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ROMFS startup: Fix variable expansion for new NuttX scheme

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This commit is contained in:
Lorenz Meier
2016-12-23 09:06:49 +01:00
committed by Lorenz Meier
parent 1e05520350
commit 9e2eac41ff
5 changed files with 51 additions and 49 deletions
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58
ROMFS/px4fmu_common/init.d/rcS
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@@ -2,7 +2,13 @@
#
# PX4FMU startup script.
#
# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
# NOTE: environment variable references:
# If the dollar sign ('$') is followed by a left bracket ('{') then the
# variable name is terminated with the right bracket character ('}').
# Otherwise, the variable name goes to the end of the argument.
#
#
# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
#
# UART mapping on FMUv1/2/3/4:
#
@@ -85,7 +91,7 @@ fi
set FRC /fs/microsd/etc/rc.txt
if [ -f $FRC ]
then
echo "INFO [init] Executing script: $FRC"
echo "INFO [init] Executing script: ${FRC}"
sh $FRC
set MODE custom
fi
@@ -271,7 +277,7 @@ then
set FCONFIG /fs/microsd/etc/config.txt
if [ -f $FCONFIG ]
then
echo "Custom: $FCONFIG"
echo "Custom: ${FCONFIG}"
sh $FCONFIG
fi
unset FCONFIG
@@ -322,7 +328,7 @@ then
if px4io forceupdate 14662 ${IO_FILE}
then
usleep 10000
if px4io checkcrc $IO_FILE
if px4io checkcrc ${IO_FILE}
then
echo "PX4IO CRC OK after updating" >> $LOG_FILE
tone_alarm MLL8CDE
@@ -330,11 +336,11 @@ then
set IO_PRESENT yes
else
echo "PX4IO update failed" >> $LOG_FILE
tone_alarm $TUNE_ERR
tone_alarm ${TUNE_ERR}
fi
else
echo "PX4IO update failed" >> $LOG_FILE
tone_alarm $TUNE_ERR
tone_alarm ${TUNE_ERR}
fi
fi
unset IO_FILE
@@ -342,7 +348,7 @@ then
if [ $IO_PRESENT == no ]
then
echo "PX4IO not found" >> $LOG_FILE
tone_alarm $TUNE_ERR
tone_alarm ${TUNE_ERR}
fi
fi
@@ -539,10 +545,10 @@ then
else
if [ $OUTPUT_MODE != fmu -a $OUTPUT_MODE != ardrone ]
then
if fmu mode_$FMU_MODE
if fmu mode_${FMU_MODE}
then
else
echo "FMU mode_$FMU_MODE start failed" >> $LOG_FILE
echo "FMU mode_${FMU_MODE} start failed" >> $LOG_FILE
tone_alarm $TUNE_ERR
fi
@@ -597,7 +603,7 @@ then
if [ "x$MAVLINK_F" == xnone ]
then
else
mavlink start $MAVLINK_F
mavlink start ${MAVLINK_F}
fi
unset MAVLINK_F
@@ -611,7 +617,7 @@ then
# but this works for now
if param compare SYS_COMPANION 10
then
frsky_telemetry start -d $MAVLINK_COMPANION_DEVICE
frsky_telemetry start -d ${MAVLINK_COMPANION_DEVICE}
fi
if param compare SYS_COMPANION 20
then
@@ -620,31 +626,31 @@ then
fi
if param compare SYS_COMPANION 921600
then
mavlink start -d $MAVLINK_COMPANION_DEVICE -b 921600 -m onboard -r 80000 -x
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -m onboard -r 80000 -x
fi
if param compare SYS_COMPANION 57600
then
mavlink start -d $MAVLINK_COMPANION_DEVICE -b 57600 -m onboard -r 5000 -x
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m onboard -r 5000 -x
fi
if param compare SYS_COMPANION 157600
then
mavlink start -d $MAVLINK_COMPANION_DEVICE -b 57600 -m osd -r 1000
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m osd -r 1000
fi
if param compare SYS_COMPANION 257600
then
mavlink start -d $MAVLINK_COMPANION_DEVICE -b 57600 -m magic -r 5000 -x
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m magic -r 5000 -x
fi
if param compare SYS_COMPANION 319200
then
mavlink start -d $MAVLINK_COMPANION_DEVICE -b 19200 -r 1000
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 19200 -r 1000
fi
if param compare SYS_COMPANION 338400
then
mavlink start -d $MAVLINK_COMPANION_DEVICE -b 38400 -r 1000
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 38400 -r 1000
fi
if param compare SYS_COMPANION 357600
then
mavlink start -d $MAVLINK_COMPANION_DEVICE -b 57600 -r 1000
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -r 1000
fi
if param compare SYS_COMPANION 419200
then
@@ -653,11 +659,11 @@ then
fi
if param compare SYS_COMPANION 1921600
then
mavlink start -d $MAVLINK_COMPANION_DEVICE -b 921600 -r 20000
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -r 20000
fi
if param compare SYS_COMPANION 1500000
then
mavlink start -d $MAVLINK_COMPANION_DEVICE -b 1500000 -m onboard -r 10000 -x
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 1500000 -m onboard -r 10000 -x
fi
fi
@@ -672,7 +678,7 @@ then
then
uavcan start fw
else
tone_alarm $TUNE_ERR
tone_alarm ${TUNE_ERR}
fi
fi
@@ -780,7 +786,7 @@ then
set LOGGER_ARGS "-f"
fi
if logger start -b 12 -t $LOGGER_ARGS
if logger start -b 12 -t ${LOGGER_ARGS}
then
fi
unset LOGGER_ARGS
@@ -812,7 +818,7 @@ then
set MAV_TYPE 1
fi
param set MAV_TYPE $MAV_TYPE
param set MAV_TYPE ${MAV_TYPE}
# Load mixer and configure outputs
sh /etc/init.d/rc.interface
@@ -878,7 +884,7 @@ then
echo "Unknown MAV_TYPE"
param set MAV_TYPE 2
else
param set MAV_TYPE $MAV_TYPE
param set MAV_TYPE ${MAV_TYPE}
fi
# Load mixer and configure outputs
@@ -921,7 +927,7 @@ then
echo "Unknown MAV_TYPE"
param set MAV_TYPE 19
else
param set MAV_TYPE $MAV_TYPE
param set MAV_TYPE ${MAV_TYPE}
fi
# Load mixer and configure outputs
@@ -1009,7 +1015,7 @@ then
set FEXTRAS /fs/microsd/etc/extras.txt
if [ -f $FEXTRAS ]
then
echo "Addons script: $FEXTRAS"
echo "Addons script: ${FEXTRAS}"
sh $FEXTRAS
fi
unset FEXTRAS