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Autostart: fixes

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This commit is contained in:
Anton Babushkin
2014-01-11 17:52:29 +01:00
parent 41add86164
commit 4dd5c13b98
2 changed files with 147 additions and 95 deletions
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2
ROMFS/px4fmu_common/init.d/rc.mc_interface
View File

@@ -38,7 +38,7 @@ else
fi
mixer load $OUTPUT_DEV $MIXER
if [ $OUTPUT_MODE == fmu_pwm -o $OUTPUT_MODE == io_pwm ]
if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == io ]
then
#
# Set PWM output frequency

240
ROMFS/px4fmu_common/init.d/rcS
View File

@@ -96,82 +96,20 @@ then
fi
fi
#
# Check if PX4IO present and update firmware if needed
#
if [ -f /etc/extras/px4io-v2_default.bin ]
then
set IO_FILE /etc/extras/px4io-v2_default.bin
else
set IO_FILE /etc/extras/px4io-v1_default.bin
fi
set IO_PRESENT no
if px4io checkcrc $IO_FILE
then
echo "[init] PX4IO CRC OK"
echo "PX4IO CRC OK" >> $LOG_FILE
set IO_PRESENT yes
else
echo "[init] PX4IO CRC failure"
echo "PX4IO CRC failure" >> $LOG_FILE
tone_alarm MBABGP
if px4io forceupdate 14662 $IO_FILE
then
usleep 500000
if px4io start
then
echo "[init] PX4IO restart OK"
echo "PX4IO restart OK" >> $LOG_FILE
tone_alarm MSPAA
set IO_PRESENT yes
else
echo "[init] PX4IO restart failed"
echo "PX4IO restart failed" >> $LOG_FILE
if hw_ver compare PX4FMU_V2
then
tone_alarm MNGGG
sleep 10
reboot
fi
fi
else
echo "[init] PX4IO update failed"
echo "PX4IO update failed" >> $LOG_FILE
if hw_ver compare PX4FMU_V2
then
tone_alarm MNGGG
fi
fi
fi
#
# Set default values
#
set HIL no
set VEHICLE_TYPE none
set FRAME_GEOMETRY none
set USE_IO yes
set OUTPUT_MODE none
set PWM_RATE none
set PWM_DISARMED none
set PWM_MIN none
set PWM_MAX none
#
# Set default output
#
if [ $IO_PRESENT == yes ]
then
# If PX4IO present, use it as primary PWM output by default
set OUTPUT_MODE io_pwm
else
# Else use PX4FMU PWM output
set OUTPUT_MODE fmu_pwm
fi
set EXIT_ON_END no
set MKBLCTRL_MODE none
set FMU_MODE pwm
#
# Set DO_AUTOCONFIG flag to use it in AUTOSTART scripts
@@ -182,7 +120,7 @@ then
else
set DO_AUTOCONFIG no
fi
#
# Set parameters and env variables for selected AUTOSTART
#
@@ -204,6 +142,82 @@ then
echo "[init] Config file not found: $CONFIG_FILE"
fi
#
# If autoconfig parameter was set, reset it and save parameters
#
if [ $DO_AUTOCONFIG == yes ]
then
param set SYS_AUTOCONFIG 0
param save
fi
set IO_PRESENT no
if [ $USE_IO == yes ]
then
#
# Check if PX4IO present and update firmware if needed
#
if [ -f /etc/extras/px4io-v2_default.bin ]
then
set IO_FILE /etc/extras/px4io-v2_default.bin
else
set IO_FILE /etc/extras/px4io-v1_default.bin
fi
if px4io checkcrc $IO_FILE
then
echo "[init] PX4IO CRC OK"
echo "PX4IO CRC OK" >> $LOG_FILE
set IO_PRESENT yes
else
echo "[init] PX4IO CRC failure"
echo "PX4IO CRC failure" >> $LOG_FILE
tone_alarm MBABGP
if px4io forceupdate 14662 $IO_FILE
then
usleep 500000
if px4io checkcrc $IO_FILE
then
echo "[init] PX4IO CRC OK after updating"
echo "PX4IO CRC OK after updating" >> $LOG_FILE
tone_alarm MSPAA
set IO_PRESENT yes
else
echo "[init] PX4IO update failed"
