mirror of
https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
synced 2026-05-21 01:12:11 +00:00
300e66ae6a
Replaced with the more generic serial config params. rc.mavlink contains automatic transition support that can be removed after the next release.
615 lines
12 KiB
Plaintext
615 lines
12 KiB
Plaintext
#!nsh
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# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
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set +e
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# Un comment the line below to help debug scripts by printing a trace of the script commands
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#set -x
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# PX4FMU startup script.
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#
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# NOTE: environment variable references:
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# If the dollar sign ('$') is followed by a left bracket ('{') then the
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# variable name is terminated with the right bracket character ('}').
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# Otherwise, the variable name goes to the end of the argument.
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#
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#
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# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
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#
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#------------------------------------------------------------------------------
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#
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# UART mapping on FMUv2/3/4:
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#
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# UART1 /dev/ttyS0 IO debug (except v4, there ttyS0 is the wifi,
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# v4pro: TELEM3)
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# USART2 /dev/ttyS1 TELEM1 (flow control)
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# USART3 /dev/ttyS2 TELEM2 (flow control)
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# UART4
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# UART7 CONSOLE
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# UART8 /dev/ttyS6 SERIAL4/TELEM4
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#
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#------------------------------------------------------------------------------
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#
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# UART mapping on FMUv5:
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#
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# UART1 /dev/ttyS0 GPS
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# USART2 /dev/ttyS1 TELEM1 (flow control)
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# USART3 /dev/ttyS2 TELEM2 (flow control)
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# UART4 /dev/ttyS3 TELEM4
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# USART6 /dev/ttyS4 TELEM3 (flow control)
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# UART7 /dev/ttyS5
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# UART8 /dev/ttyS6 CONSOLE
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#
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#------------------------------------------------------------------------------
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#
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# UART mapping on OMNIBUSF4SD:
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#
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# USART1 /dev/ttyS0 SerialRX
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# (USART3 configured as I2C)
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# USART4 /dev/ttyS1 TELEM2 (TX=RSSI, RX=PWM out 5)
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# USART6 /dev/ttyS2 URT6
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#
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#------------------------------------------------------------------------------
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#
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# UART mapping on NXPhlitev3:
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#
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# LPUART0 /dev/ttyS0 P16 CONSOLE
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# UART0 /dev/ttyS1 P7 IR
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# UART1 /dev/ttyS2 P14-3, P15-2 RC input
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# UART2 /dev/ttyS3 P3 GPS
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# UART4 /dev/ttyS3 P10 TELEM1 (flow control)
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#
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# Set default paramter values.
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# Do not add intra word spaces
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# it wastes flash
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#
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set AUX_MODE pwm
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set DATAMAN_OPT ""
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set FAILSAFE none
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set FAILSAFE_AUX none
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set FCONFIG /fs/microsd/etc/config.txt
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set FEXTRAS /fs/microsd/etc/extras.txt
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set FRC /fs/microsd/etc/rc.txt
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set FMU_ARGS ""
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set FMU_MODE pwm
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set IOFW "/etc/extras/px4io-v2.bin"
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set IO_PRESENT no
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set LOG_FILE /fs/microsd/bootlog.txt
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set MAV_TYPE none
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set MIXER none
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set MIXER_AUX none
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set MIXER_FILE none
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set MK_MODE none
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set MKBLCTRL_ARG ""
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set OUTPUT_MODE none
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set PARAM_FILE /fs/microsd/params
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set PWM_AUX_DISARMED p:PWM_AUX_DISARMED
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set PWM_AUX_MAX p:PWM_AUX_MAX
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set PWM_AUX_MIN p:PWM_AUX_MIN
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set PWM_AUX_OUT none
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set PWM_AUX_RATE p:PWM_AUX_RATE
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set PWM_DISARMED p:PWM_DISARMED
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set PWM_MAX p:PWM_MAX
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set PWM_MIN p:PWM_MIN
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set PWM_OUT none
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set PWM_RATE p:PWM_RATE
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set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
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set USE_IO no
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set VEHICLE_TYPE none
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#
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# Mount the procfs.
