Mirrors_Framework/PX4-Autopilot
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Group hardware specific logic in rcS, deprecate the MODE parameter from rcS, and update comments.

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This commit is contained in:
mcsauder
2018-07-13 17:05:10 -06:00
committed by Beat Küng
parent 4e3f7bdcc6
commit e2eb84042e
2 changed files with 66 additions and 60 deletions
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ROMFS/px4fmu_common/init.d/rc.logging
+2 -3
View File
@@ -1,7 +1,7 @@
#!nsh #!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 "" set LOGGER_ARGS ""
@@ -24,4 +24,3 @@ fi
logger start -b ${LOGGER_BUF} -t ${LOGGER_ARGS} logger start -b ${LOGGER_BUF} -t ${LOGGER_ARGS}
unset LOGGER_ARGS unset LOGGER_ARGS
unset LOGGER_BUF
ROMFS/px4fmu_common/init.d/rcS
+64 -57
View File
@@ -37,7 +37,6 @@ set MIXER none
set MIXER_AUX none set MIXER_AUX none
set MK_MODE none set MK_MODE none
set MKBLCTRL_ARG "" set MKBLCTRL_ARG ""
set MODE autostart
set OUTPUT_MODE none set OUTPUT_MODE none
set PARAM_FILE /fs/microsd/params set PARAM_FILE /fs/microsd/params
set PWM_OUT none set PWM_OUT none
@@ -61,17 +60,19 @@ set VEHICLE_TYPE none
mount -t procfs /proc mount -t procfs /proc
# #
# Start CDC/ACM serial driver # Start CDC/ACM serial driver.
# #
sercon sercon
# print full system version #
# Print full system version.
#
ver all ver all
# #
# Try to mount the microSD card. # 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 if mount -t vfat /dev/mmcsd0 /fs/microsd
then then
if hardfault_log check if hardfault_log check
@@ -119,34 +120,33 @@ fi
if [ -f $FRC ] if [ -f $FRC ]
then then
sh $FRC sh $FRC
set MODE custom else
fi
if [ $MODE == autostart ]
then
# #
# Start the ORB (first app to start) # Start the ORB (first app to start).
# #
uorb start uorb start
# #
# Start tone driver # Start tone driver.
# #
tone_alarm start tone_alarm start
# #
# play startup tone # play startup tone.
# #
tune_control play -t 1 tune_control play -t 1
# #
# Load parameters # Set the parameter file if mtd starts successfully.
# #
if mtd start if mtd start
then then
set PARAM_FILE /fs/mtd_params set PARAM_FILE /fs/mtd_params
fi fi
#
# Load parameters.
#
param select $PARAM_FILE param select $PARAM_FILE
if param load if param load
then then
@@ -157,7 +157,7 @@ then
fi fi
# #
# Start system state indicator # Start system state indicator.
# #
if rgbled start if rgbled start
then then
@@ -168,11 +168,13 @@ then
fi fi
fi fi
# FMUv5 may have both PWM I2C RGB LED support #
# FMUv5 may have both PWM I2C RGB LED support.
#
rgbled_pwm start 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 if param compare SYS_AUTOCONFIG 1
then then
@@ -184,8 +186,8 @@ then
# #
# Release 1.4.0 transitional support: # Release 1.4.0 transitional support:
# set to old default if unconfigured. # set to old default if unconfigured,
# this preserves the previous behaviour # this preserves the previous behaviour.
# #
if param compare BAT_N_CELLS 0 if param compare BAT_N_CELLS 0
then then
@@ -193,6 +195,10 @@ then
fi fi
fi fi
###############################################################################
# Begin setup for board specific configurations. #
###############################################################################
if ver hwcmp PX4FMU_V5 if ver hwcmp PX4FMU_V5
then then
set LOGGER_BUF 64 set LOGGER_BUF 64
@@ -207,6 +213,11 @@ then
fi fi
fi fi
if ver hwcmp AEROCORE2
then
set DATAMAN_OPT "-f /fs/mtd_dataman"
fi
if ver hwcmp AEROFC_V1 if ver hwcmp AEROFC_V1
then then
if param compare SYS_AUTOSTART 0 if param compare SYS_AUTOSTART 0
@@ -215,8 +226,10 @@ then
fi fi
# We don't allow changing AUTOSTART as it doesn't work in # We don't allow changing AUTOSTART as it doesn't work in
# other configurations # other configurations.
param set SYS_AUTOSTART 4070 param set SYS_AUTOSTART 4070
set DATAMAN_OPT -i
fi fi
if ver hwcmp NXPHLITE_V3 if ver hwcmp NXPHLITE_V3
@@ -224,8 +237,12 @@ then
param set SYS_FMU_TASK 1 param set SYS_FMU_TASK 1
fi fi
###############################################################################
# End Setup for board specific configurations. #
###############################################################################
# #
# Set USE_IO flag # Set USE_IO flag.
# #
if param compare SYS_USE_IO 1 if param compare SYS_USE_IO 1
then then
@@ -238,7 +255,7 @@ then
fi fi
# #
# Set parameters and env variables for selected AUTOSTART # Set parameters and env variables for selected AUTOSTART.
# #
if param compare SYS_AUTOSTART 0 if param compare SYS_AUTOSTART 0
then then
@@ -248,7 +265,7 @@ then
# #
# If mount (gimbal) control is enabled and output mode is AUX, set the aux # 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 if param compare MNT_MODE_IN -1
then then
@@ -260,7 +277,7 @@ then
fi fi
# #
# Override parameters from user configuration file # Override parameters from user configuration file.
# #
if [ -f $FCONFIG ] if [ -f $FCONFIG ]
then then
@@ -269,7 +286,7 @@ then
fi fi
# #
# If autoconfig parameter was set, reset it and save parameters # If autoconfig parameter was set, reset it and save parameters.
