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px4dev
@@ -1,40 +0,0 @@
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#
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# Startup for X-quad on FMU1.5/1.6
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#
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echo "[init] uORB"
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uorb start
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echo "[init] eeprom"
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eeprom start
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if [ -f /eeprom/parameters ]
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then
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param load
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fi
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echo "[init] sensors"
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#bma180 start
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#l3gd20 start
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mpu6000 start
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hmc5883 start
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ms5611 start
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sensors start
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echo "[init] mavlink"
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mavlink start -d /dev/ttyS0 -b 57600
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usleep 5000
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echo "[init] commander"
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commander start
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echo "[init] attitude control"
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attitude_estimator_ekf start
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multirotor_att_control start
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echo "[init] starting PWM output"
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fmu mode_pwm
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mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
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echo "[init] startup done, exiting"
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exit
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@@ -1,73 +0,0 @@
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#!nsh
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set USB no
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#
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# Start the object request broker
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#
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uorb start
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#
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# Init the EEPROM
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#
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echo "[init] eeprom"
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eeprom start
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if [ -f /eeprom/parameters ]
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then
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param load
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fi
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#
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# Enable / connect to PX4IO
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#
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px4io start
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#
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# Load an appropriate mixer. FMU_pass.mix is a passthru mixer
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# which is good for testing. See ROMFS/mixers for a full list of mixers.
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#
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mixer load /dev/pwm_output /etc/mixers/FMU_pass.mix
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#
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# Start the sensors.
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#
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sh /etc/init.d/rc.sensors
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#
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# Start MAVLink on UART1 (dev/ttyS0) at 57600 baud (CLI is now unusable)
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#
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mavlink start -d /dev/ttyS0 -b 57600
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usleep 5000
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#
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# Start the commander.
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#
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commander start
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#
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# Start the attitude estimator
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#
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attitude_estimator_ekf start
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#
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# Start the attitude and position controller
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#
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fixedwing_att_control start
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fixedwing_pos_control start
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#
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# Start GPS capture. Comment this out if you do not have a GPS.
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#
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gps start
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#
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# Start logging to microSD if we can
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#
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sh /etc/init.d/rc.logging
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#
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# startup is done; we don't want the shell because we
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# use the same UART for telemetry
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#
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echo "[init] startup done"
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exit
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@@ -1,80 +0,0 @@
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#!nsh
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#
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# Flight startup script for PX4FMU on PX4IOAR carrier board.
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#
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# Disable the USB interface
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set USB no
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# Disable autostarting other apps
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set MODE ardrone
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echo "[init] doing PX4IOAR startup..."
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#
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# Start the ORB
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#
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uorb start
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#
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# Load microSD params
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#
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echo "[init] loading microSD params"
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param select /fs/microsd/parameters
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if [ -f /fs/microsd/parameters ]
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then
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param load /fs/microsd/parameters
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fi
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#
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# Start MAVLink
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#
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mavlink start -d /dev/ttyS0 -b 57600
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usleep 5000
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#
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# Start the sensors and test them.
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#
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sh /etc/init.d/rc.sensors
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#
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# Start the commander.
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#
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commander start
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#
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# Start the attitude estimator
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#
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attitude_estimator_ekf start
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#
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# Configure PX4FMU for operation with PX4IOAR
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#
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fmu mode_gpio_serial
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#
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# Fire up the multi rotor attitude controller
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#
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multirotor_att_control start
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#
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# Fire up the AR.Drone interface.
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#
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ardrone_interface start -d /dev/ttyS1
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#
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# Start logging
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#
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#sdlog start
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#
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# Start GPS capture
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#
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gps start
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#
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# startup is done; we don't want the shell because we
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# use the same UART for telemetry
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#
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echo "[init] startup done"
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exit
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@@ -1,10 +0,0 @@
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#!nsh
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#
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# Test jig startup script
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#
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echo "[testing] doing production test.."
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tests jig
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echo "[testing] testing done"
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@@ -1,9 +0,0 @@
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#!nsh
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#
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# Initialise logging services.
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#
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if [ -d /fs/microsd ]
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then
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sdlog start
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fi
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@@ -1,34 +0,0 @@
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#!nsh
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#
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# Standard startup script for PX4FMU onboard sensor drivers.
