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autostart: HIL and bad PX4IO fixes

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This commit is contained in:
Anton Babushkin
2014-01-18 16:47:23 +01:00
parent 5db68264c7
commit bb8cf0894f
1 changed files with 86 additions and 79 deletions
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165
ROMFS/px4fmu_common/init.d/rcS
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@@ -241,7 +241,10 @@ then
if [ $HIL == yes ] if [ $HIL == yes ]
then then
set OUTPUT_MODE hil set OUTPUT_MODE hil
set FMU_MODE serial if hw_ver compare PX4FMU_V1
then
set FMU_MODE serial
fi
else else
# Try to get an USB console if not in HIL mode # Try to get an USB console if not in HIL mode
nshterm /dev/ttyACM0 & nshterm /dev/ttyACM0 &
@@ -257,82 +260,12 @@ then
# #
set TTYS1_BUSY no set TTYS1_BUSY no
if [ $OUTPUT_MODE == io ] # If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output
if [ $OUTPUT_MODE != none ]
then then
echo "[init] Use PX4IO PWM as primary output" if [ $OUTPUT_MODE == io ]
if px4io start
then
echo "[init] PX4IO started"
sh /etc/init.d/rc.io
else
echo "[init] ERROR: PX4IO start failed"
tone_alarm $TUNE_OUT_ERROR
fi
fi
if [ $OUTPUT_MODE == fmu ]
then
echo "[init] Use FMU PWM as primary output"
if fmu mode_$FMU_MODE
then
echo "[init] FMU mode_$FMU_MODE started"
else
echo "[init] ERROR: FMU mode_$FMU_MODE start failed"
tone_alarm $TUNE_OUT_ERROR
fi
if hw_ver compare PX4FMU_V1
then
if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ]
then
set TTYS1_BUSY yes
fi
if [ $FMU_MODE == pwm_gpio ]
then
set TTYS1_BUSY yes
fi
fi
fi
if [ $OUTPUT_MODE == mkblctrl ]
then
echo "[init] Use MKBLCTRL as primary output"
set MKBLCTRL_ARG ""
if [ $MKBLCTRL_MODE == x ]
then
set MKBLCTRL_ARG "-mkmode x"
fi
if [ $MKBLCTRL_MODE == + ]
then
set MKBLCTRL_ARG "-mkmode +"
fi
if mkblctrl $MKBLCTRL_ARG
then
echo "[init] MKBLCTRL started"
else
echo "[init] ERROR: MKBLCTRL start failed"
tone_alarm $TUNE_OUT_ERROR
fi
fi
if [ $OUTPUT_MODE == hil ]
then
echo "[init] Use HIL as primary output"
if hil mode_pwm
then
echo "[init] HIL output started"
else
echo "[init] ERROR: HIL output start failed"
tone_alarm $TUNE_OUT_ERROR
fi
fi
#
# Start IO or FMU for RC PPM input if needed
#
if [ $IO_PRESENT == yes ]
then
if [ $OUTPUT_MODE != io ]
then then
echo "[init] Use PX4IO PWM as primary output"
if px4io start if px4io start
then then
echo "[init] PX4IO started" echo "[init] PX4IO started"
@@ -342,9 +275,9 @@ then
tone_alarm $TUNE_OUT_ERROR tone_alarm $TUNE_OUT_ERROR
fi fi
fi fi
else if [ $OUTPUT_MODE == fmu ]
if [ $OUTPUT_MODE != fmu ]
then then
echo "[init] Use FMU PWM as primary output"
if fmu mode_$FMU_MODE if fmu mode_$FMU_MODE
then then
echo "[init] FMU mode_$FMU_MODE started" echo "[init] FMU mode_$FMU_MODE started"
@@ -352,7 +285,7 @@ then
echo "[init] ERROR: FMU mode_$FMU_MODE start failed" echo "[init] ERROR: FMU mode_$FMU_MODE start failed"
tone_alarm $TUNE_OUT_ERROR tone_alarm $TUNE_OUT_ERROR
fi fi
if hw_ver compare PX4FMU_V1 if hw_ver compare PX4FMU_V1
then then
if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ] if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ]
@@ -365,8 +298,82 @@ then
fi fi
fi fi
fi fi
if [ $OUTPUT_MODE == mkblctrl ]
then
echo "[init] Use MKBLCTRL as primary output"
set MKBLCTRL_ARG ""
if [ $MKBLCTRL_MODE == x ]
then
set MKBLCTRL_ARG "-mkmode x"
fi
if [ $MKBLCTRL_MODE == + ]
then
set MKBLCTRL_ARG "-mkmode +"
fi
if mkblctrl $MKBLCTRL_ARG
then
echo "[init] MKBLCTRL started"
else
echo "[init] ERROR: MKBLCTRL start failed"
tone_alarm $TUNE_OUT_ERROR
fi
fi
if [ $OUTPUT_MODE == hil ]
then
echo "[init] Use HIL as primary output"
if hil mode_pwm
then
echo "[init] HIL output started"
else
echo "[init] ERROR: HIL output start failed"
tone_alarm $TUNE_OUT_ERROR
fi
fi
#
# Start IO or FMU for RC PPM input if needed
#
if [ $IO_PRESENT == yes ]
then
if [ $OUTPUT_MODE != io ]
then
if px4io start
then
echo "[init] PX4IO started"
sh /etc/init.d/rc.io
else
echo "[init] ERROR: PX4IO start failed"
tone_alarm $TUNE_OUT_ERROR
fi
fi
else
if [ $OUTPUT_MODE != fmu ]
then
if fmu mode_$FMU_MODE
then
echo "[init] FMU mode_$FMU_MODE started"
else
echo "[init] ERROR: FMU mode_$FMU_MODE start failed"
tone_alarm $TUNE_OUT_ERROR
fi
if hw_ver compare PX4FMU_V1
then
if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ]
then
set TTYS1_BUSY yes
fi
if [ $FMU_MODE == pwm_gpio ]
then
set TTYS1_BUSY yes
fi
fi
fi
fi
fi fi
# #
# MAVLink # MAVLink
# #