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Breakout rc.thermal_cal from rcS and group set/unset parameters at the beginning and end of the rcS script. Revert commit 2a3d66cf45 to reduce px4fmu-v2_default flash size. Standardize tabs/whitespaces across all files in the init.d directory.

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This commit is contained in:
mcsauder
2018-07-04 18:46:13 -06:00
committed by Kabir Mohammed
parent 33f7318400
commit 9386ab6afe
18 changed files with 426 additions and 385 deletions
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213
ROMFS/px4fmu_common/init.d/rcS
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@@ -15,29 +15,70 @@ set +e
#
# UART mapping on OMNIBUSF4SD:
#
# USART1 /dev/ttyS0 SerialRX
# USART4 /dev/ttyS1 TELEM1
# USART6 /dev/ttyS2 GPS
# USART1 /dev/ttyS0 SerialRX
# USART4 /dev/ttyS1 TELEM1
# USART6 /dev/ttyS2 GPS
#
# UART mapping on FMUv2/3/4:
#
# UART1 /dev/ttyS0 IO debug (except v4, there ttyS0 is the wifi)
# USART2 /dev/ttyS1 TELEM1 (flow control)
# USART3 /dev/ttyS2 TELEM2 (flow control)
# UART1 /dev/ttyS0 IO debug (except v4, there ttyS0 is the wifi)
# USART2 /dev/ttyS1 TELEM1 (flow control)
# USART3 /dev/ttyS2 TELEM2 (flow control)
# UART4
# UART7 CONSOLE
# UART8 SERIAL4
# UART7 CONSOLE
# UART8 SERIAL4
#
#
# UART mapping on FMUv5:
#
# UART1 /dev/ttyS0 GPS
# USART2 /dev/ttyS1 TELEM1 (flow control)
# USART3 /dev/ttyS2 TELEM2 (flow control)
# UART4 /dev/ttyS3 TELEM4
# USART6 /dev/ttyS4 TELEM3 (flow control)
# UART7 /dev/ttyS5 ?
# UART8 /dev/ttyS6 CONSOLE
# UART1 /dev/ttyS0 GPS
# USART2 /dev/ttyS1 TELEM1 (flow control)
# USART3 /dev/ttyS2 TELEM2 (flow control)
# UART4 /dev/ttyS3 TELEM4
# USART6 /dev/ttyS4 TELEM3 (flow control)
# UART7 /dev/ttyS5 ?
# UART8 /dev/ttyS6 CONSOLE
#
# Set default paramter values
#
set AUX_MODE pwm
set DATAMAN_OPT ""
set FAILSAFE none
set FAILSAFE_AUX none
set FCONFIG /fs/microsd/etc/config.txt
set FEXTRAS /fs/microsd/etc/extras.txt
set FRC /fs/microsd/etc/rc.txt
set FMU_ARGS ""
set FMU_MODE pwm
set IO_FILE ""
set IO_PRESENT no
set LOG_FILE /fs/microsd/bootlog.txt
set LOGGER_BUF 14
set MAVLINK_F default
set MAVLINK_COMPANION_DEVICE /dev/ttyS2
set MAV_TYPE none
set MIXER none
set MIXER_AUX none
set MK_MODE none
set MKBLCTRL_ARG ""
set MODE autostart
set OUTPUT_MODE none
set PARAM_FILE /fs/microsd/params
set PWM_OUT none
set PWM_RATE p:PWM_RATE
set PWM_DISARMED p:PWM_DISARMED
set PWM_MIN p:PWM_MIN
set PWM_MAX p:PWM_MAX
set PWM_AUX_OUT none
set PWM_AUX_RATE none
set PWM_ACHDIS none
set PWM_AUX_DISARMED p:PWM_AUX_DISARMED
set PWM_AUX_MIN p:PWM_AUX_MIN
set PWM_AUX_MAX p:PWM_AUX_MAX
set TUNE_ERR "ML<<CP4CP4CP4CP4CP4"
