yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-21 01:12:11 +00:00
Code Issues Packages Projects Releases Wiki Activity

Move MNT_MODE_IN / MOUNT_MODE_OUT logic block to rc.interface and move dataman, send_event, and load_mon startup just below uorb and tone_alarm startup in the rcS script.

Browse Source
This commit is contained in:
mcsauder
2018-07-18 11:39:45 -06:00
committed by Beat Küng
parent 1fa2a6d26e
commit 6f63553824
2 changed files with 43 additions and 42 deletions
Download Patch File Download Diff File Expand all files Collapse all files

71
ROMFS/px4fmu_common/init.d/rcS
View File

@@ -90,7 +90,7 @@ else
then
if mount -t vfat /dev/mmcsd0 /fs/microsd
then
echo "INFO [init] card formatted"
echo "INFO [init] card formatted"
else
echo "ERROR [init] format failed"
tone_alarm MNBG
@@ -136,6 +136,22 @@ else
#
tune_control play -t 1
#
# Waypoint storage.
# REBOOTWORK this needs to start in parallel.
#
dataman start $DATAMAN_OPT
#
# Start the socket communication send_event handler.
#
send_event start
#
# Start the resource load monitor.
#
load_mon start
#
# Set the parameter file if mtd starts successfully.
#
@@ -293,7 +309,6 @@ else
fi
param set SYS_AUTOCONFIG 0
param save
fi
#
@@ -387,6 +402,7 @@ else
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
@@ -426,30 +442,6 @@ else
camera_feedback start
fi
#
# If mount (gimbal) control is enabled and output mode is AUX, set the aux
# mixer to mount (override the airframe-specific MIXER_AUX setting).
#
if param compare MNT_MODE_IN -1
then
else
if param compare MNT_MODE_OUT 0
then
set MIXER_AUX mount
fi
fi
#
# Start vmount to control mounts such as gimbals, disabled by default.
#
if param compare MNT_MODE_IN -1
then
else
if vmount start
then
fi
fi
#
# Set default output if not set.
#
@@ -559,22 +551,6 @@ else
fi
fi
#
# Waypoint storage.
# REBOOTWORK this needs to start in parallel.
#
dataman start $DATAMAN_OPT
#
# Start the socket communication send_event handler.
#
send_event start
#
# Start the resource load monitor.
#
load_mon start
#
# Start mavlink streams.
#
@@ -602,6 +578,17 @@ else
#
sh /etc/init.d/rc.logging
#
# Start vmount to control mounts such as gimbals, disabled by default.
#
if param compare MNT_MODE_IN -1
then
else
if vmount start
then
fi
fi
#
# Launch the flow sensor as a background task.
#