echo "PX4IO update failed" >> $LOG_FILE
fi
else
echo "[init] PX4IO update failed"
echo "PX4IO update failed" >> $LOG_FILE
fi
fi
if [ $IO_PRESENT == no ]
then
echo "[init] ERROR: PX4IO not found, set vehicle type to NONE"
tone_alarm MNGGG
set VEHICLE_TYPE none
fi
fi
#
# Set default output if not set
#
if [ $OUTPUT_MODE == none ]
then
if [ $IO_PRESENT == yes ]
then
# If PX4IO present, use it as primary PWM output by default
set OUTPUT_MODE io
else
# Else use PX4FMU PWM output
set OUTPUT_MODE fmu
fi
fi
if [ $HIL == yes ]
then
set OUTPUT_MODE hil
@@ -212,15 +226,6 @@ then
nshterm /dev/ttyACM0 &
fi
#
# If autoconfig parameter was set, reset it and save parameters
#
if [ $DO_AUTOCONFIG == yes ]
then
param set SYS_AUTOCONFIG 0
param save
fi
#
# Start the Commander (needs to be this early for in-air-restarts)
#
@@ -229,7 +234,9 @@ then
#
# Start primary output
#
if [ $OUTPUT_MODE == io_pwm ]
set TTYS1_BUSY no
if [ $OUTPUT_MODE == io ]
then
echo "[init] Use PX4IO PWM as primary output"
if px4io start
@@ -241,21 +248,43 @@ then
tone_alarm MNGGG
fi
fi
if [ $OUTPUT_MODE == fmu_pwm ]
if [ $OUTPUT_MODE == fmu ]
then
echo "[init] Use PX4FMU PWM as primary output"
if fmu mode_pwm
echo "[init] Use FMU PWM as primary output"
if fmu mode_$FMU_MODE
then
echo "[init] PX4FMU PWM output started"
echo "[init] FMU mode_$FMU_MODE started"
else
echo "[init] PX4FMU PWM output start error"
echo "[init] FMU mode_$FMU_MODE start error"
tone_alarm MNGGG
fi
if hw_ver compare PX4FMU_V1
then
if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ]
then
set TTYS1_BUSY yes
fi
if [ $FMU_MODE == pwm_gpio ]
then
set TTYS1_BUSY yes
fi
fi
fi
if [ $OUTPUT_MODE == mkblctrl ]
then
echo "[init] Use MKBLCTRL as primary output"
if mkblctrl
set MKBLCTRL_ARG ""
if [ $MKBLCTRL_MODE == x ]
then
set MKBLCTRL_ARG "-mkmode x"
fi
if [ $MKBLCTRL_MODE == + ]
then
set MKBLCTRL_ARG "-mkmode +"
fi
if mkblctrl $MKBLCTRL_ARG
then
echo "[init] MKBLCTRL started"
else
@@ -277,32 +306,55 @@ then
fi
#
# Start PX4IO as secondary output if needed
# Start IO or FMU for RC PPM input if needed
#
if [ $IO_PRESENT == yes -a $OUTPUT_MODE != io_pwm ]
if [ $IO_PRESENT == yes ]
then
echo "[init] Use PX4IO PWM as secondary output"
if px4io start
if [ $OUTPUT_MODE != io ]
then
echo "[init] PX4IO started"
sh /etc/init.d/rc.io
else
echo "[init] PX4IO start error"
tone_alarm MNGGG
if px4io start
then
echo "[init] PX4IO started"
sh /etc/init.d/rc.io
else
echo "[init] PX4IO start error"
tone_alarm MNGGG
fi
fi
else
if [ $OUTPUT_MODE != fmu ]
then
if fmu mode_$FMU_MODE
then
echo "[init] FMU mode_$FMU_MODE started"
else
echo "[init] FMU mode_$FMU_MODE start error"
tone_alarm MNGGG
fi
if hw_ver compare PX4FMU_V1
then
if [ $FMU_MODE == pwm -o $FMU_MODE == gpio -o $FMU_MODE == pwm_gpio ]
then
set TTYS1_BUSY yes
fi
fi
fi
fi
#
# MAVLink
#
set EXIT_ON_END no
if [ $HIL == yes ]
then
mavlink start -b 230400 -d /dev/ttyACM0
usleep 5000
else
if [ $OUTPUT_MODE == fmu_pwm -a hw_ver compare PX4FMU_V1 ]
if [ $TTYS1_BUSY == yes ]
then
# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as PWM output
# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else
mavlink start -d /dev/ttyS0
usleep 5000