mirror of
https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
synced 2026-05-22 01:12:31 +00:00
Merge branch 'master' of https://github.com/PX4/Firmware into vtol_merge
This commit is contained in:
tumbili
@@ -1,46 +1,46 @@
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#!nsh
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#
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# PX4FMU startup script.
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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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# Default to auto-start mode.
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#
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set MODE autostart
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set RC_FILE /fs/microsd/etc/rc.txt
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set CONFIG_FILE /fs/microsd/etc/config.txt
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set EXTRAS_FILE /fs/microsd/etc/extras.txt
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set FRC /fs/microsd/etc/rc.txt
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set FCONFIG /fs/microsd/etc/config.txt
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set FEXTRAS /fs/microsd/etc/extras.txt
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set TUNE_OUT_ERROR ML<<CP4CP4CP4CP4CP4
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set TUNE_ERR ML<<CP4CP4CP4CP4CP4
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#
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# Try to mount the microSD card.
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#
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echo "[init] Looking for microSD..."
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echo "[i] Looking for microSD..."
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if mount -t vfat /dev/mmcsd0 /fs/microsd
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then
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set LOG_FILE /fs/microsd/bootlog.txt
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echo "[init] microSD mounted: /fs/microsd"
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echo "[i] microSD mounted: /fs/microsd"
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# Start playing the startup tune
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tone_alarm start
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else
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set LOG_FILE /dev/null
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echo "[init] No microSD card found"
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# Play SOS
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tone_alarm error
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fi
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#
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# Look for an init script on the microSD card.
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# Disable autostart if the script found.
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#
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if [ -f $RC_FILE ]
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if [ -f $FRC ]
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then
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echo "[init] Executing init script: $RC_FILE"
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sh $RC_FILE
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echo "[i] Executing init script: $FRC"
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sh $FRC
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set MODE custom
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else
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echo "[init] Init script not found: $RC_FILE"
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echo "[i] Init script not found: $FRC"
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fi
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# if this is an APM build then there will be a rc.APM script
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@@ -49,17 +49,17 @@ if [ -f /etc/init.d/rc.APM ]
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then
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if sercon
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then
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echo "[init] USB interface connected"
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echo "[i] USB interface connected"
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fi
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echo "[init] Running rc.APM"
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echo "[i] Running rc.APM"
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# if APM startup is successful then nsh will exit
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sh /etc/init.d/rc.APM
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fi
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if [ $MODE == autostart ]
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then
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echo "[init] AUTOSTART mode"
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echo "[i] AUTOSTART mode"
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#
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# Start CDC/ACM serial driver
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@@ -117,31 +117,31 @@ then
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set VEHICLE_TYPE none
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set MIXER none
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set OUTPUT_MODE none
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set PWM_OUTPUTS none
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set PWM_OUT none
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set PWM_RATE none
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set PWM_DISARMED none
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set PWM_MIN none
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set PWM_MAX none
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set MKBLCTRL_MODE none
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set MK_MODE none
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set FMU_MODE pwm
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set MAVLINK_FLAGS default
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set MAVLINK_F default
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set EXIT_ON_END no
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set MAV_TYPE none
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set LOAD_DEFAULT_APPS yes
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set LOAD_DAPPS yes
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set GPS yes
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set GPS_FAKE no
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set FAILSAFE none
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#
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# Set DO_AUTOCONFIG flag to use it in AUTOSTART scripts
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# Set AUTOCNF flag to use it in AUTOSTART scripts
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#
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if param compare SYS_AUTOCONFIG 1
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then
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# Wipe out params
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param reset_nostart
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set DO_AUTOCONFIG yes
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set AUTOCNF yes
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else
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set DO_AUTOCONFIG no
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set AUTOCNF no
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fi
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#
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@@ -159,7 +159,7 @@ then
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#
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if param compare SYS_AUTOSTART 0
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then
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echo "[init] No autostart"
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echo "[i] No autostart"
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else
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sh /etc/init.d/rc.autostart
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fi
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@@ -167,18 +167,19 @@ then
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#
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# Override parameters from user configuration file
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#
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if [ -f $CONFIG_FILE ]
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if [ -f $FCONFIG ]
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then
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echo "[init] Config: $CONFIG_FILE"
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sh $CONFIG_FILE
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echo "[i] Config: $FCONFIG"
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sh $FCONFIG
