From 9e2eac41ff1eed91177a7ee1ae8aae4e40fec43a Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Fri, 23 Dec 2016 09:06:49 +0100
Subject: [PATCH] ROMFS startup: Fix variable expansion for new NuttX scheme
---
ROMFS/px4fmu_common/init.d/rc.fw_apps | 4 --
ROMFS/px4fmu_common/init.d/rc.fw_defaults | 4 +-
ROMFS/px4fmu_common/init.d/rc.interface | 32 ++++++-------
ROMFS/px4fmu_common/init.d/rc.io | 2 +-
ROMFS/px4fmu_common/init.d/rcS | 58 +++++++++++++----------
5 files changed, 51 insertions(+), 49 deletions(-)
diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_apps b/ROMFS/px4fmu_common/init.d/rc.fw_apps
index 04a82d506f..040bcbde03 100644
--- a/ROMFS/px4fmu_common/init.d/rc.fw_apps
+++ b/ROMFS/px4fmu_common/init.d/rc.fw_apps
@@ -18,7 +18,3 @@ fw_pos_control_l1 start
# Start Land Detector
#
land_detector start fixedwing
-
-#
-# Misc apps
-#
diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_defaults b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
index 4f55e481e1..bc5074ed5a 100644
--- a/ROMFS/px4fmu_common/init.d/rc.fw_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
@@ -11,10 +11,10 @@ then
param set RTL_DESCEND_ALT 100
param set RTL_LAND_DELAY -1
- # FW uses L1 distance for acceptance radius
+ # FW uses L1 distance for acceptance radius
# set a smaller NAV_ACC_RAD for vertical acceptance distance
param set NAV_ACC_RAD 10
-
+
param set MIS_LTRMIN_ALT 25
param set MIS_TAKEOFF_ALT 25
fi
diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface
index d74dfd2d86..bf986b3c5e 100644
--- a/ROMFS/px4fmu_common/init.d/rc.interface
+++ b/ROMFS/px4fmu_common/init.d/rc.interface
@@ -19,7 +19,7 @@ then
if [ $MIXER_AUX == none -a $USE_IO == yes ]
then
- set MIXER_AUX $MIXER.aux
+ set MIXER_AUX ${MIXER}.aux
fi
# Use the mixer file from the SD-card if it exists
@@ -54,13 +54,13 @@ then
set OUTPUT_DEV /dev/tap_esc
fi
- if mixer load $OUTPUT_DEV $MIXER_FILE
+ if mixer load ${OUTPUT_DEV} ${MIXER_FILE}
then
echo "INFO [init] Mixer: ${MIXER_FILE} on ${OUTPUT_DEV}"
else
echo "ERROR [init] Failed loading mixer: ${MIXER_FILE}"
echo "ERROR [init] Failed loading mixer: ${MIXER_FILE}" >> $LOG_FILE
- tone_alarm $TUNE_ERR
+ tone_alarm ${TUNE_ERR}
fi
unset MIXER_FILE
@@ -69,7 +69,7 @@ else
then
echo "ERROR [init] Mixer undefined"
echo "ERROR [init] Mixer undefined" >> $LOG_FILE
- tone_alarm $TUNE_ERR
+ tone_alarm ${TUNE_ERR}
fi
fi
@@ -82,7 +82,7 @@ then
#
if [ $PWM_RATE != none ]
then
- pwm rate -c $PWM_OUT -r $PWM_RATE
+ pwm rate -c ${PWM_OUT} -r ${PWM_RATE}
fi
#
@@ -90,21 +90,21 @@ then
#
if [ $PWM_DISARMED != none ]
then
- pwm disarmed -c $PWM_OUT -p $PWM_DISARMED
