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Alberto Ruiz Garcia
Firmware
Commits
e2eb8404
Commit
e2eb8404
authored
7 years ago
by
mcsauder
Committed by
Beat Küng
7 years ago
Browse files
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Group hardware specific logic in rcS, deprecate the MODE parameter from rcS, and update comments.
parent
4e3f7bdc
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ROMFS/px4fmu_common/init.d/rc.logging
+2
-3
2 additions, 3 deletions
ROMFS/px4fmu_common/init.d/rc.logging
ROMFS/px4fmu_common/init.d/rcS
+64
-57
64 additions, 57 deletions
ROMFS/px4fmu_common/init.d/rcS
with
66 additions
and
60 deletions
ROMFS/px4fmu_common/init.d/rc.logging
+
2
−
3
View file @
e2eb8404
#!nsh
#
L
ogging
#
Standard startup script for l
ogging
.
#
#
Standard startup script for logging
#
NOTE: Script variables are declared/initialized/unset in the rcS script.
#
set LOGGER_ARGS ""
...
...
@@ -24,4 +24,3 @@ fi
logger start -b ${LOGGER_BUF} -t ${LOGGER_ARGS}
unset LOGGER_ARGS
unset LOGGER_BUF
This diff is collapsed.
Click to expand it.
ROMFS/px4fmu_common/init.d/rcS
+
64
−
57
View file @
e2eb8404
...
...
@@ -37,7 +37,6 @@ set MIXER none
set MIXER_AUX none
set MK_MODE none
set MKBLCTRL_ARG ""
set MODE autostart
set OUTPUT_MODE none
set PARAM_FILE /fs/microsd/params
set PWM_OUT none
...
...
@@ -61,17 +60,19 @@ set VEHICLE_TYPE none
mount -t procfs /proc
#
# Start CDC/ACM serial driver
# Start CDC/ACM serial driver
.
#
sercon
# print full system version
#
# Print full system version.
#
ver all
#
# Try to mount the microSD card.
#
# REBOOTWORK this needs to start after the flight control loop
# REBOOTWORK this needs to start after the flight control loop
.
if mount -t vfat /dev/mmcsd0 /fs/microsd
then
if hardfault_log check
...
...
@@ -119,34 +120,33 @@ fi
if [ -f $FRC ]
then
sh $FRC
set MODE custom
fi
if [ $MODE == autostart ]
then
else
#
# Start the ORB (first app to start)
# Start the ORB (first app to start)
.
#
uorb start
#
# Start tone driver
# Start tone driver
.
#
tone_alarm start
#
# play startup tone
# play startup tone
.
#
tune_control play -t 1
#
#
Load
parameter
s
#
Set the
parameter
file if mtd starts successfully.
#
if mtd start
then
set PARAM_FILE /fs/mtd_params
fi
#
# Load parameters.
#
param select $PARAM_FILE
if param load
then
...
...
@@ -157,7 +157,7 @@ then
fi
#
# Start system state indicator
# Start system state indicator
.
#
if rgbled start
then
...
...
@@ -168,11 +168,13 @@ then
fi
fi
# FMUv5 may have both PWM I2C RGB LED support
#
# FMUv5 may have both PWM I2C RGB LED support.
#
rgbled_pwm start
#
# Set AUTOCNF flag to use it in AUTOSTART scripts
# Set AUTOCNF flag to use it in AUTOSTART scripts
.
#
if param compare SYS_AUTOCONFIG 1
then
...
...
@@ -184,8 +186,8 @@ then
#
# Release 1.4.0 transitional support:
# set to old default if unconfigured
.
# this preserves the previous behaviour
# set to old default if unconfigured
,
# this preserves the previous behaviour
.
#
if param compare BAT_N_CELLS 0
then
...
...
@@ -193,6 +195,10 @@ then
fi
fi
###############################################################################
# Begin setup for board specific configurations. #
###############################################################################
if ver hwcmp PX4FMU_V5
then
set LOGGER_BUF 64
...
...
@@ -207,6 +213,11 @@ then
fi
fi
if ver hwcmp AEROCORE2
then
set DATAMAN_OPT "-f /fs/mtd_dataman"
fi
if ver hwcmp AEROFC_V1
then
if param compare SYS_AUTOSTART 0
...
...
@@ -215,8 +226,10 @@ then
fi
# We don't allow changing AUTOSTART as it doesn't work in
# other configurations
# other configurations
.
param set SYS_AUTOSTART 4070
set DATAMAN_OPT -i
fi
if ver hwcmp NXPHLITE_V3
...
...
@@ -224,8 +237,12 @@ then
param set SYS_FMU_TASK 1
fi
###############################################################################
# End Setup for board specific configurations. #
###############################################################################
#
# Set USE_IO flag
# Set USE_IO flag
.
#
if param compare SYS_USE_IO 1
then
...
...
@@ -238,7 +255,7 @@ then
fi
#
# Set parameters and env variables for selected AUTOSTART
# Set parameters and env variables for selected AUTOSTART
.
#
if param compare SYS_AUTOSTART 0
then
...
...
@@ -248,7 +265,7 @@ then
#
# If mount (gimbal) control is enabled and output mode is AUX, set the aux
# mixer to mount (override the airframe-specific MIXER_AUX setting)
# mixer to mount (override the airframe-specific MIXER_AUX setting)
.
#
if param compare MNT_MODE_IN -1
then
...
...
@@ -260,7 +277,7 @@ then
fi
#
# Override parameters from user configuration file
# Override parameters from user configuration file
.
#
if [ -f $FCONFIG ]
then
...
...
@@ -269,7 +286,7 @@ then
fi
#
# If autoconfig parameter was set, reset it and save parameters
# If autoconfig parameter was set, reset it and save parameters
.
