diff --git a/ROMFS/px4fmu_common/init.d/rc.logging b/ROMFS/px4fmu_common/init.d/rc.logging index 5ef8ca464d..d23243473b 100644 --- a/ROMFS/px4fmu_common/init.d/rc.logging +++ b/ROMFS/px4fmu_common/init.d/rc.logging @@ -1,7 +1,7 @@ #!nsh -# Logging +# Standard startup script for logging. # -# Standard startup script for logging +# NOTE: Script variables are declared/initialized/unset in the rcS script. # set LOGGER_ARGS "" @@ -24,4 +24,3 @@ fi logger start -b ${LOGGER_BUF} -t ${LOGGER_ARGS} unset LOGGER_ARGS -unset LOGGER_BUF diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index cf32b8a54f..95efdda6c6 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -37,7 +37,6 @@ set MIXER none set MIXER_AUX none set MK_MODE none set MKBLCTRL_ARG "" -set MODE autostart set OUTPUT_MODE none set PARAM_FILE /fs/microsd/params set PWM_OUT none @@ -61,17 +60,19 @@ set VEHICLE_TYPE none mount -t procfs /proc # -# Start CDC/ACM serial driver +# Start CDC/ACM serial driver. # sercon -# print full system version +# +# Print full system version. +# ver all # # Try to mount the microSD card. # -# REBOOTWORK this needs to start after the flight control loop +# REBOOTWORK this needs to start after the flight control loop. if mount -t vfat /dev/mmcsd0 /fs/microsd then if hardfault_log check @@ -119,34 +120,33 @@ fi if [ -f $FRC ] then sh $FRC - set MODE custom -fi - -if [ $MODE == autostart ] -then +else # - # Start the ORB (first app to start) + # Start the ORB (first app to start). # uorb start # - # Start tone driver + # Start tone driver. # tone_alarm start # - # play startup tone + # play startup tone. # tune_control play -t 1 # - # Load parameters + # Set the parameter file if mtd starts successfully. # if mtd start then set PARAM_FILE /fs/mtd_params fi + # + # Load parameters. + # param select $PARAM_FILE if param load then @@ -157,7 +157,7 @@ then fi # - # Start system state indicator + # Start system state indicator. # if rgbled start then @@ -168,11 +168,13 @@ then fi fi - # FMUv5 may have both PWM I2C RGB LED support + # + # FMUv5 may have both PWM I2C RGB LED support. + # rgbled_pwm start # - # Set AUTOCNF flag to use it in AUTOSTART scripts + # Set AUTOCNF flag to use it in AUTOSTART scripts. # if param compare SYS_AUTOCONFIG 1 then @@ -184,8 +186,8 @@ then # # Release 1.4.0 transitional support: - # set to old default if unconfigured. - # this preserves the previous behaviour + # set to old default if unconfigured, + # this preserves the previous behaviour. # if param compare BAT_N_CELLS 0 then @@ -193,6 +195,10 @@ then fi fi + ############################################################################### + # Begin setup for board specific configurations. # + ############################################################################### + if ver hwcmp PX4FMU_V5 then set LOGGER_BUF 64 @@ -207,6 +213,11 @@ then fi fi + if ver hwcmp AEROCORE2 + then + set DATAMAN_OPT "-f /fs/mtd_dataman" + fi + if ver hwcmp AEROFC_V1 then if param compare SYS_AUTOSTART 0 @@ -215,8 +226,10 @@ then fi # We don't allow changing AUTOSTART as it doesn't work in - # other configurations + # other configurations. param set SYS_AUTOSTART 4070 + + set DATAMAN_OPT -i fi if ver hwcmp NXPHLITE_V3 @@ -224,8 +237,12 @@ then param set SYS_FMU_TASK 1 fi + ############################################################################### + # End Setup for board specific configurations. # + ############################################################################### + # - # Set USE_IO flag + # Set USE_IO flag. # if param compare SYS_USE_IO 1 then @@ -238,7 +255,7 @@ then fi # - # Set parameters and env variables for selected AUTOSTART + # Set parameters and env variables for selected AUTOSTART. # if param compare SYS_AUTOSTART 0 then @@ -248,7 +265,7 @@ then # # If mount (gimbal) control is enabled and output mode is AUX, set the aux - # mixer to mount (override the airframe-specific MIXER_AUX setting) + # mixer to mount (override the airframe-specific MIXER_AUX setting). # if param compare MNT_MODE_IN -1 then @@ -260,7 +277,7 @@ then fi # - # Override parameters from user configuration file + # Override parameters from user configuration file. # if [ -f $FCONFIG ] then @@ -269,7 +286,7 @@ then fi # - # If autoconfig parameter was set, reset it and save parameters + # If autoconfig parameter was set, reset it and save parameters. # if [ $AUTOCNF == yes ] then @@ -279,7 +296,7 @@ then param set CBRK_IO_SAFETY 