# #
if [ $AUTOCNF == yes ] if [ $AUTOCNF == yes ]
then then
@@ -279,7 +296,7 @@ then
param set CBRK_IO_SAFETY 22027 param set CBRK_IO_SAFETY 22027
fi 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 if ver hwcmp PX4FMU_V4 PX4FMU_V4PRO PX4FMU_V5
then then
param set SYS_FMU_TASK 1 param set SYS_FMU_TASK 1
@@ -289,7 +306,7 @@ then
then then
param set SYS_FMU_TASK 1 param set SYS_FMU_TASK 1
param set SYS_HAS_MAG 0 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 SYS_MC_EST_GROUP 1
param set ATT_ACC_COMP 0 param set ATT_ACC_COMP 0
param set ATT_W_ACC 0.4000 param set ATT_W_ACC 0.4000
@@ -300,7 +317,7 @@ then
fi 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 ] if [ -f /etc/extras/px4io-v2.bin ]
then then
@@ -314,12 +331,12 @@ then
if px4io start if px4io start
then 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 if px4io safety_on
then then
# success! no-op # success! no-op
else else
# px4io did not respond to the safety command # px4io did not respond to the safety command.
px4io stop px4io stop
fi fi
fi fi
@@ -351,7 +368,7 @@ then
fi fi
# #
# Set default output if not set # Set default output if not set.
# #
if [ $OUTPUT_MODE == none ] if [ $OUTPUT_MODE == none ]
then then
@@ -365,7 +382,7 @@ then
if [ $OUTPUT_MODE == io -a $IO_PRESENT != yes ] if [ $OUTPUT_MODE == io -a $IO_PRESENT != yes ]
then 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 set OUTPUT_MODE none
fi fi
@@ -374,26 +391,17 @@ then
set FMU_MODE rcin set FMU_MODE rcin
fi 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 # Waypoint storage.
# REBOOTWORK this needs to start in parallel # REBOOTWORK this needs to start in parallel.
# #
if dataman start $DATAMAN_OPT if dataman start $DATAMAN_OPT
then then
fi fi
# #
# Sensors System (start before Commander so Preflight checks are properly run) # Sensors System (start before Commander so Preflight checks are properly run).
# commander Needs to be this early for in-air-restarts # Commander Needs to be this early for in-air-restarts.
# #
if param compare SYS_HITL 1 if param compare SYS_HITL 1
then then
@@ -415,23 +423,23 @@ then
load_mon start 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 if param greater UAVCAN_ENABLE 2
then then
set OUTPUT_MODE uavcan_esc set OUTPUT_MODE uavcan_esc
fi fi
# Sensors on the PWM interface bank # Sensors on the PWM interface bank.
if param compare SENS_EN_LL40LS 1 if param compare SENS_EN_LL40LS 1
then then
# clear pins 5 and 6 # Clear pins 5 and 6.
set FMU_MODE pwm4 set FMU_MODE pwm4
set AUX_MODE pwm4 set AUX_MODE pwm4
fi fi
if param greater TRIG_MODE 0 if param greater TRIG_MODE 0
then 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 if param compare TRIG_PINS 56
then then
# clear pins 5 and 6 # clear pins 5 and 6
@@ -447,7 +455,7 @@ then
camera_feedback start camera_feedback start
fi 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 ] if [ $OUTPUT_MODE != none ]
then then
if [ $OUTPUT_MODE == uavcan_esc ] if [ $OUTPUT_MODE == uavcan_esc ]
@@ -507,7 +515,7 @@ then
fi 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 ] if [ $IO_PRESENT == yes ]
then then
@@ -540,18 +548,18 @@ then
sh /etc/init.d/rc.mavlink 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 if param greater UAVCAN_ENABLE 0
then then
# Start core UAVCAN module # Start core UAVCAN module.
if uavcan start if uavcan start
then then
if param greater UAVCAN_ENABLE 1 if param greater UAVCAN_ENABLE 1
then 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 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 uavcan start fw
fi fi
else else
@@ -561,7 +569,7 @@ then
if ver hwcmp PX4FMU_V2 PX4FMU_V4 PX4FMU_V4PRO MINDPX_V2 PX4FMU_V5 OMNIBUS_F4SD if ver hwcmp PX4FMU_V2 PX4FMU_V4 PX4FMU_V4PRO MINDPX_V2 PX4FMU_V5 OMNIBUS_F4SD
then 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 & px4flow start &
fi fi
@@ -630,7 +638,6 @@ unset MIXER
unset MIXER_AUX unset MIXER_AUX
unset MK_MODE unset MK_MODE
unset MKBLCTRL_ARG unset MKBLCTRL_ARG
unset MODE
unset OUTPUT_AUX_DEV unset OUTPUT_AUX_DEV
unset OUTPUT_DEV unset OUTPUT_DEV
unset OUTPUT_MODE unset OUTPUT_MODE
@@ -652,5 +659,5 @@ unset USE_IO
unset VEHICLE_TYPE 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 mavlink boot_complete