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else
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echo "[init] Config not found: $CONFIG_FILE"
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echo "[i] Config not found: $FCONFIG"
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fi
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unset FCONFIG
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#
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# If autoconfig parameter was set, reset it and save parameters
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#
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if [ $DO_AUTOCONFIG == yes ]
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if [ $AUTOCNF == yes ]
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then
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param set SYS_AUTOCONFIG 0
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param save
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@@ -219,18 +220,18 @@ then
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set IO_PRESENT yes
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else
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echo "PX4IO update failed" >> $LOG_FILE
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tone_alarm $TUNE_OUT_ERROR
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tone_alarm $TUNE_ERR
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fi
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else
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echo "PX4IO update failed" >> $LOG_FILE
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tone_alarm $TUNE_OUT_ERROR
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tone_alarm $TUNE_ERR
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fi
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fi
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if [ $IO_PRESENT == no ]
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then
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echo "[init] ERROR: PX4IO not found"
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tone_alarm $TUNE_OUT_ERROR
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echo "[i] ERROR: PX4IO not found"
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tone_alarm $TUNE_ERR
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fi
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fi
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@@ -251,7 +252,7 @@ then
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then
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# Need IO for output but it not present, disable output
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set OUTPUT_MODE none
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echo "[init] ERROR: PX4IO not found, disabling output"
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echo "[i] ERROR: PX4IO not found, disabling output"
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# Avoid using ttyS0 for MAVLink on FMUv1
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if ver hwcmp PX4FMU_V1
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@@ -294,7 +295,7 @@ then
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then
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if param compare UAVCAN_ENABLE 0
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then
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echo "[init] OVERRIDING UAVCAN_ENABLE = 1"
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echo "[i] OVERRIDING UAVCAN_ENABLE = 1"
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param set UAVCAN_ENABLE 1
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fi
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fi
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@@ -303,11 +304,11 @@ then
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then
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if px4io start
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then
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echo "[init] PX4IO started"
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echo "[i] PX4IO started"
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sh /etc/init.d/rc.io
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else
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echo "[init] ERROR: PX4IO start failed"
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tone_alarm $TUNE_OUT_ERROR
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echo "[i] ERROR: PX4IO start failed"
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tone_alarm $TUNE_ERR
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fi
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fi
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@@ -315,10 +316,10 @@ then
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then
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if fmu mode_$FMU_MODE
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then
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echo "[init] FMU mode_$FMU_MODE started"
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echo "[i] FMU mode_$FMU_MODE started"
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else
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echo "[init] ERROR: FMU mode_$FMU_MODE start failed"
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tone_alarm $TUNE_OUT_ERROR
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echo "[i] ERROR: FMU mode_$FMU_MODE start failed"
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tone_alarm $TUNE_ERR
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fi
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if ver hwcmp PX4FMU_V1
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@@ -337,21 +338,21 @@ then
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if [ $OUTPUT_MODE == mkblctrl ]
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then
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set MKBLCTRL_ARG ""
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if [ $MKBLCTRL_MODE == x ]
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if [ $MK_MODE == x ]
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then
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set MKBLCTRL_ARG "-mkmode x"
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fi
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if [ $MKBLCTRL_MODE == + ]
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if [ $MK_MODE == + ]
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then
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set MKBLCTRL_ARG "-mkmode +"
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fi
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if mkblctrl $MKBLCTRL_ARG
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then
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echo "[init] MKBLCTRL started"
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echo "[i] MK started"
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else
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echo "[init] ERROR: MKBLCTRL start failed"
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tone_alarm $TUNE_OUT_ERROR
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echo "[i] ERROR: MK start failed"
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tone_alarm $TUNE_ERR
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fi
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fi
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@@ -360,10 +361,10 @@ then
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then
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if hil mode_port2_pwm8
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then
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echo "[init] HIL output started"
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echo "[i] HIL output started"
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else
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echo "[init] ERROR: HIL output start failed"
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tone_alarm $TUNE_OUT_ERROR
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echo "[i] ERROR: HIL output start failed"
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tone_alarm $TUNE_ERR
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fi
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fi
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@@ -376,10 +377,11 @@ then
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then
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if px4io start
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then
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echo "[i] PX4IO started"
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sh /etc/init.d/rc.io
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else
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echo "[init] ERROR: PX4IO start failed"
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tone_alarm $TUNE_OUT_ERROR
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echo "[i] ERROR: PX4IO start failed"
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tone_alarm $TUNE_ERR
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fi
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fi
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else
