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rcS: Make the passthrough option a vehicle_type

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This commit is contained in:
Julian Oes
2016-03-24 22:31:47 +01:00
committed by Lorenz Meier
parent a9a20e0a55
commit a615f57c80
2 changed files with 36 additions and 31 deletions
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2
ROMFS/px4fmu_common/init.d/20000_snapdragon_rc_pwm
View File

@@ -9,4 +9,4 @@
# This startup can be used on Pixhawk/Pixfalcon/Pixracer for the
# passthrough of RC input and PWM output.
set PASSTHROUGH yes
set VEHICLE_TYPE passthrough

65
ROMFS/px4fmu_common/init.d/rcS
View File

@@ -133,7 +133,6 @@ then
set GPS yes
set GPS_FAKE no
set FAILSAFE none
set PASSTHROUGH no
#
# Set AUTOCNF flag to use it in AUTOSTART scripts
@@ -734,6 +733,40 @@ then
param set MAV_TYPE 10
fi
#
# For snapdragon, we need a passthrough mode
# Do not run any mavlink instances since we need the serial port for
# communication with Snapdragon.
#
if [ $VEHICLE_TYPE == passthrough ]
then
mavlink stop-all
# Stop multicopter attitude controller if it is running, the controls come
# from Snapdragon.
if mc_att_control stop
then
fi
# Start snapdragon interface on serial port.
if ver hwcmp PX4FMU_V2
then
# On Pixfalcon use the standard telemetry port (Telem 1).
snapdragon_rc_pwm start -d /dev/ttyS1
px4io start
fi
if ver hwcmp PX4FMU_V4
then
# On Pixracer use Telem 2 port (TL2).
snapdragon_rc_pwm start -d /dev/ttyS2
fmu mode_pwm4
fi
# Arm straightaway.
pwm arm
fi
unset MIXER
unset MAV_TYPE
unset OUTPUT_MODE
@@ -808,41 +841,13 @@ then
nshterm /dev/ttyACM0 &
else
# Don't start mavlink in passthrough mode because we currently can't seem to stop it.
if [ $PASSTHROUGH == no ]
if [ $VEHICLE_TYPE != passthrough ]
then
mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
fi
fi
# For snapdragon, we need a passthrough mode
# Do not run any mavlink instances since we need the serial port for
# communication with Snapdragon.
if [ $PASSTHROUGH == yes ]
then
mavlink stop-all
# Stop multicopter attitude controller if it is running, the controls come
# from Snapdragon.
if mc_att_control stop
then
fi
# Start snapdragon interface on serial port.
if ver hwcmp PX4FMU_V2
then
# On Pixfalcon use the standard telemetry port (Telem 1).
snapdragon_rc_pwm start -d /dev/ttyS1
fi
if ver hwcmp PX4FMU_V4
then
# On Pixracer use Telem 2 port (TL2).
snapdragon_rc_pwm start -d /dev/ttyS2
fi
fi
if [ $EXIT_ON_END == yes ]
then
echo "Exit from nsh"