set USE_IO no
set VEHICLE_TYPE none
#
# Mount the procfs.
@@ -52,14 +93,6 @@ sercon
# print full system version
ver all
#
# Default to auto-start mode.
#
set MODE autostart
set TUNE_ERR "ML<<CP4CP4CP4CP4CP4"
set LOG_FILE /fs/microsd/bootlog.txt
#
# Try to mount the microSD card.
#
@@ -96,17 +129,14 @@ fi
# Look for an init script on the microSD card.
# Disable autostart if the script found.
#
set FRC /fs/microsd/etc/rc.txt
if [ -f $FRC ]
then
sh $FRC
set MODE custom
fi
unset FRC
if [ $MODE == autostart ]
then
#
# Start the ORB (first app to start)
#
@@ -121,7 +151,6 @@ then
#
# Load parameters
#
set PARAM_FILE /fs/microsd/params
if mtd start
then
set PARAM_FILE /fs/mtd_params
@@ -173,36 +202,6 @@ then
fi
fi
#
# Set default values
#
set VEHICLE_TYPE none
set MIXER none
set MIXER_AUX none
set OUTPUT_MODE none
set PWM_OUT none
set PWM_RATE p:PWM_RATE
set PWM_DISARMED p:PWM_DISARMED
set PWM_MIN p:PWM_MIN
set PWM_MAX p:PWM_MAX
set PWM_AUX_OUT none
set PWM_AUX_RATE none
set PWM_ACHDIS none
set PWM_AUX_DISARMED p:PWM_AUX_DISARMED
set PWM_AUX_MIN p:PWM_AUX_MIN
set PWM_AUX_MAX p:PWM_AUX_MAX
set FAILSAFE_AUX none
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 MAV_TYPE none
set FAILSAFE none
set USE_IO no
set LOGGER_BUF 14
if ver hwcmp PX4FMU_V5
then
set LOGGER_BUF 64
@@ -261,7 +260,6 @@ then
else
sh /etc/init.d/rc.autostart
fi
unset MODE
#
# If mount (gimbal) control is enabled and output mode is AUX, set the aux
@@ -279,13 +277,11 @@ then
#
# Override parameters from user configuration file
#
set FCONFIG /fs/microsd/etc/config.txt
if [ -f $FCONFIG ]
then
echo "Custom: ${FCONFIG}"
sh $FCONFIG
fi
unset FCONFIG
#
# If autoconfig parameter was set, reset it and save parameters
@@ -317,9 +313,6 @@ then
param set SYS_AUTOCONFIG 0
fi
unset AUTOCNF
set IO_PRESENT no
#
# Check if PX4IO present and update firmware if needed
@@ -365,7 +358,6 @@ then
fi
fi
fi
unset IO_FILE
if [ $USE_IO == yes -a $IO_PRESENT == no ]
then
@@ -397,7 +389,6 @@ then
set FMU_MODE rcin
fi
set DATAMAN_OPT ""
if ver hwcmp AEROFC_V1
then
set DATAMAN_OPT -i
@@ -406,16 +397,19 @@ then
then
set DATAMAN_OPT "-f /fs/mtd_dataman"
fi
#
# waypoint storage
# REBOOTWORK this needs to start in parallel
#
if dataman start $DATAMAN_OPT
then
fi
unset DATAMAN_OPT
#
# Sensors System (start before Commander so Preflight checks are properly run)
# commander Needs to be this early for in-air-restarts
#
if param compare SYS_HITL 1
then
set OUTPUT_MODE hil
@@ -431,6 +425,7 @@ then
sh /etc/init.d/rc.sensors
commander start
fi
send_event start
load_mon start
@@ -501,7 +496,6 @@ then
if [ $OUTPUT_MODE == mkblctrl ]
then
set MKBLCTRL_ARG ""
if [ $MKBLCTRL_MODE == x ]
then
set MKBLCTRL_ARG "-mkmode x"
@@ -516,9 +510,7 @@ then
else
tune_control play -m ${TUNE_ERR}
fi
unset MKBLCTRL_ARG
fi
unset MK_MODE
if [ $OUTPUT_MODE == hil ]
then
@@ -587,7 +579,7 @@ then
fi
if param greater SENS_EN_LEDDAR1 0
then
set MAVLINK_F none
set MAVLINK_F none
fi
fi
@@ -596,14 +588,13 @@ then
