logfile echo "PX4IO CRC failure" >> $logfile
@@ -142,9 +141,6 @@ then
tone_alarm MSPAA tone_alarm MSPAA
set IO_PRESENT yes set IO_PRESENT yes
# If PX4IO present, use it as primary PWM output by default
set OUTPUT_MODE io_pwm
else else
echo "[init] PX4IO restart failed" echo "[init] PX4IO restart failed"
echo "PX4IO restart failed" >> $logfile echo "PX4IO restart failed" >> $logfile
@@ -165,15 +161,26 @@ then
fi fi
fi fi
set HIL no #
set FRAME_TYPE none # Set default output if it was not defined in rc.txt
set PWM_RATE none #
set PWM_DISARMED none if [ $OUTPUT_MODE == none ]
set PWM_MIN none then
set PWM_MAX none 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
fi
set EXIT_ON_END no set EXIT_ON_END no
#
# Set DO_AUTOCONFIG flag to use it in AUTOSTART scripts
#
if param compare SYS_AUTOCONFIG 1 if param compare SYS_AUTOCONFIG 1
then then
set DO_AUTOCONFIG yes set DO_AUTOCONFIG yes
@@ -181,41 +188,35 @@ then
set DO_AUTOCONFIG no set DO_AUTOCONFIG no
fi fi
#
# Start the Commander (needs to be this early for in-air-restarts)
#
commander start
# #
# Set parameters and env variables for selected AUTOSTART # Set parameters and env variables for selected AUTOSTART
# #
sh /etc/init.d/rc.autostart sh /etc/init.d/rc.autostart
# Custom configuration
if [ -f /fs/microsd/etc/rc.conf ]
then
sh /fs/microsd/etc/rc.conf
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 [ $DO_AUTOCONFIG == yes ]
then
param set SYS_AUTOCONFIG 0
param save
fi
if [ $MODE == autostart ] if [ $MODE == autostart ]
then then
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 [ $DO_AUTOCONFIG == yes ]
then
param set SYS_AUTOCONFIG 0
param save
fi
#
# Start the Commander (needs to be this early for in-air-restarts)
#
commander start
# #
# Start primary output # Start primary output
# #
@@ -224,29 +225,47 @@ then
echo "[init] Use PX4IO PWM as primary output" echo "[init] Use PX4IO PWM as primary output"
if px4io start if px4io start
then then
echo "[init] PX4IO OK" echo "[init] PX4IO started"
echo "PX4IO OK" >> $logfile
sh /etc/init.d/rc.io sh /etc/init.d/rc.io
else else
echo "[init] PX4IO start error" echo "[init] PX4IO start error"
echo "PX4IO start error" >> $logfile
tone_alarm MNGGG tone_alarm MNGGG
fi fi
fi fi
if [ $OUTPUT_MODE == fmu_pwm ] if [ $OUTPUT_MODE == fmu_pwm ]
then then
echo "[init] Use PX4FMU PWM as primary output" echo "[init] Use PX4FMU PWM as primary output"
fmu mode_pwm if fmu mode_pwm
then
echo "[init] PX4FMU PWM output started"
sh /etc/init.d/rc.io
else
echo "[init] PX4FMU PWM output start error"
tone_alarm MNGGG
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"
mkblctrl if mkblctrl
then
echo "[init] MKBLCTRL started"
else
echo "[init] MKBLCTRL start error"
tone_alarm MNGGG
fi
fi fi
if [ $OUTPUT_MODE == hil ] if [ $OUTPUT_MODE == hil ]
then then
echo "[init] Use HIL as primary output" echo "[init] Use HIL as primary output"
hil mode_pwm if hil mode_pwm
then
echo "[init] HIL output started"
else
echo "[init] HIL output error"
tone_alarm MNGGG
fi
fi fi
# #
@@ -257,12 +276,10 @@ then
echo "[init] Use PX4IO PWM as secondary output" echo "[init] Use PX4IO PWM as secondary output"
if px4io start if px4io start
then then
echo "[init] PX4IO OK" echo "[init] PX4IO started"
echo "PX4IO OK" >> $logfile
sh /etc/init.d/rc.io sh /etc/init.d/rc.io
else else
echo "[init] PX4IO start error" echo "[init] PX4IO start error"
echo "PX4IO start error" >> $logfile
tone_alarm MNGGG tone_alarm MNGGG
fi fi
fi fi
@@ -270,18 +287,24 @@ then
# #
# MAVLink # MAVLink
# #
if [ $OUTPUT_MODE == fmu_pwm -a hw_ver compare PX4FMU_V1 ] if [ $HIL == yes ]
then then
# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as PWM output mavlink start -b 230400 -d /dev/ttyACM0
mavlink start -d /dev/ttyS0
usleep 5000 usleep 5000
# Exit from nsh to free port for mavlink
set EXIT_ON_END yes
else else
# Start MAVLink on default port: ttyS1 if [ $OUTPUT_MODE == fmu_pwm -a hw_ver compare PX4FMU_V1 ]
mavlink start then
usleep 5000 # Start MAVLink on ttyS0, because FMU ttyS1 pins configured as PWM output
mavlink start -d /dev/ttyS0
usleep 5000
# Exit from nsh to free port for mavlink
set EXIT_ON_END yes
else
# Start MAVLink on default port: ttyS1
mavlink start
usleep 5000
fi
fi fi
# #
@@ -294,10 +317,7 @@ then
then then
echo "[init] Start logging" echo "[init] Start logging"
sh /etc/init.d/rc.logging sh /etc/init.d/rc.logging
fi
if [ $HIL == no ]
then
echo "[init] Start GPS" echo "[init] Start GPS"
gps start gps start
fi fi
@@ -336,6 +356,7 @@ then
if [ $VEHICLE_TYPE == none ] if [ $VEHICLE_TYPE == none ]
then then
echo "[init] Vehicle type: GENERIC" echo "[init] Vehicle type: GENERIC"
attitude_estimator_ekf start attitude_estimator_ekf start
position_estimator_inav start position_estimator_inav start
fi fi