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@@ -387,10 +389,10 @@ then
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then
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if fmu mode_$FMU_MODE
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then
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echo "[init] FMU mode_$FMU_MODE started"
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echo "[i] FMU mode_$FMU_MODE started"
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else
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echo "[init] ERROR: FMU mode_$FMU_MODE start failed"
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tone_alarm $TUNE_OUT_ERROR
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echo "[i] ERROR: FMU mode_$FMU_MODE start failed"
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tone_alarm $TUNE_ERR
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fi
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if ver hwcmp PX4FMU_V1
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@@ -408,23 +410,24 @@ then
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fi
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fi
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if [ $MAVLINK_FLAGS == default ]
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if [ $MAVLINK_F == default ]
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then
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# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s
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if [ $TTYS1_BUSY == yes ]
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then
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# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else
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set MAVLINK_FLAGS "-r 1000 -d /dev/ttyS0"
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set MAVLINK_F "-r 1000 -d /dev/ttyS0"
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# Exit from nsh to free port for mavlink
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set EXIT_ON_END yes
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else
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# Start MAVLink on default port: ttyS1
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set MAVLINK_FLAGS "-r 1000"
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set MAVLINK_F "-r 1000"
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fi
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fi
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mavlink start $MAVLINK_FLAGS
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mavlink start $MAVLINK_F
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unset MAVLINK_F
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#
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# UAVCAN
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@@ -439,14 +442,16 @@ then
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if [ $GPS == yes ]
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then
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echo "[i] Start GPS"
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if [ $GPS_FAKE == yes ]
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then
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echo "[init] Faking GPS"
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echo "[i] Faking GPS"
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gps start -f
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else
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gps start
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fi
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fi
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unset GPS_FAKE
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#
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# Start up ARDrone Motor interface
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@@ -461,7 +466,7 @@ then
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#
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if [ $VEHICLE_TYPE == fw ]
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then
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echo "[init] Vehicle type: FIXED WING"
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echo "[i] FIXED WING"
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if [ $MIXER == none ]
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then
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@@ -481,7 +486,7 @@ then
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sh /etc/init.d/rc.interface
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# Start standard fixedwing apps
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if [ $LOAD_DEFAULT_APPS == yes ]
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if [ $LOAD_DAPPS == yes ]
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then
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sh /etc/init.d/rc.fw_apps
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fi
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@@ -492,11 +497,11 @@ then
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#
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if [ $VEHICLE_TYPE == mc ]
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then
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echo "[init] Vehicle type: MULTICOPTER"
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echo "[i] MULTICOPTER"
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if [ $MIXER == none ]
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then
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echo "Default mixer for multicopter not defined"
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echo "Mixer undefined"
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fi
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if [ $MAV_TYPE == none ]
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@@ -540,7 +545,7 @@ then
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sh /etc/init.d/rc.interface
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# Start standard multicopter apps
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if [ $LOAD_DEFAULT_APPS == yes ]
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if [ $LOAD_DAPPS == yes ]
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then
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sh /etc/init.d/rc.mc_apps
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fi
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@@ -595,24 +600,38 @@ then
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#
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if [ $VEHICLE_TYPE == none ]
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then
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echo "[init] Vehicle type: No autostart ID found"
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echo "[i] No autostart ID found"
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fi
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# Start any custom addons
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if [ -f $EXTRAS_FILE ]
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if [ -f $FEXTRAS ]
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then
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echo "[init] Starting addons script: $EXTRAS_FILE"
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sh $EXTRAS_FILE
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echo "[i] Addons script: $FEXTRAS"
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sh $FEXTRAS
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else
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echo "[init] No addons script: $EXTRAS_FILE"
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echo "[i] No addons script: $FEXTRAS"
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fi
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unset FEXTRAS
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if [ $EXIT_ON_END == yes ]
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then
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echo "[init] Exit from nsh"
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echo "Exit from nsh"
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exit
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fi
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unset EXIT_ON_END
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# Run no SD alarm last
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if [ $LOG_FILE == /dev/null ]
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then
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echo "[i] No microSD card found"
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# Play SOS
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tone_alarm error
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fi
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# End of autostart
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fi
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# There is no further processing, so we can free some RAM
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# XXX potentially unset all script variables.
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unset TUNE_ERR
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