Commit 501c5ff4 authored by Lorenz Meier's avatar Lorenz Meier
Browse files

Cleaned up startup, should be completely compatible, but allows clean QGC indices

parent d7a3aaba
#!nsh
#
# Script to set PWM min / max limits and mixer
#
\ No newline at end of file
......@@ -32,8 +32,6 @@ fi
#
param set MAV_TYPE 2
set EXIT_ON_END no
#
# Start and configure PX4IO or FMU interface
#
......@@ -74,8 +72,3 @@ pwm max -c 1234 -p 1900
# Start common for all multirotors apps
#
sh /etc/init.d/rc.multirotor
if [ $EXIT_ON_END == yes ]
then
exit
fi
......@@ -32,8 +32,6 @@ fi
#
param set MAV_TYPE 2
set EXIT_ON_END no
#
# Start and configure PX4IO or FMU interface
#
......@@ -73,8 +71,3 @@ pwm min -c 1234 -p 1050
# Start common for all multirotors apps
#
sh /etc/init.d/rc.multirotor
if [ $EXIT_ON_END == yes ]
then
exit
fi
......@@ -42,8 +42,6 @@ fi
#
param set MAV_TYPE 1
set EXIT_ON_END no
#
# Start and configure PX4IO or FMU interface
#
......@@ -80,8 +78,3 @@ fi
# Start common fixedwing apps
#
sh /etc/init.d/rc.fixedwing
if [ $EXIT_ON_END == yes ]
then
exit
fi
......@@ -42,8 +42,6 @@ fi
#
param set MAV_TYPE 1
set EXIT_ON_END no
#
# Start and configure PX4IO or FMU interface
#
......@@ -80,8 +78,3 @@ fi
# Start common fixedwing apps
#
sh /etc/init.d/rc.fixedwing
if [ $EXIT_ON_END == yes ]
then
exit
fi
......@@ -42,8 +42,6 @@ fi
#
param set MAV_TYPE 1
set EXIT_ON_END no
#
# Start and configure PX4IO or FMU interface
#
......@@ -82,8 +80,3 @@ fi
# Start common fixedwing apps
#
sh /etc/init.d/rc.fixedwing
if [ $EXIT_ON_END == yes ]
then
exit
fi
......@@ -20,8 +20,6 @@ fi
#
param set MAV_TYPE 1
set EXIT_ON_END no
#
# Start and configure PX4IO or FMU interface
#
......@@ -58,8 +56,3 @@ fi
# Start common fixedwing apps
#
sh /etc/init.d/rc.fixedwing
if [ $EXIT_ON_END == yes ]
then
exit
fi
\ No newline at end of file
......@@ -47,8 +47,6 @@ fi
#
param set MAV_TYPE 1
set EXIT_ON_END no
#
# Start and configure PX4IO or FMU interface
#
......@@ -85,8 +83,3 @@ fi
# Start common fixedwing apps
#
sh /etc/init.d/rc.fixedwing
if [ $EXIT_ON_END == yes ]
then
exit
fi
\ No newline at end of file
......@@ -20,8 +20,6 @@ fi
#
param set MAV_TYPE 1
set EXIT_ON_END no
#
# Start and configure PX4IO or FMU interface
#
......@@ -58,8 +56,3 @@ fi
# Start common fixedwing apps
#
sh /etc/init.d/rc.fixedwing
if [ $EXIT_ON_END == yes ]
then
exit
fi
......@@ -46,8 +46,6 @@ fi
#
param set MAV_TYPE 1
set EXIT_ON_END no
#
# Start and configure PX4IO or FMU interface
#
......@@ -84,8 +82,3 @@ fi
# Start common fixedwing apps
#
sh /etc/init.d/rc.fixedwing
if [ $EXIT_ON_END == yes ]
then
exit
fi
\ No newline at end of file
......@@ -46,8 +46,6 @@ fi
#
param set MAV_TYPE 1
set EXIT_ON_END no
#
# Start and configure PX4IO or FMU interface
#
......@@ -84,8 +82,3 @@ fi
# Start common fixedwing apps
#
sh /etc/init.d/rc.fixedwing
if [ $EXIT_ON_END == yes ]
then
exit
fi
......@@ -41,14 +41,6 @@ then
param save
fi
#
# Force some key parameters to sane values
# MAV_TYPE 2 = quadrotor
#
param set MAV_TYPE 2
