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Group instances of UAVCAN logic into a single block and copy/paste/regroup OUTPUT_MODE logic to form on block of code handling OUTPUT_MODE.

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This commit is contained in:
mcsauder
2018-07-16 15:06:55 -06:00
committed by Beat Küng
parent 6f665aee55
commit f9a6c13d55
1 changed files with 43 additions and 45 deletions
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ROMFS/px4fmu_common/init.d/rcS
+43 -45
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@@ -367,30 +367,6 @@ else
tune_control play -m ${TUNE_ERR}
fi
#
# Set default output if not set.
#
if [ $OUTPUT_MODE == none ]
then
if [ $USE_IO == yes ]
then
set OUTPUT_MODE io
else
set OUTPUT_MODE fmu
fi
fi
if [ $OUTPUT_MODE == io -a $IO_PRESENT != yes ]
then
# Need IO for output but it not present, disable output.
set OUTPUT_MODE none
fi
if [ $OUTPUT_MODE == tap_esc ]
then
set FMU_MODE rcin
fi
#
# Waypoint storage.
# REBOOTWORK this needs to start in parallel.
@@ -425,9 +401,27 @@ else
#
# Check if UAVCAN is enabled, default to it for ESCs.
#
if param greater UAVCAN_ENABLE 2
if param greater UAVCAN_ENABLE 0
then
set OUTPUT_MODE uavcan_esc
# 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.
set LOGGER_BUF 6
# Start UAVCAN firmware update server and dynamic node ID allocation server.
uavcan start fw
if param greater UAVCAN_ENABLE 2
then
set OUTPUT_MODE uavcan_esc
fi
fi
else
tone_alarm ${TUNE_ERR}
fi
fi
# Sensors on the PWM interface bank.
@@ -437,6 +431,7 @@ else
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.
@@ -455,6 +450,23 @@ else
camera_feedback start
fi
#
# Set default output if not set.
#
if [ $OUTPUT_MODE == none ]
then
if [ $USE_IO == yes ]
then
# Enable IO output only if IO is present.
if [ $IO_PRESENT == yes ]
then
set OUTPUT_MODE io
fi
else
set OUTPUT_MODE fmu
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
@@ -514,6 +526,11 @@ else
fi
fi
if [ $OUTPUT_MODE == tap_esc ]
then
set FMU_MODE rcin
fi
#
# Start IO or FMU for RC PPM input if needed.
#
@@ -547,25 +564,6 @@ else
#
sh /etc/init.d/rc.mavlink
#
# Starting stuff according to UAVCAN_ENABLE value.
#
if param greater UAVCAN_ENABLE 0
then
# 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.
set LOGGER_BUF 6
# Start UAVCAN firmware update server and dynamic node ID allocation server.
uavcan start fw
fi
else
tone_alarm ${TUNE_ERR}
fi
fi
if ver hwcmp PX4FMU_V2 PX4FMU_V4 PX4FMU_V4PRO MINDPX_V2 PX4FMU_V5 OMNIBUS_F4SD
then