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px4-same70xplained-v1:ROMFS changes

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This commit is contained in:
David Sidrane
2017-06-14 13:30:20 -10:00
committed by Daniel Agar
parent 2de54da648
commit c536bf95f0
2 changed files with 56 additions and 17 deletions
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30
ROMFS/px4fmu_common/init.d/rc.sensors
View File

@@ -131,6 +131,36 @@ then
fi
fi
if ver hwcmp PX4_SAME70XPLAINED_V1
then
# External I2C bus
if hmc5883 -C -T -X start
then
fi
set BOARD_FMUV3 false
# Internal SPI bus mpu9250 is rotated 90 deg yaw
if mpu9250 -R 2 start
then
fi
fi
if ver hwcmp PX4_SAME70XPLAINED_V1
then
# External I2C bus
if hmc5883 -C -T -X start
then
fi
set BOARD_FMUV3 false
# Internal SPI bus mpu9250 is rotated 90 deg yaw
if mpu9250 -R 2 start
then
fi
fi
if ver hwcmp PX4FMU_V4
then
# External I2C bus

43
ROMFS/px4fmu_common/init.d/rcS
View File

@@ -405,7 +405,12 @@ then
sensors start -h
commander start --hil
else
gps start
if ver hwcmp PX4_SAME70XPLAINED_V1
then
gps start -d /dev/ttyS2
else
gps start
fi
sh /etc/init.d/rc.sensors
commander start
fi
@@ -421,29 +426,33 @@ then
set OUTPUT_MODE uavcan_esc
fi
# Sensors on the PWM interface bank
if param compare SENS_EN_LL40LS 1
if ver hwcmp PX4_SAME70XPLAINED_V1
then
# clear pins 5 and 6
set FMU_MODE pwm4
set AUX_MODE pwm4
fi
if param greater TRIG_MODE 0
then
# We ONLY support trigger on pins 5 and 6 when simultanously using AUX for actuator output
if param compare TRIG_PINS 56
else
# Sensors on the PWM interface bank
if param compare SENS_EN_LL40LS 1
then
# clear pins 5 and 6
set FMU_MODE pwm4
set AUX_MODE pwm4
else
set FMU_MODE none
set AUX_MODE none
fi
camera_trigger start
if param greater TRIG_MODE 0
then
# We ONLY support trigger on pins 5 and 6 when simultanously using AUX for actuator output
if param compare TRIG_PINS 56
then
# clear pins 5 and 6
set FMU_MODE pwm4
set AUX_MODE pwm4
else
set FMU_MODE none
set AUX_MODE none
fi
camera_trigger start
param set CAM_FBACK_MODE 1
camera_feedback start
param set CAM_FBACK_MODE 1
camera_feedback start
fi
fi
# If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output