set EXIT_ON_END no
#
# Start and configure PX4IO or FMU interface
......@@ -69,29 +61,9 @@ else
set EXIT_ON_END yes
fi
#
# Load mixer
#
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
#
# Set PWM output frequency
#
pwm rate -c 1234 -r 400
#
# Set disarmed, min and max PWM signals (for DJI ESCs)
#
pwm disarmed -c 1234 -p 900
pwm min -c 1234 -p 1200
pwm max -c 1234 -p 1800
sh /etc/init.d/rc.mc_interface
#
# Start common for all multirotors apps
#
sh /etc/init.d/rc.multirotor
if [ $EXIT_ON_END == yes ]
then
exit
fi
......@@ -32,8 +32,6 @@ fi
#
param set MAV_TYPE 2
set EXIT_ON_END no
#
# Start and configure PX4IO or FMU interface
#
......@@ -76,8 +74,3 @@ pwm max -c 1234 -p 1800
# Start common multirotor apps
#
sh /etc/init.d/rc.multirotor
if [ $EXIT_ON_END == yes ]
then
exit
fi
......@@ -34,8 +34,6 @@ fi
#
param set MAV_TYPE 2
set EXIT_ON_END no
#
# Start and configure PX4IO or FMU interface
#
......@@ -76,8 +74,3 @@ pwm max -c 1234 -p 1900
# Start common for all multirotors apps
#
sh /etc/init.d/rc.multirotor
if [ $EXIT_ON_END == yes ]
then
exit
fi
......@@ -13,8 +13,6 @@ then
param save
fi
set EXIT_ON_END no
#
# Start and configure PX4IO or FMU interface
#
......@@ -53,8 +51,3 @@ then
sdlog2 start -r 200 -e -b 16
fi
fi
if [ $EXIT_ON_END == yes ]
then
exit
fi
......@@ -194,64 +194,83 @@ then
tone_alarm MNGGG
fi
fi
set EXIT_ON_END no
#
# Check if auto-setup from one of the standard scripts is wanted
# SYS_AUTOSTART = 0 means no autostart (default)
#
# AUTOSTART PARTITION:
# 0 .. 999 Reserved (historical)
# 1000 .. 1999 Simulation setups
# 2000 .. 2999 Standard planes
# 3000 .. 3999 Flying wing
# 4000 .. 4999 Quad X
# 5000 .. 5999 Quad +
# 6000 .. 6999 Hexa X
# 7000 .. 7999 Hexa +
# 8000 .. 8999 Octo X
# 9000 .. 9999 Octo +
# 10000 .. 19999 Wide arm / H frame
if param compare SYS_AUTOSTART 8
if param compare SYS_AUTOSTART 4008 8
then
sh /etc/init.d/08_ardrone
sh /etc/init.d/4008_ardrone
set MODE custom
fi
if param compare SYS_AUTOSTART 9
if param compare SYS_AUTOSTART 4009 9
then
sh /etc/init.d/09_ardrone_flow
sh /etc/init.d/4009_ardrone_flow
set MODE custom
fi
if param compare SYS_AUTOSTART 10
if param compare SYS_AUTOSTART 4010 10
then
sh /etc/init.d/10_dji_f330
set FRAME_GEOMETRY x
set FRAME_COUNT 4
set PWM_MIN 1200
set PWM_MAX 1900
set PWM_DISARMED 900
sh /etc/init.d/4010_dji_f330
set MODE custom
fi
if param compare SYS_AUTOSTART 11
if param compare SYS_AUTOSTART 4011 11
then
sh /etc/init.d/11_dji_f450
sh /etc/init.d/4011_dji_f450
set MODE custom
fi
if param compare SYS_AUTOSTART 12
if param compare SYS_AUTOSTART 6012 12
then
set MIXER /etc/mixers/FMU_hex_x.mix
sh /etc/init.d/12-13_hex
set MODE custom
fi
if param compare SYS_AUTOSTART 13
if param compare SYS_AUTOSTART 6013 13
then
set MIXER /etc/mixers/FMU_hex_+.mix
sh /etc/init.d/12-13_hex
set MODE custom
fi
if param compare SYS_AUTOSTART 15
if param compare SYS_AUTOSTART 10015 15
then
sh /etc/init.d/15_tbs_discovery
sh /etc/init.d/10015_tbs_discovery
set MODE custom