#
if [ $AUTOCNF == yes ]
then
...
...
@@ -279,7 +296,7 @@ then
param set CBRK_IO_SAFETY 22027
fi
# Run FMU as task on Pixracer and on boards with enough RAM
# Run FMU as task on Pixracer and on boards with enough RAM
.
if ver hwcmp PX4FMU_V4 PX4FMU_V4PRO PX4FMU_V5
then
param set SYS_FMU_TASK 1
...
...
@@ -289,7 +306,7 @@ then
then
param set SYS_FMU_TASK 1
param set SYS_HAS_MAG 0
# use the Q attitude estimator, it works w/o mag or GPS
# use the Q attitude estimator, it works w/o mag or GPS
.
param set SYS_MC_EST_GROUP 1
param set ATT_ACC_COMP 0
param set ATT_W_ACC 0.4000
...
...
@@ -300,7 +317,7 @@ then
fi
#
# Check if PX4IO present and update firmware if needed
# Check if PX4IO present and update firmware if needed
.
#
if [ -f /etc/extras/px4io-v2.bin ]
then
...
...
@@ -314,12 +331,12 @@ then
if px4io start
then
#
t
ry to safe px4 io so motor outputs dont go crazy
#
T
ry to safe
ty
px4 io so motor outputs dont go crazy
.
if px4io safety_on
then
# success! no-op
else
# px4io did not respond to the safety command
# px4io did not respond to the safety command
.
px4io stop
fi
fi
...
...
@@ -351,7 +368,7 @@ then
fi
#
# Set default output if not set
# Set default output if not set
.
#
if [ $OUTPUT_MODE == none ]
then
...
...
@@ -365,7 +382,7 @@ then
if [ $OUTPUT_MODE == io -a $IO_PRESENT != yes ]
then
# Need IO for output but it not present, disable output
# Need IO for output but it not present, disable output
.
set OUTPUT_MODE none
fi
...
...
@@ -374,26 +391,17 @@ then
set FMU_MODE rcin
fi
if ver hwcmp AEROFC_V1
then
set DATAMAN_OPT -i
fi
if ver hwcmp AEROCORE2
then
set DATAMAN_OPT "-f /fs/mtd_dataman"
fi
#
#
w
aypoint storage
# REBOOTWORK this needs to start in parallel
#
W
aypoint storage
.
# REBOOTWORK this needs to start in parallel
.
#
if dataman start $DATAMAN_OPT
then
fi
#
# Sensors System (start before Commander so Preflight checks are properly run)
#
c
ommander Needs to be this early for in-air-restarts
# Sensors System (start before Commander so Preflight checks are properly run)
.
#
C
ommander Needs to be this early for in-air-restarts
.
#
if param compare SYS_HITL 1
then
...
...
@@ -415,23 +423,23 @@ then
load_mon start
#
# Check if UAVCAN is enabled, default to it for ESCs
# Check if UAVCAN is enabled, default to it for ESCs
.
#
if param greater UAVCAN_ENABLE 2
then
set OUTPUT_MODE uavcan_esc
fi
# Sensors on the PWM interface bank
# Sensors on the PWM interface bank
.
if param compare SENS_EN_LL40LS 1
then
#
c
lear pins 5 and 6
#
C
lear pins 5 and 6
.
set FMU_MODE pwm4
set AUX_MODE pwm4
fi
if param greater TRIG_MODE 0
then
# We ONLY support trigger on pins 5 and 6 when simultanously using AUX for actuator output
# We ONLY support trigger on pins 5 and 6 when simultanously using AUX for actuator output
.
if param compare TRIG_PINS 56
then
# clear pins 5 and 6
...
...
@@ -447,7 +455,7 @@ then
camera_feedback start
fi
# If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output
# If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output
.
if [ $OUTPUT_MODE != none ]
then
if [ $OUTPUT_MODE == uavcan_esc ]
...
...
@@ -507,7 +515,7 @@ then
fi
#
# Start IO or FMU for RC PPM input if needed
# Start IO or FMU for RC PPM input if needed
.
#
if [ $IO_PRESENT == yes ]
then
...
...
@@ -540,18 +548,18 @@ then
sh /etc/init.d/rc.mavlink
#
# Starting stuff according to UAVCAN_ENABLE value
# Starting stuff according to UAVCAN_ENABLE value
.
#
if param greater UAVCAN_ENABLE 0
then
# Start core UAVCAN module
# Start core UAVCAN module
.
if uavcan start
then
if param greater UAVCAN_ENABLE 1
then
# Reduce logger buffer to free up some RAM for UAVCAN servers
# Reduce logger buffer to free up some RAM for UAVCAN servers
.
set LOGGER_BUF 6
# Start UAVCAN firmware update server and dynamic node ID allocation server
# Start UAVCAN firmware update server and dynamic node ID allocation server
.
uavcan start fw
fi
else
...
...
@@ -561,7 +569,7 @@ then
if ver hwcmp PX4FMU_V2 PX4FMU_V4 PX4FMU_V4PRO MINDPX_V2 PX4FMU_V5 OMNIBUS_F4SD
then
# Check for flow sensor - as it is a background task, launch it last
# Check for flow sensor - as it is a background task, launch it last
.
px4flow start &
fi
...
...
@@ -630,7 +638,6 @@ unset MIXER
unset MIXER_AUX
unset MK_MODE
unset MKBLCTRL_ARG
unset MODE
unset OUTPUT_AUX_DEV
unset OUTPUT_DEV
unset OUTPUT_MODE
...
...
@@ -652,5 +659,5 @@ unset USE_IO
unset VEHICLE_TYPE
# Boot is complete, inform MAVLink app(s) that the system is now fully up and running
# Boot is complete, inform MAVLink app(s) that the system is now fully up and running
.
mavlink boot_complete
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