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#
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#
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# Start sensor drivers here.
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#
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ms5611 start
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adc start
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if mpu6000 start
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then
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echo "using MPU6000 and HMC5883L"
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hmc5883 start
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else
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echo "using L3GD20 and LSM303D"
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l3gd20 start
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lsm303 start
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fi
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#
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# Start the sensor collection task.
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# IMPORTANT: this also loads param offsets
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# ALWAYS start this task before the
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# preflight_check.
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#
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sensors start
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#
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# Check sensors - run AFTER 'sensors start'
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#
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preflight_check
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@@ -1,13 +0,0 @@
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#!nsh
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#
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# Flight startup script for PX4FMU standalone configuration.
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#
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echo "[init] doing standalone PX4FMU startup..."
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#
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# Start the ORB
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#
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uorb start
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echo "[init] startup done"
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@@ -1,136 +0,0 @@
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#!nsh
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#
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# PX4FMU startup script.
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#
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# This script is responsible for:
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#
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# - mounting the microSD card (if present)
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# - running the user startup script from the microSD card (if present)
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# - detecting the configuration of the system and picking a suitable
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# startup script to continue with
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#
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# Note: DO NOT add configuration-specific commands to this script;
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# add them to the per-configuration scripts instead.
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#
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#
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# Default to auto-start mode. An init script on the microSD card
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# can change this to prevent automatic startup of the flight script.
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#
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set MODE autostart
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set USB autoconnect
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#
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# Start playing the startup tune
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#
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tone_alarm start
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#
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# Try to mount the microSD card.
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#
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echo "[init] looking for microSD..."
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if mount -t vfat /dev/mmcsd0 /fs/microsd
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then
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echo "[init] card mounted at /fs/microsd"
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else
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echo "[init] no microSD card found"
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fi
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#
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# Look for an init script on the microSD card.
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#
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# To prevent automatic startup in the current flight mode,
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# the script should set MODE to some other value.
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#
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if [ -f /fs/microsd/etc/rc ]
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then
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echo "[init] reading /fs/microsd/etc/rc"
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sh /fs/microsd/etc/rc
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fi
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# Also consider rc.txt files
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if [ -f /fs/microsd/etc/rc.txt ]
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then
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echo "[init] reading /fs/microsd/etc/rc.txt"
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sh /fs/microsd/etc/rc.txt
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fi
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#
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# Check for USB host
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#
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if [ $USB != autoconnect ]
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then
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echo "[init] not connecting USB"
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else
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if sercon
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then
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echo "[init] USB interface connected"
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else
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echo "[init] No USB connected"
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fi
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fi
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#
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# If we are still in flight mode, work out what airframe
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# configuration we have and start up accordingly.
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#
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if [ $MODE != autostart ]
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then
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echo "[init] automatic startup cancelled by user script"
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else
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echo "[init] detecting attached hardware..."
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#
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# Assume that we are PX4FMU in standalone mode
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#
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set BOARD PX4FMU
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#
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# Are we attached to a PX4IOAR (AR.Drone carrier board)?
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#
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if boardinfo test name PX4IOAR
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then
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set BOARD PX4IOAR
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if [ -f /etc/init.d/rc.PX4IOAR ]
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then
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echo "[init] reading /etc/init.d/rc.PX4IOAR"
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usleep 500
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sh /etc/init.d/rc.PX4IOAR
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fi
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else
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echo "[init] PX4IOAR not detected"
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fi
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#
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# Are we attached to a PX4IO?
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#
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if boardinfo test name PX4IO
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then
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set BOARD PX4IO
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if [ -f /etc/init.d/rc.PX4IO ]
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then
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echo "[init] reading /etc/init.d/rc.PX4IO"
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usleep 500
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sh /etc/init.d/rc.PX4IO
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fi
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else
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echo "[init] PX4IO not detected"
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fi
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#
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# Looks like we are stand-alone
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#
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if [ $BOARD == PX4FMU ]
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then
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echo "[init] no expansion board detected"
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if [ -f /etc/init.d/rc.standalone ]
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then
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echo "[init] reading /etc/init.d/rc.standalone"
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sh /etc/init.d/rc.standalone
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fi
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fi
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#
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# We may not reach here if the airframe-specific script exits the shell.
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#
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echo "[init] startup done."
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fi
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