fi
if param compare SYS_AUTOSTART 16
if param compare SYS_AUTOSTART 10016 16
then
sh /etc/init.d/16_3dr_iris
sh /etc/init.d/10016_3dr_iris
set MODE custom
fi
# PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 X Frame
if param compare SYS_AUTOSTART 17
if param compare SYS_AUTOSTART 4017 17
then
set MKBLCTRL_MODE no
set MKBLCTRL_FRAME x
......@@ -260,7 +279,7 @@ then
fi
# PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 + Frame
if param compare SYS_AUTOSTART 18
if param compare SYS_AUTOSTART 5018 18
then
set MKBLCTRL_MODE no
set MKBLCTRL_FRAME +
......@@ -269,7 +288,7 @@ then
fi
# PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 X Frame Mikrokopter-Addressing
if param compare SYS_AUTOSTART 19
if param compare SYS_AUTOSTART 4019 19
then
set MKBLCTRL_MODE yes
set MKBLCTRL_FRAME x
......@@ -278,7 +297,7 @@ then
fi
# PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 + Frame Mikrokopter-Addressing
if param compare SYS_AUTOSTART 20
if param compare SYS_AUTOSTART 5020 20
then
set MKBLCTRL_MODE yes
set MKBLCTRL_FRAME +
......@@ -287,7 +306,7 @@ then
fi
# PX4FMU v1 with IO + PPM-based ESCs on Quad X-shape frame
if param compare SYS_AUTOSTART 21
if param compare SYS_AUTOSTART 4021 21
then
set FRAME_GEOMETRY x
set ESC_MAKER afro
......@@ -296,40 +315,40 @@ then
fi
# PX4FMU v1 with IO + PPM-based ESCs on Quad X-shape frame
if param compare SYS_AUTOSTART 22
if param compare SYS_AUTOSTART 10022 22
then
set FRAME_GEOMETRY w
sh /etc/init.d/rc.custom_io_esc
set MODE custom
fi
if param compare SYS_AUTOSTART 30
if param compare SYS_AUTOSTART 3030 30
then
sh /etc/init.d/30_io_camflyer
sh /etc/init.d/3030_io_camflyer
set MODE custom
fi
if param compare SYS_AUTOSTART 31
if param compare SYS_AUTOSTART 3031 31
then
sh /etc/init.d/31_io_phantom
sh /etc/init.d/3031_io_phantom
set MODE custom
fi
if param compare SYS_AUTOSTART 32
if param compare SYS_AUTOSTART 3032 32
then
sh /etc/init.d/32_skywalker_x5
sh /etc/init.d/3032_skywalker_x5
set MODE custom
fi
if param compare SYS_AUTOSTART 33
if param compare SYS_AUTOSTART 3033 33
then
sh /etc/init.d/33_io_wingwing
sh /etc/init.d/3033_io_wingwing
set MODE custom
fi
if param compare SYS_AUTOSTART 34
if param compare SYS_AUTOSTART 3034 34
then
sh /etc/init.d/34_io_fx79
sh /etc/init.d/3034_io_fx79
set MODE custom
fi
......@@ -339,21 +358,21 @@ then
set MODE custom
fi
if param compare SYS_AUTOSTART 100
if param compare SYS_AUTOSTART 2100 100
then
sh /etc/init.d/100_mpx_easystar
sh /etc/init.d/2100_mpx_easystar
set MODE custom
fi
if param compare SYS_AUTOSTART 101
if param compare SYS_AUTOSTART 2101 101
then
sh /etc/init.d/101_hk_bixler
sh /etc/init.d/2101_hk_bixler
set MODE custom
fi
if param compare SYS_AUTOSTART 102
if param compare SYS_AUTOSTART 2102 102
then
sh /etc/init.d/102_3dr_skywalker
sh /etc/init.d/2102_3dr_skywalker
set MODE custom
fi
......@@ -402,5 +421,10 @@ then
fi
if [ $EXIT_ON_END == yes ]
then
exit
fi
# End of autostart
fi
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