+ pwm disarmed -c ${PWM_OUT} -p ${PWM_DISARMED}
fi
if [ $PWM_MIN != none ]
then
- pwm min -c $PWM_OUT -p $PWM_MIN
+ pwm min -c ${PWM_OUT} -p ${PWM_MIN}
fi
if [ $PWM_MAX != none ]
then
- pwm max -c $PWM_OUT -p $PWM_MAX
+ pwm max -c ${PWM_OUT} -p ${PWM_MAX}
fi
fi
if [ $FAILSAFE != none ]
then
- pwm failsafe -d $OUTPUT_DEV $FAILSAFE
+ pwm failsafe -d ${OUTPUT_DEV} ${FAILSAFE}
fi
fi
@@ -157,7 +157,7 @@ then
# Append aux mixer to main device
if [ $OUTPUT_MODE == hil ]
then
- if mixer append $OUTPUT_DEV $MIXER_AUX_FILE
+ if mixer append ${OUTPUT_DEV} ${MIXER_AUX_FILE}
then
echo "INFO [init] Mixer: ${MIXER_AUX_FILE} appended to ${OUTPUT_DEV}"
else
@@ -167,7 +167,7 @@ then
fi
if [ -e $OUTPUT_AUX_DEV -a $OUTPUT_MODE != hil ]
then
- if mixer load $OUTPUT_AUX_DEV $MIXER_AUX_FILE
+ if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
then
echo "INFO [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
else
@@ -180,7 +180,7 @@ then
fi
else
echo "ERROR: Could not start: fmu mode_pwm" >> $LOG_FILE
- tone_alarm $TUNE_ERR
+ tone_alarm ${TUNE_ERR}
set PWM_AUX_OUT none
set FAILSAFE_AUX none
fi
@@ -193,16 +193,16 @@ then
#
if [ $PWM_AUX_RATE != none ]
then
- pwm rate -c $PWM_AUX_OUT -r $PWM_AUX_RATE -d $OUTPUT_AUX_DEV
+ pwm rate -c ${PWM_AUX_OUT} -r ${PWM_AUX_RATE} -d ${OUTPUT_AUX_DEV}
fi
if [ $PWM_AUX_MIN != none ]
then
- pwm min -c $PWM_AUX_OUT -p $PWM_AUX_MIN -d $OUTPUT_AUX_DEV
+ pwm min -c ${PWM_AUX_OUT} -p ${PWM_AUX_MIN} -d ${OUTPUT_AUX_DEV}
fi
if [ $PWM_AUX_MAX != none ]
then
- pwm max -c $PWM_AUX_OUT -p $PWM_AUX_MAX -d $OUTPUT_AUX_DEV
+ pwm max -c ${PWM_AUX_OUT} -p ${PWM_AUX_MAX} -d ${OUTPUT_AUX_DEV}
fi
fi
@@ -225,7 +225,7 @@ then
if [ $FAILSAFE_AUX != none ]
then
- pwm failsafe -d $OUTPUT_AUX_DEV $FAILSAFE
+ pwm failsafe -d ${OUTPUT_AUX_DEV} ${FAILSAFE}
fi
fi
diff --git a/ROMFS/px4fmu_common/init.d/rc.io b/ROMFS/px4fmu_common/init.d/rc.io
index fc1c45604a..5b50676bcf 100644
--- a/ROMFS/px4fmu_common/init.d/rc.io
+++ b/ROMFS/px4fmu_common/init.d/rc.io
@@ -16,6 +16,6 @@ then
set PX4IO_LIMIT 200
fi
-if px4io limit $PX4IO_LIMIT
+if px4io limit ${PX4IO_LIMIT}
then
fi
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 8f84b3a736..f869f01863 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -2,7 +2,13 @@
#
# PX4FMU startup script.
#
-# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
+# NOTE: environment variable references:
+# If the dollar sign ('$') is followed by a left bracket ('{') then the
+# variable name is terminated with the right bracket character ('}').
+# Otherwise, the variable name goes to the end of the argument.
