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SYS_FMU_TASK: add param to start fmu as task (default=work queue)

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This commit is contained in:
Beat Küng
2017-07-18 16:52:26 +02:00
committed by Lorenz Meier
parent 07b7a153f3
commit 0668d61665
3 changed files with 27 additions and 4 deletions
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2
ROMFS/px4fmu_common/init.d/rc.interface
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@@ -157,7 +157,7 @@ then
if [ $MIXER_AUX_FILE != none ]
then
if fmu mode_${AUX_MODE}
if fmu mode_${AUX_MODE} $FMU_ARGS
then
# Append aux mixer to main device
if [ $OUTPUT_MODE == hil ]

12
ROMFS/px4fmu_common/init.d/rcS
View File

@@ -190,6 +190,7 @@ then
set MK_MODE none
set FMU_MODE pwm
set AUX_MODE pwm
set FMU_ARGS ""
set MAVLINK_F default
set MAVLINK_COMPANION_DEVICE /dev/ttyS2
set EXIT_ON_END no
@@ -198,6 +199,11 @@ then
set USE_IO yes
set LOGGER_BUF 16
if param compare SYS_FMU_TASK 1
then
set FMU_ARGS "-t"
fi
#
# Set USE_IO flag
#
@@ -535,7 +541,7 @@ then
if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == ardrone ]
then
if fmu mode_$FMU_MODE
if fmu mode_$FMU_MODE $FMU_ARGS
then
else
echo "FMU start failed" >> $LOG_FILE
@@ -604,7 +610,7 @@ then
else
if [ $OUTPUT_MODE != fmu -a $OUTPUT_MODE != ardrone ]
then
if fmu mode_${FMU_MODE}
if fmu mode_${FMU_MODE} $FMU_ARGS
then
else
echo "FMU mode_${FMU_MODE} start failed" >> $LOG_FILE
@@ -1034,7 +1040,7 @@ then
then
# On Pixracer use Telem 2 port (TL2).
snapdragon_rc_pwm start -d /dev/ttyS2
fmu mode_pwm4
fmu mode_pwm4 $FMU_ARGS
fi
pwm failsafe -c 1234 -p 900