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Migrate LOGGER_BUF argument to rc.logging, group OUTPUT_MODE instances closer together by relocating UAVCAN logic block in rcS, and alphabetize hardware specific logic in rc.sensors.

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This commit is contained in:
mcsauder
2018-07-19 22:32:11 -06:00
committed by Beat Küng
parent 5ae39229b8
commit ec16a4d063
3 changed files with 129 additions and 106 deletions
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86
ROMFS/px4fmu_common/init.d/rcS
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@@ -29,7 +29,6 @@ set FMU_MODE pwm
set IO_FILE ""
set IO_PRESENT no
set LOG_FILE /fs/microsd/bootlog.txt
set LOGGER_BUF 14
set MAVLINK_F default
set MAVLINK_COMPANION_DEVICE /dev/ttyS2
set MAV_TYPE none
@@ -215,20 +214,6 @@ else
# Begin setup for board specific configurations. #
###############################################################################
if ver hwcmp PX4FMU_V5
then
set LOGGER_BUF 64
fi
if ver hwcmp CRAZYFLIE
then
if param compare SYS_AUTOSTART 0
then
param set SYS_AUTOSTART 4900
set AUTOCNF yes
fi
fi
if ver hwcmp AEROCORE2
then
set DATAMAN_OPT "-f /fs/mtd_dataman"
@@ -248,6 +233,15 @@ else
set DATAMAN_OPT -i
fi
if ver hwcmp CRAZYFLIE
then
if param compare SYS_AUTOSTART 0
then
param set SYS_AUTOSTART 4900
set AUTOCNF yes
fi
fi
if ver hwcmp NXPHLITE_V3
then
param set SYS_FMU_TASK 1
@@ -285,18 +279,18 @@ else
#
if [ $AUTOCNF == yes ]
then
# Disable safety switch by default on Pixracer and OmnibusF4SD
if ver hwcmp PX4FMU_V4 OMNIBUS_F4SD
then
param set CBRK_IO_SAFETY 22027
fi
# Run FMU as task on Pixracer and on boards with enough RAM.
if ver hwcmp PX4FMU_V4 PX4FMU_V4PRO PX4FMU_V5
then
param set SYS_FMU_TASK 1
fi
# Disable safety switch by default on Pixracer and OmnibusF4SD
if ver hwcmp PX4FMU_V4 OMNIBUS_F4SD
then
param set CBRK_IO_SAFETY 22027
fi
if ver hwcmp OMNIBUS_F4SD
then
param set SYS_FMU_TASK 1
@@ -390,32 +384,6 @@ else
commander start
fi
#
# Check if UAVCAN is enabled, default to it for ESCs.
#
if param greater UAVCAN_ENABLE 0
then
# Start core UAVCAN module.
if uavcan start
then
if param greater UAVCAN_ENABLE 1
then
# Reduce logger buffer to free up some RAM for UAVCAN servers.
set LOGGER_BUF 6
# Start UAVCAN firmware update server and dynamic node ID allocation server.
uavcan start fw
if param greater UAVCAN_ENABLE 2
then
set OUTPUT_MODE uavcan_esc
fi
fi
else
tone_alarm ${TUNE_ERR}
fi
fi
# Sensors on the PWM interface bank.
if param compare SENS_EN_LL40LS 1
then
@@ -442,6 +410,29 @@ else
camera_feedback start
fi
#
# Check if UAVCAN is enabled, default to it for ESCs.
#
if param greater UAVCAN_ENABLE 0
then
# Start core UAVCAN module.
if uavcan start
then
if param greater UAVCAN_ENABLE 1
then
# Start UAVCAN firmware update server and dynamic node ID allocation server.
uavcan start fw
if param greater UAVCAN_ENABLE 2
then
set OUTPUT_MODE uavcan_esc
fi
fi
else
tone_alarm ${TUNE_ERR}
fi
fi
#
# Set default output if not set.
#
@@ -611,7 +602,6 @@ unset FMU_MODE
unset IO_FILE
unset IO_PRESENT
unset LOG_FILE
unset LOGGER_BUF
unset MAVLINK_F
unset MAVLINK_COMPANION_DEVICE
unset MAV_TYPE