# Avoid using either of the two available serials
set MAVLINK_F none
fi
fi
fi
if [ "x$MAVLINK_F" == xnone ]
then
else
mavlink start ${MAVLINK_F}
fi
unset MAVLINK_F
#
# MAVLink onboard / TELEM2
@@ -635,7 +626,7 @@ fi
mavlink start -d /dev/mavlink -b 921600 -m onboard -r 5000 -x
micrortps_client start -d /dev/rtps -b 921600 -l -1 -s 2000
else
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -m onboard -r 80000 -x -f
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -m onboard -r 80000 -x -f
fi
else
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -m onboard -r 80000 -x -f
@@ -707,8 +698,6 @@ fi
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 1500000 -m onboard -r 10000 -x -f
fi
unset MAVLINK_COMPANION_DEVICE
#
# Starting stuff according to UAVCAN_ENABLE value
#
@@ -904,10 +893,6 @@ fi
sh /etc/init.d/rc.ugv_apps
fi
unset MIXER
unset MAV_TYPE
unset OUTPUT_MODE
#
# Start the navigator
#
@@ -923,13 +908,11 @@ fi
fi
# Start any custom addons
set FEXTRAS /fs/microsd/etc/extras.txt
if [ -f $FEXTRAS ]
then
echo "Addons script: ${FEXTRAS}"
sh $FEXTRAS
fi
unset FEXTRAS
if ver hwcmp CRAZYFLIE
then
@@ -940,7 +923,6 @@ fi
then
# AEROCORE2 shouldn't have an sd card
else
# Run no SD alarm
if [ $LOG_FILE == /dev/null ]
then
@@ -953,32 +935,13 @@ fi
fi
#
# Check if we should start a thermal calibration
# TODO move further up and don't start unnecessary services if we are calibrating
# Start a thermal calibration if required.
#
set TEMP_CALIB_ARGS ""
if param compare SYS_CAL_GYRO 1
then
set TEMP_CALIB_ARGS "${TEMP_CALIB_ARGS} -g"
param set SYS_CAL_GYRO 0
fi
if param compare SYS_CAL_ACCEL 1
then
set TEMP_CALIB_ARGS "${TEMP_CALIB_ARGS} -a"
param set SYS_CAL_ACCEL 0
fi
if param compare SYS_CAL_BARO 1
then
set TEMP_CALIB_ARGS "${TEMP_CALIB_ARGS} -b"
param set SYS_CAL_BARO 0
fi
if [ "x$TEMP_CALIB_ARGS" != "x" ]
then
send_event temperature_calibration ${TEMP_CALIB_ARGS}
fi
unset TEMP_CALIB_ARGS
sh /etc/init.d/rc.thermal_cal
#
# vmount to control mounts such as gimbals, disabled by default.
#
if param compare MNT_MODE_IN -1
then
else
@@ -994,7 +957,47 @@ fi
# There is no further script processing, so we can free some RAM
# XXX potentially unset all script variables.
unset AUX_MODE
unset DATAMAN_OPT
unset FAILSAFE
unset FAILSAFE_AUX
unset FCONFIG
unset FEXTRAS
unset FRC
unset FMU_ARGS
unset FMU_MODE
unset IO_FILE
unset IO_PRESENT
unset LOG_FILE
unset LOGGER_BUF
unset MAVLINK_F
unset MAVLINK_COMPANION_DEVICE
unset MAV_TYPE
unset MIXER
unset MIXER_AUX
unset MK_MODE
unset MKBLCTRL_ARG
unset MODE
unset OUTPUT_AUX_DEV
unset OUTPUT_DEV
unset OUTPUT_MODE
unset PARAM_FILE
unset PWM_ACHDIS
unset PWM_OUT
unset PWM_RATE
unset PWM_DISARMED
unset PWM_MIN
unset PWM_MAX
unset PWM_AUX_OUT
unset PWM_AUX_RATE
unset PWM_ACHDIS
unset PWM_AUX_DISARMED
unset PWM_AUX_MIN
unset PWM_AUX_MAX
unset TUNE_ERR
unset USE_IO
unset VEHICLE_TYPE
# Boot is complete, inform MAVLink app(s) that the system is now fully up and running
mavlink boot_complete