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#
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mount -t procfs /proc
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#
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# Start CDC/ACM serial driver.
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#
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sercon
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#
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# Print full system version.
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#
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ver all
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#
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# Start the ORB (first app to start)
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# tone_alarm and tune_control
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# is dependent.
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#
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uorb start
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#
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# Start the tone_alarm driver.
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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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# REBOOTWORK this needs to start after the flight control loop.
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if mount -t vfat /dev/mmcsd0 /fs/microsd
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then
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if hardfault_log check
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then
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# Error tune.
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tune_control play -t 2
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if hardfault_log commit
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then
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hardfault_log reset
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fi
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else
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# Play the startup tune.
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tune_control play -t 1
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fi
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else
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# tune SD_INIT
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tune_control play -t 16
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if mkfatfs /dev/mmcsd0
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then
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if mount -t vfat /dev/mmcsd0 /fs/microsd
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then
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echo "INFO [init] card formatted"
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else
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tune_control play -t 17
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echo "ERROR [init] format failed"
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set LOG_FILE /dev/null
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fi
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else
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set LOG_FILE /dev/null
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fi
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fi
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# AEROCORE2 shouldn't have an sd card and CF2 may optionally have an sd card.
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if ! ver hwcmp CRAZYFLIE AEROCORE2
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then
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# Run no SD alarm.
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if [ $LOG_FILE == /dev/null ]
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then
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# tune Make FS MBAGP
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tune_control play -t 2
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fi
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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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# Disable autostart if the script found.
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#
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if [ -f $FRC ]
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then
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sh $FRC
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else
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#
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# Waypoint storage.
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# REBOOTWORK this needs to start in parallel.
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#
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dataman start $DATAMAN_OPT
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#
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# Start the socket communication send_event handler.
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#
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send_event start
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#
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# Start the resource load monitor.
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#
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load_mon start
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#
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# Set the parameter file if mtd starts successfully.
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#
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if mtd start
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then
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set PARAM_FILE /fs/mtd_params
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fi
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#
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# Load parameters.
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#
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param select $PARAM_FILE
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if ! param load
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then
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param reset
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fi
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#
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# Bootloader upgrade
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#
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if ver hwcmp PX4FMU_V2
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then
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set BL_FILE /etc/extras/px4fmuv3_bl.bin
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if [ -f $BL_FILE ]
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then
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if param compare SYS_BL_UPDATE 1
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then
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param set SYS_BL_UPDATE 0
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param save
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echo "BL update..." >> $LOG_FILE
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bl_update $BL_FILE
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echo "BL update done" >> $LOG_FILE
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reboot
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fi
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fi
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unset BL_FILE
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fi
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#
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# Start system state indicator.
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#
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if ! rgbled start
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then
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if blinkm start
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then
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blinkm systemstate
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fi
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fi
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#
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# FMUv5 may have both PWM I2C RGB LED support.
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#
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rgbled_pwm start
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#
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# Set AUTOCNF flag to use it in AUTOSTART scripts.
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#
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if param compare SYS_AUTOCONFIG 1
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then
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# Wipe out params except RC*, flight modes and total flight time.
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param reset_nostart RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO*
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set AUTOCNF yes
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else
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set AUTOCNF no
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#
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# Release 1.4.0 transitional support: set to old default if unconfigured,
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# this preserves the previous behaviour.
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#
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if param compare BAT_N_CELLS 0
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then
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param set BAT_N_CELLS 3
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fi
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fi
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###############################################################################
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# Begin setup for board specific configurations. #
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###############################################################################
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if ver hwcmp AEROCORE2
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then
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set DATAMAN_OPT "-f /fs/mtd_dataman"
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fi
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if ver hwcmp AEROFC_V1
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then
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if param compare SYS_AUTOSTART 0
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then
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set AUTOCNF yes
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fi
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# We don't allow changing AUTOSTART as it doesn't work in
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# other configurations.
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param set SYS_AUTOSTART 4070
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set DATAMAN_OPT -i
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fi
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if ver hwcmp CRAZYFLIE
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then
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if param compare SYS_AUTOSTART 0
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then
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param set SYS_AUTOSTART 4900
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set AUTOCNF yes
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fi
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fi
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if ver hwcmp NXPHLITE_V3
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then
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param set SYS_FMU_TASK 1
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fi
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###############################################################################
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# End Setup for board specific configurations. #
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###############################################################################
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if param compare SYS_FMU_TASK 1
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then
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set FMU_ARGS "-t"
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fi
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#
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# Set parameters and env variables for selected AUTOSTART.
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#
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if ! param compare SYS_AUTOSTART 0
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then
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sh /etc/init.d/rc.autostart
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fi
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#
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# Override parameters from user configuration file.
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#
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if [ -f $FCONFIG ]
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then
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echo "Custom: ${FCONFIG}"
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sh $FCONFIG
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fi
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#
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# If autoconfig parameter was set, reset it and save parameters.
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#
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if [ $AUTOCNF == yes ]
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then
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# Run FMU as task on Pixracer and on boards with enough RAM.
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if ver hwcmp PX4FMU_V4 PX4FMU_V4PRO PX4FMU_V5
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then
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param set SYS_FMU_TASK 1
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fi
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# Disable safety switch by default on Pixracer and OmnibusF4SD.
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if ver hwcmp PX4FMU_V4 OMNIBUS_F4SD
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then
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param set CBRK_IO_SAFETY 22027
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fi
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if ver hwcmp OMNIBUS_F4SD
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then
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param set SYS_FMU_TASK 1
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param set SYS_HAS_MAG 0
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# use the Q attitude estimator, it works w/o mag or GPS.
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param set SYS_MC_EST_GROUP 1
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param set ATT_ACC_COMP 0
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param set ATT_W_ACC 0.4000
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param set ATT_W_GYRO_BIAS 0.0000
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fi
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param set SYS_AUTOCONFIG 0
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fi
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#
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# Check if PX4IO present and update firmware if needed.
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# Assumption IOFW set to firware file and IO_PRESENT = no
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#
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if [ -f $IOFW ]
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then
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# Check for the mini using build with px4io fw file
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# but not a px4IO
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if ! ver hwtypecmp V540
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then
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if px4io checkcrc ${IOFW}
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then
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set IO_PRESENT yes
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else
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# tune Program PX4IO
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tune_control play -t 18
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if px4io start
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then
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# Try to safety px4 io so motor outputs don't go crazy.
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if ! px4io safety_on
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then
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# px4io did not respond to the safety command.
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px4io stop
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fi
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fi
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if px4io forceupdate 14662 ${IOFW}
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then
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usleep 10000
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tune_control stop
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if px4io checkcrc ${IOFW}
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then
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echo "PX4IO CRC OK after updating" >> $LOG_FILE
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#tune MLL8CDE Program PX4IO success
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tune_control play -t 19
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set IO_PRESENT yes
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fi
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fi
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if [ $IO_PRESENT == no ]
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then
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echo "PX4IO update failed" >> $LOG_FILE
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# Error tune.
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tune_control play -t 20
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fi
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fi
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fi
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fi
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#
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# Set USE_IO flag.
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#
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if param compare SYS_USE_IO 1
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then
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set USE_IO yes
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fi
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if [ $USE_IO == yes -a $IO_PRESENT == no ]
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then
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echo "PX4IO not found" >> $LOG_FILE
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# Error tune.
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tune_control play -t 2
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fi
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if [ $IO_PRESENT == no -o $USE_IO == no ]
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then
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rc_input start
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fi
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#
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# Sensors System (start before Commander so Preflight checks are properly run).
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# Commander needs to be this early for in-air-restarts.
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#
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if param compare SYS_HITL 1
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then
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set OUTPUT_MODE hil
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sensors start -h
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commander start --hil
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# disable GPS
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param set GPS_1_CONFIG 0
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else
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sh /etc/init.d/rc.sensors
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commander start
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fi
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# Sensors on the PWM interface bank.
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if param compare SENS_EN_LL40LS 1
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then
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# Clear pins 5 and 6.
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set FMU_MODE pwm4
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set AUX_MODE pwm4
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fi
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if param greater TRIG_MODE 0
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then
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# We ONLY support trigger on pins 5 and 6 when simultanously using AUX for actuator output.
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if param compare TRIG_PINS 56
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then
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# clear pins 5 and 6
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set FMU_MODE pwm4
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set AUX_MODE pwm4
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else
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set FMU_MODE none
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set AUX_MODE none
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fi
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camera_trigger start
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param set CAM_FBACK_MODE 1
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camera_feedback start
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fi
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#
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# Check if UAVCAN is enabled, default to it for ESCs.
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#
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if param greater UAVCAN_ENABLE 0
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then
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# Start core UAVCAN module.
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if uavcan start
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then
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if param greater UAVCAN_ENABLE 1
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then
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# Start UAVCAN firmware update server and dynamic node ID allocation server.
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uavcan start fw
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if param greater UAVCAN_ENABLE 2
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then
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set OUTPUT_MODE uavcan_esc
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fi
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fi
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else
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# Error tune.
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tune_control play -t 2
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fi
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fi
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#
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# Start mavlink streams that are not configurable (e.g. on USB).
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#
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sh /etc/init.d/rc.mavlink
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#
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# Start UART/Serial device drivers.
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# Note: rc.serial is auto-generated from Tools/serial/generate_config.py
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#
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sh /etc/init.d/rc.serial
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#
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# Configure vehicle type specific parameters.
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# Note: rc.vehicle_setup is the entry point for rc.interface,
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# rc.fw_apps, rc.mc_apps, rc.ugv_apps, and rc.vtol_apps.
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#
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sh /etc/init.d/rc.vehicle_setup
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#
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# Start the navigator.
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#
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navigator start
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#
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# Start the standalone wind estimator.
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#
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if param compare WEST_EN 1
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then
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wind_estimator start
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fi
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|
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#
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# Start a thermal calibration if required.
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#
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sh /etc/init.d/rc.thermal_cal
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#
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# Start the logger.
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#
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sh /etc/init.d/rc.logging
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|
#
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# Start vmount to control mounts such as gimbals, disabled by default.
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#
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if ! param compare MNT_MODE_IN -1
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then
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vmount start
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fi
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|
|
|
#
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# Launch the flow sensor as a background task.
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#
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if ver hwcmp PX4FMU_V2 PX4FMU_V4 PX4FMU_V4PRO MINDPX_V2 PX4FMU_V5 OMNIBUS_F4SD
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then
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px4flow start &
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fi
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#
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# Start any custom addons.
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|
#
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if [ -f $FEXTRAS ]
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then
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echo "Addons script: ${FEXTRAS}"
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sh $FEXTRAS
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fi
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#
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# End of autostart.
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#
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fi
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#
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# Unset all script parameters to free RAM.
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#
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unset AUX_MODE
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unset DATAMAN_OPT
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unset FAILSAFE
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unset FAILSAFE_AUX
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unset FCONFIG
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unset FEXTRAS
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unset FRC
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unset FMU_ARGS
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unset FMU_MODE
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unset IOFW
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unset IO_PRESENT
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unset LOG_FILE
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unset MAV_TYPE
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unset MIXER
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unset MIXER_AUX
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unset MIXER_FILE
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unset MK_MODE
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unset MKBLCTRL_ARG
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|
unset OUTPUT_DEV
|
|
unset OUTPUT_MODE
|
|
unset PARAM_FILE
|
|
unset PWM_AUX_DISARMED
|
|
unset PWM_AUX_MAX
|
|
unset PWM_AUX_MIN
|
|
unset PWM_AUX_OUT
|
|
unset PWM_AUX_RATE
|
|
unset PWM_OUT
|
|
unset PWM_RATE
|
|
unset PWM_DISARMED
|
|
unset PWM_MAX
|
|
unset PWM_MIN
|
|
unset SDCARD_MIXERS_PATH
|
|
unset USE_IO
|
|
unset VEHICLE_TYPE
|
|
|
|
#
|
|
# Boot is complete, inform MAVLink app(s) that the system is now fully up and running.
|
|
#
|
|
mavlink boot_complete
|