22027 fi - # Run FMU as task on Pixracer and on boards with enough RAM + # Run FMU as task on Pixracer and on boards with enough RAM. if ver hwcmp PX4FMU_V4 PX4FMU_V4PRO PX4FMU_V5 then param set SYS_FMU_TASK 1 @@ -289,7 +306,7 @@ then then param set SYS_FMU_TASK 1 param set SYS_HAS_MAG 0 - # use the Q attitude estimator, it works w/o mag or GPS + # use the Q attitude estimator, it works w/o mag or GPS. param set SYS_MC_EST_GROUP 1 param set ATT_ACC_COMP 0 param set ATT_W_ACC 0.4000 @@ -300,7 +317,7 @@ then fi # - # Check if PX4IO present and update firmware if needed + # Check if PX4IO present and update firmware if needed. # if [ -f /etc/extras/px4io-v2.bin ] then @@ -314,12 +331,12 @@ then if px4io start then - # try to safe px4 io so motor outputs dont go crazy + # Try to safety px4 io so motor outputs dont go crazy. if px4io safety_on then # success! no-op else - # px4io did not respond to the safety command + # px4io did not respond to the safety command. px4io stop fi fi @@ -351,7 +368,7 @@ then fi # - # Set default output if not set + # Set default output if not set. # if [ $OUTPUT_MODE == none ] then @@ -365,7 +382,7 @@ then if [ $OUTPUT_MODE == io -a $IO_PRESENT != yes ] then - # Need IO for output but it not present, disable output + # Need IO for output but it not present, disable output. set OUTPUT_MODE none fi @@ -374,26 +391,17 @@ then set FMU_MODE rcin fi - if ver hwcmp AEROFC_V1 - then - set DATAMAN_OPT -i - fi - if ver hwcmp AEROCORE2 - then - set DATAMAN_OPT "-f /fs/mtd_dataman" - fi - # - # waypoint storage - # REBOOTWORK this needs to start in parallel + # Waypoint storage. + # REBOOTWORK this needs to start in parallel. # if dataman start $DATAMAN_OPT then fi # - # Sensors System (start before Commander so Preflight checks are properly run) - # commander Needs to be this early for in-air-restarts + # Sensors System (start before Commander so Preflight checks are properly run). + # Commander Needs to be this early for in-air-restarts. # if param compare SYS_HITL 1 then @@ -415,23 +423,23 @@ then load_mon start # - # Check if UAVCAN is enabled, default to it for ESCs + # Check if UAVCAN is enabled, default to it for ESCs. # if param greater UAVCAN_ENABLE 2 then set OUTPUT_MODE uavcan_esc fi - # Sensors on the PWM interface bank + # Sensors on the PWM interface bank. if param compare SENS_EN_LL40LS 1 then - # clear pins 5 and 6 + # Clear pins 5 and 6. set FMU_MODE pwm4 set AUX_MODE pwm4 fi if param greater TRIG_MODE 0 then - # We ONLY support trigger on pins 5 and 6 when simultanously using AUX for actuator output + # We ONLY support trigger on pins 5 and 6 when simultanously using AUX for actuator output. if param compare TRIG_PINS 56 then # clear pins 5 and 6 @@ -447,7 +455,7 @@ then camera_feedback start fi - # If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output + # If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output. if [ $OUTPUT_MODE != none ] then if [ $OUTPUT_MODE == uavcan_esc ] @@ -507,7 +515,7 @@ then fi # - # Start IO or FMU for RC PPM input if needed + # Start IO or FMU for RC PPM input if needed. # if [ $IO_PRESENT == yes ] then @@ -540,18 +548,18 @@ then sh /etc/init.d/rc.mavlink # - # Starting stuff according to UAVCAN_ENABLE value + # Starting stuff according to UAVCAN_ENABLE value. # if param greater UAVCAN_ENABLE 0 then - # Start core UAVCAN module + # Start core UAVCAN module. if uavcan start then if param greater UAVCAN_ENABLE 1 then - # Reduce logger buffer to free up some RAM for UAVCAN servers + # Reduce logger buffer to free up some RAM for UAVCAN servers. set LOGGER_BUF 6 - # Start UAVCAN firmware update server and dynamic node ID allocation server + # Start UAVCAN firmware update server and dynamic node ID allocation server. uavcan start fw fi else @@ -561,7 +569,7 @@ then if ver hwcmp PX4FMU_V2 PX4FMU_V4 PX4FMU_V4PRO MINDPX_V2 PX4FMU_V5 OMNIBUS_F4SD then - # Check for flow sensor - as it is a background task, launch it last + # Check for flow sensor - as it is a background task, launch it last. px4flow start & fi @@ -630,7 +638,6 @@ unset MIXER unset MIXER_AUX unset MK_MODE unset MKBLCTRL_ARG -unset MODE unset OUTPUT_AUX_DEV unset OUTPUT_DEV unset OUTPUT_MODE @@ -652,5 +659,5 @@ unset USE_IO unset VEHICLE_TYPE -# Boot is complete, inform MAVLink app(s) that the system is now fully up and running +# Boot is complete, inform MAVLink app(s) that the system is now fully up and running. mavlink boot_complete