mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-12 01:45:34 +08:00
Alexander Lerach
138427b3a8
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* config: add dynamic init file * added review feedback * added docs
119 lines
2.4 KiB
Bash
119 lines
2.4 KiB
Bash
#!/bin/sh
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# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
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set +e
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# Un comment the line below to help debug scripts by printing a trace of the script commands
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#set -x
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# PX4FMU startup script.
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#
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# NOTE: environment variable references:
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# If the dollar sign ('$') is followed by a left bracket ('{') then the
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# variable name is terminated with the right bracket character ('}').
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# Otherwise, the variable name goes to the end of the argument.
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#
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#
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# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
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#
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#------------------------------------------------------------------------------
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set R /
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#
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# Print full system version.
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#
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ver all
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# Load param file location from kconfig
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. ${R}etc/init.d/rc.filepaths
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#
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# Load parameters.
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#
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param select $PARAM_FILE
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if ! param load
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then
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param reset_all
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fi
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#
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# Optional board architecture defaults: rc.board_arch_defaults
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#
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set BOARD_ARCH_RC_DEFAULTS ${R}etc/init.d/rc.board_arch_defaults
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if [ -f $BOARD_ARCH_RC_DEFAULTS ]
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then
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echo "Board architecture defaults: ${BOARD_ARCH_RC_DEFAULTS}"
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. $BOARD_ARCH_RC_DEFAULTS
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fi
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unset BOARD_ARCH_RC_DEFAULTS
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#
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# Optional board defaults: rc.board_defaults
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#
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set BOARD_RC_DEFAULTS ${R}etc/init.d/rc.board_defaults
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if [ -f $BOARD_RC_DEFAULTS ]
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then
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echo "Board defaults: ${BOARD_RC_DEFAULTS}"
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. $BOARD_RC_DEFAULTS
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fi
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unset BOARD_RC_DEFAULTS
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#
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# Optional additional init file: rc.additional_init
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#
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set BOARD_RC_ADDITIONAL_INIT ${R}etc/init.d/rc.additional_init
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if [ -f $BOARD_RC_ADDITIONAL_INIT ]
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then
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echo "Board additional init: ${BOARD_RC_ADDITIONAL_INIT}"
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. $BOARD_RC_ADDITIONAL_INIT
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fi
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unset BOARD_RC_ADDITIONAL_INIT
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#
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# Start system state indicator.
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#
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rgbled start -X -q
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rgbled_ncp5623c start -X -q
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#
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# board sensors: rc.sensors
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#
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set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors
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if [ -f $BOARD_RC_SENSORS ]
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then
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echo "Board sensors: ${BOARD_RC_SENSORS}"
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. $BOARD_RC_SENSORS
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fi
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unset BOARD_RC_SENSORS
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#
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# Start UART/Serial device drivers.
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# Note: rc.serial is auto-generated from Tools/serial/generate_config.py
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#
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. ${R}etc/init.d/rc.serial
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# Check for flow sensor
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if param compare -s SENS_EN_PX4FLOW 1
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then
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px4flow start -X &
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fi
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if param compare -s IMU_GYRO_CAL_EN 1
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then
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gyro_calibration start
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fi
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if param compare -s MBE_ENABLE 1
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then
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# conservative mag bias estimation
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param set-default MBE_LEARN_GAIN 5
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param set-default IMU_GYRO_CUTOFF 20
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mag_bias_estimator start
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fi
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param set-default SENS_MAG_RATE 100
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sensors start
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uavcannode start
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unset R
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