Commit cfa9054a authored by Lorenz Meier's avatar Lorenz Meier
Browse files

Moved to USART1 for the main console, starting a 2nd NSH instance on USB if...

Moved to USART1 for the main console, starting a 2nd NSH instance on USB if needed, reworked start scripts to not fall over
parent 3005c8aa
......@@ -97,11 +97,9 @@ multirotor_att_control start
# Start logging
#
sdlog2 start -r 50 -a -b 14
#
# Start system state
#
if blinkm start
then
blinkm systemstate
fi
# Try to get an USB console
nshterm /dev/ttyACM0 &
# Exit, because /dev/ttyS0 is needed for MAVLink
exit
......@@ -88,7 +88,7 @@ pwm -u 400 -m 0xff
multirotor_att_control start
#
# Start logging
# Start logging once armed
#
sdlog2 start -r 50 -a -b 14
......
......@@ -2,12 +2,6 @@
#
# Flight startup script for PX4FMU on PX4IOAR carrier board.
#
# Disable the USB interface
set USB no
# Disable autostarting other apps
set MODE ardrone
echo "[init] doing PX4IOAR startup..."
......@@ -70,25 +64,14 @@ multirotor_att_control start
ardrone_interface start -d /dev/ttyS1
#
# Start logging
# Start logging once armed
#
sdlog start -s 10
sdlog2 start -r 50 -a -b 14
#
# Start GPS capture
#
gps start
#
# Start system state
#
if blinkm start
then
echo "using BlinkM for state indication"
blinkm systemstate
else
echo "no BlinkM found, OK."
fi
#
# startup is done; we don't want the shell because we
......@@ -96,4 +79,8 @@ fi
#
echo "[init] startup done"
# Try to get an USB console
nshterm /dev/ttyACM0 &
# Exit, because /dev/ttyS0 is needed for MAVLink
exit
......@@ -2,12 +2,6 @@
#
# Flight startup script for PX4FMU on PX4IOAR carrier board.
#
# Disable the USB interface
set USB no
# Disable autostarting other apps
set MODE ardrone
echo "[init] doing PX4IOAR startup..."
......@@ -84,6 +78,11 @@ flow_speed_control start
# Fire up the AR.Drone interface.
#
ardrone_interface start -d /dev/ttyS1
#
# Start logging once armed
#
sdlog2 start -r 50 -a -b 14
#
# startup is done; we don't want the shell because we
......@@ -91,4 +90,8 @@ ardrone_interface start -d /dev/ttyS1
#
echo "[init] startup done"
# Try to get an USB console
nshterm /dev/ttyACM0 &
# Exit, because /dev/ttyS0 is needed for MAVLink
exit
......@@ -2,10 +2,6 @@
#
# Flight startup script for PX4FMU+PX4IO on an F330 quad.
#
# disable USB and autostart
set USB no
set MODE custom
#
# Start the ORB (first app to start)
......@@ -60,33 +56,36 @@ commander start
#
if px4io start
then
#
# This sets a PWM right after startup (regardless of safety button)
#
px4io idle 900 900 900 900
pwm -u 400 -m 0xff
else
# SOS
tone_alarm 6
fi
#
# Allow PX4IO to recover from midair restarts.
# this is very unlikely, but quite safe and robust.
px4io recovery
#
# This sets a PWM right after startup (regardless of safety button)
#
px4io idle 900 900 900 900
#
# Allow PX4IO to recover from midair restarts.
# this is very unlikely, but quite safe and robust.
px4io recovery
#
# The values are for spinning motors when armed using DJI ESCs
#
px4io min 1200 1200 1200 1200
#
# Upper limits could be higher, this is on the safe side
#
px4io max 1800 1800 1800 1800
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
#
# The values are for spinning motors when armed using DJI ESCs
#
px4io min 1200 1200 1200 1200
#
# Upper limits could be higher, this is on the safe side
#
px4io max 1800 1800 1800 1800
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
else
# SOS
tone_alarm 6
fi
#
# Start the sensors (depends on orb, px4io)
......
......@@ -61,7 +61,13 @@ then
#
# Start terminal
#
sercon
if sercon
then
echo "USB connected"
else
# second attempt
sercon &
fi
#
# Start the ORB (first app to start)
......@@ -128,45 +134,84 @@ fi
if param compare SYS_AUTOSTART 1
then
sh /etc/init.d/01_fmu_quad_x
set MODE custom
fi
if param compare SYS_AUTOSTART 2
then
sh /etc/init.d/02_io_quad_x
set MODE custom
fi
if param compare SYS_AUTOSTART 8
then
sh /etc/init.d/08_ardrone
set MODE custom
fi
if param compare SYS_AUTOSTART 9
then
sh /etc/init.d/09_ardrone_flow
set MODE custom
fi
if param compare SYS_AUTOSTART 10
then
sh /etc/init.d/10_io_f330
set MODE custom
fi
if param compare SYS_AUTOSTART 15
then
sh /etc/init.d/15_io_tbs
set MODE custom
fi
if param compare SYS_AUTOSTART 30
then
sh /etc/init.d/30_io_camflyer
set MODE custom
fi
if param compare SYS_AUTOSTART 31
then
sh /etc/init.d/31_io_phantom
set MODE custom
fi
# Try to get an USB console
nshterm /dev/ttyACM0 &
# If none of the autostart scripts triggered, get a minimal setup
if [ $MODE == autostart ]
then
# Telemetry port is on both FMU boards ttyS1
mavlink start -b 57600 -d /dev/ttyS1
# Start commander
commander start
# Start px4io if present
if px4io start
then
echo "PX4IO driver started"
else
if fmu mode_serial
then
echo "FMU driver started"
fi
fi
# Start sensors
sh /etc/init.d/rc.sensors
# Start one of the estimators
attitude_estimator_ekf start
# Start GPS
gps start
fi
# End of autostart
fi
......@@ -368,7 +368,7 @@ CONFIG_TASK_NAME_SIZE=24
CONFIG_START_YEAR=1970
CONFIG_START_MONTH=1
CONFIG_START_DAY=1
# CONFIG_DEV_CONSOLE is not set
CONFIG_DEV_CONSOLE=y
# CONFIG_MUTEX_TYPES is not set
CONFIG_PRIORITY_INHERITANCE=y
CONFIG_SEM_PREALLOCHOLDERS=0
......@@ -476,11 +476,11 @@ CONFIG_ARCH_HAVE_USART6=y
CONFIG_MCU_SERIAL=y
CONFIG_STANDARD_SERIAL=y
CONFIG_SERIAL_NPOLLWAITERS=2
# CONFIG_USART1_SERIAL_CONSOLE is not set
CONFIG_USART1_SERIAL_CONSOLE=y
# CONFIG_USART2_SERIAL_CONSOLE is not set
# CONFIG_UART5_SERIAL_CONSOLE is not set
# CONFIG_USART6_SERIAL_CONSOLE is not set
CONFIG_NO_SERIAL_CONSOLE=y
# CONFIG_NO_SERIAL_CONSOLE is not set
#
# USART1 Configuration
......@@ -550,7 +550,7 @@ CONFIG_USBDEV_MAXPOWER=500
# CONFIG_USBDEV_COMPOSITE is not set
# CONFIG_PL2303 is not set
CONFIG_CDCACM=y
CONFIG_CDCACM_CONSOLE=y
CONFIG_CDCACM_CONSOLE=n
CONFIG_CDCACM_EP0MAXPACKET=64
CONFIG_CDCACM_EPINTIN=1
CONFIG_CDCACM_EPINTIN_FSSIZE=64
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment