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ce106a8324
This disables the safety switch when Pixracer is configured. It does not change existing setups and it can be re-enabled after. This might be the more sensible default for a racing board.
1058 lines
18 KiB
Plaintext
1058 lines
18 KiB
Plaintext
#!nsh
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#
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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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# UART mapping on FMUv1/2/3/4:
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#
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# UART1 /dev/ttyS0 IO debug
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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 SERIAL4
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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 ?
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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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# 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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# Default to auto-start mode.
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#
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set MODE autostart
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set TUNE_ERR ML<<CP4CP4CP4CP4CP4
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set LOG_FILE /fs/microsd/bootlog.txt
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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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echo "[i] microSD mounted: /fs/microsd"
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if hardfault_log check
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then
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tone_alarm error
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if hardfault_log commit
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then
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hardfault_log reset
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tone_alarm stop
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fi
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else
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# Start playing the startup tune
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tone_alarm start
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fi
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else
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tone_alarm MBAGP
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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] MicroSD card formatted"
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else
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echo "ERROR [init] Format failed"
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tone_alarm MNBG
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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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#
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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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set FRC /fs/microsd/etc/rc.txt
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if [ -f $FRC ]
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then
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echo "INFO [init] Executing script: ${FRC}"
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sh $FRC
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set MODE custom
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fi
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unset FRC
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if [ $MODE == autostart ]
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then
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#
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# Start the ORB (first app to start)
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#
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uorb start
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#
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# Load parameters
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#
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set PARAM_FILE /fs/microsd/params
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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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param select $PARAM_FILE
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if param load
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then
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else
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if param reset
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then
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fi
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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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else
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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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# Currently unused, but might be useful down the road
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#if pca8574 start
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#then
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#fi
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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*
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param reset_nostart RC*
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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:
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# 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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# Set default values
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#
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set HIL no
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set VEHICLE_TYPE none
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set MIXER none
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set MIXER_AUX none
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set OUTPUT_MODE none
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set PWM_OUT none
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set PWM_RATE p:PWM_RATE
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set PWM_DISARMED p:PWM_DISARMED
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set PWM_MIN p:PWM_MIN
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set PWM_MAX p:PWM_MAX
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set PWM_AUX_OUT none
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set PWM_AUX_RATE none
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set PWM_ACHDIS none
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set PWM_AUX_DISARMED p:PWM_AUX_DISARMED
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set PWM_AUX_MIN p:PWM_AUX_MIN
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set PWM_AUX_MAX p:PWM_AUX_MAX
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set FAILSAFE_AUX none
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set MK_MODE none
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set FMU_MODE pwm
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set AUX_MODE pwm
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set MAVLINK_F default
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set MAVLINK_COMPANION_DEVICE /dev/ttyS2
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set EXIT_ON_END no
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set MAV_TYPE none
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set FAILSAFE none
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set USE_IO yes
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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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if ver hwcmp PX4FMU_V4
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then
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set USE_IO no
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fi
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if ver hwcmp PX4FMU_V5
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then
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set USE_IO no
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set MAVLINK_COMPANION_DEVICE /dev/ttyS3
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fi
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if ver hwcmp MINDPX_V2
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then
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set USE_IO no
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fi
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if ver hwcmp CRAZYFLIE
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then
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set USE_IO no
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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 AEROFC_V1
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then
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set USE_IO no
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fi
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else
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set USE_IO no
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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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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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else
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sh /etc/init.d/rc.autostart
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fi
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unset MODE
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#
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# Wipe incompatible settings for boards not having two outputs
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if ver hwcmp PX4FMU_V4
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then
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set MIXER_AUX none
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fi
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if ver hwcmp PX4FMU_V5
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then
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set MIXER_AUX none
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fi
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if ver hwcmp AEROFC_V1
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then
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set MIXER_AUX none
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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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set FCONFIG /fs/microsd/etc/config.txt
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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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unset FCONFIG
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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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# Disable safety switch by default on Pixracer
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if ver hwcmp PX4FMU_V4
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then
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param set CBRK_IO_SAFETY 22027
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fi
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param set SYS_AUTOCONFIG 0
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fi
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unset AUTOCNF
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set IO_PRESENT no
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if [ $USE_IO == yes ]
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then
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#
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# Check if PX4IO present and update firmware if needed
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#
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if [ -f /etc/extras/px4io-v2.bin ]
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then
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set IO_FILE /etc/extras/px4io-v2.bin
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else
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set IO_FILE /etc/extras/px4io-v1.bin
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fi
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if px4io checkcrc ${IO_FILE}
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then
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echo "[init] PX4IO CRC OK" >> $LOG_FILE
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set IO_PRESENT yes
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else
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tone_alarm MLL32CP8MB
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if px4io start
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then
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# try to safe px4 io so motor outputs dont go crazy
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if px4io safety_on
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then
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# success! no-op
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else
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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 ${IO_FILE}
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then
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usleep 10000
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if px4io checkcrc ${IO_FILE}
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then
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echo "PX4IO CRC OK after updating" >> $LOG_FILE
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tone_alarm MLL8CDE
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set IO_PRESENT yes
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else
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echo "PX4IO update failed" >> $LOG_FILE
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tone_alarm ${TUNE_ERR}
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fi
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else
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echo "PX4IO update failed" >> $LOG_FILE
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tone_alarm ${TUNE_ERR}
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fi
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fi
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unset IO_FILE
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if [ $IO_PRESENT == no ]
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then
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echo "PX4IO not found" >> $LOG_FILE
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tone_alarm ${TUNE_ERR}
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fi
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fi
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#
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# Set default output if not set
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#
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if [ $OUTPUT_MODE == none ]
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then
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if [ $USE_IO == yes ]
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then
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set OUTPUT_MODE io
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else
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set OUTPUT_MODE fmu
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fi
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fi
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if [ $OUTPUT_MODE == io -a $IO_PRESENT != yes ]
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then
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# Need IO for output but it not present, disable output
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set OUTPUT_MODE none
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# Avoid using ttyS0 for MAVLink on FMUv1
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if ver hwcmp PX4FMU_V1
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then
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set FMU_MODE serial
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fi
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fi
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if [ $OUTPUT_MODE == ardrone ]
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then
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set FMU_MODE gpio_serial
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fi
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if [ $OUTPUT_MODE == tap_esc ]
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then
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set FMU_MODE rcin
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fi
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if [ $HIL == yes ]
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then
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set OUTPUT_MODE hil
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if ver hwcmp PX4FMU_V1
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then
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set FMU_MODE serial
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fi
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unset HIL
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else
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unset HIL
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gps start
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fi
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# waypoint storage
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# REBOOTWORK this needs to start in parallel
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if dataman start
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then
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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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#
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sh /etc/init.d/rc.sensors
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# Needs to be this early for in-air-restarts
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if [ $OUTPUT_MODE == hil ]
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then
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commander start -hil
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else
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commander start
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fi
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#
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# Start CPU load monitor
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#
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load_mon start
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#
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# Start primary output
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#
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set TTYS1_BUSY no
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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 2
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then
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set OUTPUT_MODE uavcan_esc
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fi
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# Sensors on the PWM interface bank
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# clear pins 5 and 6
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if param compare SENS_EN_LL40LS 1
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then
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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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set FMU_MODE pwm4
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set AUX_MODE pwm4
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camera_trigger start
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fi
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# If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output
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if [ $OUTPUT_MODE != none ]
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then
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if [ $OUTPUT_MODE == uavcan_esc ]
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then
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if param compare UAVCAN_ENABLE 0
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then
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echo "OVERRIDING UAVCAN_ENABLE = 3" >> $LOG_FILE
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param set UAVCAN_ENABLE 3
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fi
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fi
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if [ $OUTPUT_MODE == io -o $OUTPUT_MODE == uavcan_esc ]
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then
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if px4io start
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then
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sh /etc/init.d/rc.io
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else
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echo "PX4IO start failed" >> $LOG_FILE
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tone_alarm $TUNE_ERR
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fi
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fi
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if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == ardrone ]
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then
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if fmu mode_$FMU_MODE
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then
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else
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echo "FMU start failed" >> $LOG_FILE
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tone_alarm $TUNE_ERR
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fi
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if ver hwcmp PX4FMU_V1
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then
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if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ]
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then
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set TTYS1_BUSY yes
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fi
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if [ $FMU_MODE == pwm_gpio -o $OUTPUT_MODE == ardrone ]
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then
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set TTYS1_BUSY yes
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fi
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fi
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fi
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if [ $OUTPUT_MODE == mkblctrl ]
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then
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set MKBLCTRL_ARG ""
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if [ $MKBLCTRL_MODE == x ]
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then
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set MKBLCTRL_ARG "-mkmode x"
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fi
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if [ $MKBLCTRL_MODE == + ]
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then
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set MKBLCTRL_ARG "-mkmode +"
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fi
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|
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if mkblctrl $MKBLCTRL_ARG
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then
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else
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echo "MK start failed" >> $LOG_FILE
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tone_alarm $TUNE_ERR
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fi
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unset MKBLCTRL_ARG
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fi
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unset MK_MODE
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if [ $OUTPUT_MODE == hil ]
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then
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if pwm_out_sim mode_pwm16
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then
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else
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tone_alarm $TUNE_ERR
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fi
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fi
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|
|
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#
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# Start IO or FMU for RC PPM input if needed
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#
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if [ $IO_PRESENT == yes ]
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then
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if [ $OUTPUT_MODE != io ]
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then
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if px4io start
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then
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sh /etc/init.d/rc.io
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else
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echo "PX4IO start failed" >> $LOG_FILE
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tone_alarm $TUNE_ERR
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fi
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fi
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else
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if [ $OUTPUT_MODE != fmu -a $OUTPUT_MODE != ardrone ]
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then
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if fmu mode_${FMU_MODE}
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then
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else
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echo "FMU mode_${FMU_MODE} start failed" >> $LOG_FILE
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tone_alarm $TUNE_ERR
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fi
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|
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if ver hwcmp PX4FMU_V1
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then
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if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ]
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then
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set TTYS1_BUSY yes
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fi
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if [ $FMU_MODE == pwm_gpio -o $OUTPUT_MODE == ardrone ]
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then
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set TTYS1_BUSY yes
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fi
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fi
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|
fi
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|
fi
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|
fi
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|
|
|
if [ $MAVLINK_F == default ]
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then
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# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s
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if [ $TTYS1_BUSY == yes ]
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then
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# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else
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set MAVLINK_F "-r 1200 -d /dev/ttyS0"
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|
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# Exit from nsh to free port for mavlink
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set EXIT_ON_END yes
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|
else
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set MAVLINK_F "-r 1200"
|
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# Avoid using ttyS1 for MAVLink on FMUv4
|
|
if ver hwcmp PX4FMU_V4
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then
|
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set MAVLINK_F "-r 1200 -d /dev/ttyS1"
|
|
# Start MAVLink on Wifi (ESP8266 port)
|
|
mavlink start -r 20000 -m config -b 921600 -d /dev/ttyS0
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|
fi
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|
|
|
if ver hwcmp AEROFC_V1
|
|
then
|
|
set MAVLINK_F "-r 1200 -d /dev/ttyS4"
|
|
fi
|
|
fi
|
|
|
|
if ver hwcmp CRAZYFLIE
|
|
then
|
|
# Avoid using either of the two available serials
|
|
set MAVLINK_F none
|
|
fi
|
|
fi
|
|
|
|
if [ "x$MAVLINK_F" == xnone ]
|
|
then
|
|
else
|
|
mavlink start ${MAVLINK_F}
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|
fi
|
|
unset MAVLINK_F
|
|
|
|
#
|
|
# MAVLink onboard / TELEM2
|
|
#
|
|
if ver hwcmp PX4FMU_V1
|
|
then
|
|
else
|
|
# XXX We need a better way for runtime eval of shell variables,
|
|
# but this works for now
|
|
if param compare SYS_COMPANION 10
|
|
then
|
|
frsky_telemetry start -d ${MAVLINK_COMPANION_DEVICE}
|
|
fi
|
|
if param compare SYS_COMPANION 20
|
|
then
|
|
syslink start
|
|
mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000
|
|
fi
|
|
if param compare SYS_COMPANION 921600
|
|
then
|
|
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -m onboard -r 80000 -x
|
|
fi
|
|
if param compare SYS_COMPANION 57600
|
|
then
|
|
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m onboard -r 5000 -x
|
|
fi
|
|
if param compare SYS_COMPANION 157600
|
|
then
|
|
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m osd -r 1000
|
|
fi
|
|
if param compare SYS_COMPANION 257600
|
|
then
|
|
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m magic -r 5000 -x
|
|
fi
|
|
if param compare SYS_COMPANION 319200
|
|
then
|
|
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 19200 -r 1000
|
|
fi
|
|
if param compare SYS_COMPANION 338400
|
|
then
|
|
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 38400 -r 1000
|
|
fi
|
|
if param compare SYS_COMPANION 357600
|
|
then
|
|
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -r 1000
|
|
fi
|
|
if param compare SYS_COMPANION 419200
|
|
then
|
|
iridiumsbd start -d /dev/ttyS2
|
|
mavlink start -d /dev/iridium -b 19200 -m iridium -r 10
|
|
fi
|
|
if param compare SYS_COMPANION 1921600
|
|
then
|
|
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -r 20000
|
|
fi
|
|
if param compare SYS_COMPANION 1500000
|
|
then
|
|
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 1500000 -m onboard -r 10000 -x
|
|
fi
|
|
fi
|
|
|
|
unset MAVLINK_COMPANION_DEVICE
|
|
|
|
#
|
|
# Starting stuff according to UAVCAN_ENABLE value
|
|
#
|
|
if param greater UAVCAN_ENABLE 0
|
|
then
|
|
if uavcan start
|
|
then
|
|
uavcan start fw
|
|
else
|
|
tone_alarm ${TUNE_ERR}
|
|
fi
|
|
fi
|
|
|
|
#
|
|
# Optional drivers
|
|
#
|
|
|
|
# Sensors on the PWM interface bank
|
|
if param compare SENS_EN_LL40LS 1
|
|
then
|
|
if pwm_input start
|
|
then
|
|
if ll40ls start pwm
|
|
then
|
|
fi
|
|
fi
|
|
fi
|
|
|
|
# lightware serial lidar sensor
|
|
if param compare SENS_EN_SF0X 0
|
|
then
|
|
else
|
|
sf0x start
|
|
fi
|
|
|
|
# lightware i2c lidar sensor
|
|
if param compare SENS_EN_SF1XX 0
|
|
then
|
|
else
|
|
sf1xx start
|
|
fi
|
|
|
|
# mb12xx sonar sensor
|
|
if param compare SENS_EN_MB12XX 1
|
|
then
|
|
mb12xx start
|
|
fi
|
|
|
|
# teraranger one tof sensor
|
|
if param compare SENS_EN_TRONE 1
|
|
then
|
|
trone start
|
|
fi
|
|
|
|
if ver hwcmp PX4FMU_V4
|
|
then
|
|
frsky_telemetry start -d /dev/ttyS6
|
|
fi
|
|
|
|
if ver hwcmp MINDPX_V2
|
|
then
|
|
frsky_telemetry start -d /dev/ttyS6
|
|
fi
|
|
|
|
if ver hwcmp PX4FMU_V2
|
|
then
|
|
# Check for flow sensor - as it is a background task, launch it last
|
|
px4flow start &
|
|
fi
|
|
|
|
if ver hwcmp PX4FMU_V4
|
|
then
|
|
# Check for flow sensor - as it is a background task, launch it last
|
|
px4flow start &
|
|
fi
|
|
|
|
if ver hwcmp MINDPX_V2
|
|
then
|
|
px4flow start &
|
|
fi
|
|
|
|
# Start MAVLink
|
|
mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
|
|
|
|
#
|
|
# Logging
|
|
#
|
|
if ver hwcmp PX4FMU_V1
|
|
then
|
|
if sdlog2 start -r 30 -a -b 2 -t
|
|
then
|
|
fi
|
|
else
|
|
if param compare SYS_LOGGER 0
|
|
then
|
|
# check if we should increase logging rate for ekf2 replay message logging
|
|
if param greater EKF2_REC_RPL 0
|
|
then
|
|
if sdlog2 start -r 500 -e -b 18 -t
|
|
then
|
|
fi
|
|
else
|
|
if sdlog2 start -r 100 -a -b 9 -t
|
|
then
|
|
fi
|
|
fi
|
|
else
|
|
set LOGGER_ARGS ""
|
|
if param compare SDLOG_MODE 1
|
|
then
|
|
set LOGGER_ARGS "-e"
|
|
fi
|
|
if param compare SDLOG_MODE 2
|
|
then
|
|
set LOGGER_ARGS "-f"
|
|
fi
|
|
|
|
if logger start -b 12 -t ${LOGGER_ARGS}
|
|
then
|
|
fi
|
|
unset LOGGER_ARGS
|
|
fi
|
|
fi
|
|
|
|
#
|
|
# Start up ARDrone Motor interface
|
|
#
|
|
if [ $OUTPUT_MODE == ardrone ]
|
|
then
|
|
ardrone_interface start -d /dev/ttyS1
|
|
fi
|
|
|
|
#
|
|
# Fixed wing setup
|
|
#
|
|
if [ $VEHICLE_TYPE == fw ]
|
|
then
|
|
if [ $MIXER == none ]
|
|
then
|
|
# Set default mixer for fixed wing if not defined
|
|
set MIXER AERT
|
|
fi
|
|
|
|
if [ $MAV_TYPE == none ]
|
|
then
|
|
# Use MAV_TYPE = 1 (fixed wing) if not defined
|
|
set MAV_TYPE 1
|
|
fi
|
|
|
|
param set MAV_TYPE ${MAV_TYPE}
|
|
|
|
# Load mixer and configure outputs
|
|
sh /etc/init.d/rc.interface
|
|
|
|
# Start standard fixedwing apps
|
|
sh /etc/init.d/rc.fw_apps
|
|
fi
|
|
|
|
#
|
|
# Multicopters setup
|
|
#
|
|
if [ $VEHICLE_TYPE == mc ]
|
|
then
|
|
if [ $MIXER == none ]
|
|
then
|
|
echo "Mixer undefined"
|
|
fi
|
|
|
|
if [ $MAV_TYPE == none ]
|
|
then
|
|
# Use mixer to detect vehicle type
|
|
if [ $MIXER == quad_x -o $MIXER == quad_+ ]
|
|
then
|
|
set MAV_TYPE 2
|
|
fi
|
|
if [ $MIXER == quad_w -o $MIXER == quad_dc ]
|
|
then
|
|
set MAV_TYPE 2
|
|
fi
|
|
if [ $MIXER == quad_h ]
|
|
then
|
|
set MAV_TYPE 2
|
|
fi
|
|
if [ $MIXER == tri_y_yaw- -o $MIXER == tri_y_yaw+ ]
|
|
then
|
|
set MAV_TYPE 15
|
|
fi
|
|
if [ $MIXER == hexa_x -o $MIXER == hexa_+ ]
|
|
then
|
|
set MAV_TYPE 13
|
|
fi
|
|
if [ $MIXER == hexa_cox ]
|
|
then
|
|
set MAV_TYPE 13
|
|
fi
|
|
if [ $MIXER == octo_x -o $MIXER == octo_+ ]
|
|
then
|
|
set MAV_TYPE 14
|
|
fi
|
|
if [ $MIXER == octo_cox -o $MIXER == octo_cox_w ]
|
|
then
|
|
set MAV_TYPE 14
|
|
fi
|
|
if [ $MIXER == coax ]
|
|
then
|
|
set MAV_TYPE 3
|
|
fi
|
|
fi
|
|
|
|
# Still no MAV_TYPE found
|
|
if [ $MAV_TYPE == none ]
|
|
then
|
|
echo "Unknown MAV_TYPE"
|
|
param set MAV_TYPE 2
|
|
else
|
|
param set MAV_TYPE ${MAV_TYPE}
|
|
fi
|
|
|
|
# Load mixer and configure outputs
|
|
sh /etc/init.d/rc.interface
|
|
|
|
# Start standard multicopter apps
|
|
sh /etc/init.d/rc.mc_apps
|
|
fi
|
|
|
|
#
|
|
# VTOL setup
|
|
#
|
|
if [ $VEHICLE_TYPE == vtol ]
|
|
then
|
|
if [ $MIXER == none ]
|
|
then
|
|
echo "VTOL mixer undefined"
|
|
fi
|
|
|
|
if [ $MAV_TYPE == none ]
|
|
then
|
|
# Use mixer to detect vehicle type
|
|
if [ $MIXER == caipirinha_vtol ]
|
|
then
|
|
set MAV_TYPE 19
|
|
fi
|
|
if [ $MIXER == firefly6 ]
|
|
then
|
|
set MAV_TYPE 21
|
|
fi
|
|
if [ $MIXER == quad_x_pusher_vtol ]
|
|
then
|
|
set MAV_TYPE 22
|
|
fi
|
|
fi
|
|
|
|
# Still no MAV_TYPE found
|
|
if [ $MAV_TYPE == none ]
|
|
then
|
|
echo "Unknown MAV_TYPE"
|
|
param set MAV_TYPE 19
|
|
else
|
|
param set MAV_TYPE ${MAV_TYPE}
|
|
fi
|
|
|
|
# Load mixer and configure outputs
|
|
sh /etc/init.d/rc.interface
|
|
|
|
# Start standard vtol apps
|
|
sh /etc/init.d/rc.vtol_apps
|
|
fi
|
|
|
|
#
|
|
# Rover setup
|
|
#
|
|
if [ $VEHICLE_TYPE == rover ]
|
|
then
|
|
# 10 is MAV_TYPE_GROUND_ROVER
|
|
set MAV_TYPE 10
|
|
|
|
# Load mixer and configure outputs
|
|
sh /etc/init.d/rc.interface
|
|
|
|
# Start standard rover apps
|
|
sh /etc/init.d/rc.axialracing_ax10_apps
|
|
|
|
param set MAV_TYPE 10
|
|
fi
|
|
|
|
#
|
|
# For snapdragon, we need a passthrough mode
|
|
# Do not run any mavlink instances since we need the serial port for
|
|
# communication with Snapdragon.
|
|
#
|
|
if [ $VEHICLE_TYPE == passthrough ]
|
|
then
|
|
mavlink stop-all
|
|
commander stop
|
|
|
|
# Stop multicopter attitude controller if it is running, the controls come
|
|
# from Snapdragon.
|
|
if mc_att_control stop
|
|
then
|
|
fi
|
|
|
|
# Start snapdragon interface on serial port.
|
|
if ver hwcmp PX4FMU_V2
|
|
then
|
|
# On Pixfalcon use the standard telemetry port (Telem 1).
|
|
snapdragon_rc_pwm start -d /dev/ttyS1
|
|
px4io start
|
|
fi
|
|
|
|
if ver hwcmp PX4FMU_V4
|
|
then
|
|
# On Pixracer use Telem 2 port (TL2).
|
|
snapdragon_rc_pwm start -d /dev/ttyS2
|
|
fmu mode_pwm4
|
|
fi
|
|
|
|
pwm failsafe -c 1234 -p 900
|
|
pwm disarmed -c 1234 -p 900
|
|
|
|
# Arm straightaway.
|
|
pwm arm
|
|
# Use 400 Hz PWM on all channels.
|
|
pwm rate -a -r 400
|
|
fi
|
|
|
|
unset MIXER
|
|
unset MAV_TYPE
|
|
unset OUTPUT_MODE
|
|
|
|
#
|
|
# Start the navigator
|
|
#
|
|
navigator start
|
|
|
|
#
|
|
# Generic setup (autostart ID not found)
|
|
#
|
|
if [ $VEHICLE_TYPE == none ]
|
|
then
|
|
echo "No autostart ID found"
|
|
fi
|
|
|
|
# Start any custom addons
|
|
set FEXTRAS /fs/microsd/etc/extras.txt
|
|
if [ -f $FEXTRAS ]
|
|
then
|
|
echo "Addons script: ${FEXTRAS}"
|
|
sh $FEXTRAS
|
|
fi
|
|
unset FEXTRAS
|
|
|
|
if ver hwcmp CRAZYFLIE
|
|
then
|
|
# CF2 shouldn't have an sd card
|
|
else
|
|
|
|
# Run no SD alarm
|
|
if [ $LOG_FILE == /dev/null ]
|
|
then
|
|
# Play SOS
|
|
tone_alarm error
|
|
fi
|
|
|
|
fi
|
|
|
|
# End of autostart
|
|
fi
|
|
|
|
# There is no further script processing, so we can free some RAM
|
|
# XXX potentially unset all script variables.
|
|
unset TUNE_ERR
|
|
|
|
# Boot is complete, inform MAVLink app(s) that the system is now fully up and running
|
|
mavlink boot_complete
|
|
|
|
if [ $EXIT_ON_END == yes ]
|
|
then
|
|
echo "NSH exit"
|
|
exit
|
|
fi
|
|
unset EXIT_ON_END
|