+#
+#
+# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
#
# UART mapping on FMUv1/2/3/4:
#
@@ -85,7 +91,7 @@ fi
set FRC /fs/microsd/etc/rc.txt
if [ -f $FRC ]
then
- echo "INFO [init] Executing script: $FRC"
+ echo "INFO [init] Executing script: ${FRC}"
sh $FRC
set MODE custom
fi
@@ -271,7 +277,7 @@ then
set FCONFIG /fs/microsd/etc/config.txt
if [ -f $FCONFIG ]
then
- echo "Custom: $FCONFIG"
+ echo "Custom: ${FCONFIG}"
sh $FCONFIG
fi
unset FCONFIG
@@ -322,7 +328,7 @@ then
if px4io forceupdate 14662 ${IO_FILE}
then
usleep 10000
- if px4io checkcrc $IO_FILE
+ if px4io checkcrc ${IO_FILE}
then
echo "PX4IO CRC OK after updating" >> $LOG_FILE
tone_alarm MLL8CDE
@@ -330,11 +336,11 @@ then
set IO_PRESENT yes
else
echo "PX4IO update failed" >> $LOG_FILE
- tone_alarm $TUNE_ERR
+ tone_alarm ${TUNE_ERR}
fi
else
echo "PX4IO update failed" >> $LOG_FILE
- tone_alarm $TUNE_ERR
+ tone_alarm ${TUNE_ERR}
fi
fi
unset IO_FILE
@@ -342,7 +348,7 @@ then
if [ $IO_PRESENT == no ]
then
echo "PX4IO not found" >> $LOG_FILE
- tone_alarm $TUNE_ERR
+ tone_alarm ${TUNE_ERR}
fi
fi
@@ -539,10 +545,10 @@ then
else
if [ $OUTPUT_MODE != fmu -a $OUTPUT_MODE != ardrone ]
then
- if fmu mode_$FMU_MODE
+ if fmu mode_${FMU_MODE}
then
else
- echo "FMU mode_$FMU_MODE start failed" >> $LOG_FILE
+ echo "FMU mode_${FMU_MODE} start failed" >> $LOG_FILE
tone_alarm $TUNE_ERR
fi
@@ -597,7 +603,7 @@ then
if [ "x$MAVLINK_F" == xnone ]
then
else
- mavlink start $MAVLINK_F
+ mavlink start ${MAVLINK_F}
fi
unset MAVLINK_F
@@ -611,7 +617,7 @@ then
# but this works for now
if param compare SYS_COMPANION 10
then
- frsky_telemetry start -d $MAVLINK_COMPANION_DEVICE
+ frsky_telemetry start -d ${MAVLINK_COMPANION_DEVICE}
fi
if param compare SYS_COMPANION 20
then
@@ -620,31 +626,31 @@ then
fi
if param compare SYS_COMPANION 921600
then
- mavlink start -d $MAVLINK_COMPANION_DEVICE -b 921600 -m onboard -r 80000 -x
+ 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
+ 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
+ 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
+ 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
+ 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
+ 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
+ mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -r 1000
fi
if param compare SYS_COMPANION 419200
then
@@ -653,11 +659,11 @@ then
fi
if param compare SYS_COMPANION 1921600
then
- mavlink start -d $MAVLINK_COMPANION_DEVICE -b 921600 -r 20000
+ 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
+ mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 1500000 -m onboard -r 10000 -x
fi
fi
@@ -672,7 +678,7 @@ then
then
uavcan start fw
else
- tone_alarm $TUNE_ERR
+ tone_alarm ${TUNE_ERR}
fi
fi
@@ -780,7 +786,7 @@ then
set LOGGER_ARGS "-f"
fi
- if logger start -b 12 -t $LOGGER_ARGS
+ if logger start -b 12 -t ${LOGGER_ARGS}
then
fi
unset LOGGER_ARGS
@@ -812,7 +818,7 @@ then
set MAV_TYPE 1
fi
- param set MAV_TYPE $MAV_TYPE
+ param set MAV_TYPE ${MAV_TYPE}
# Load mixer and configure outputs
sh /etc/init.d/rc.interface
@@ -878,7 +884,7 @@ then
echo "Unknown MAV_TYPE"
param set MAV_TYPE 2
else
- param set MAV_TYPE $MAV_TYPE
+ param set MAV_TYPE ${MAV_TYPE}
fi
# Load mixer and configure outputs
@@ -921,7 +927,7 @@ then
echo "Unknown MAV_TYPE"
param set MAV_TYPE 19
else
- param set MAV_TYPE $MAV_TYPE
+ param set MAV_TYPE ${MAV_TYPE}
fi
# Load mixer and configure outputs
@@ -1009,7 +1015,7 @@ then
set FEXTRAS /fs/microsd/etc/extras.txt
if [ -f $FEXTRAS ]
then
- echo "Addons script: $FEXTRAS"
+ echo "Addons script: ${FEXTRAS}"
sh $FEXTRAS
fi
unset FEXTRAS
--
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