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Autostart: Allow overriding airframe defaults #8006

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Autostart: Allow overriding airframe defaults #8006

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80 changes: 43 additions & 37 deletions ROMFS/px4fmu_common/init.d/rcS
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,15 @@ set +e
# UART7 /dev/ttyS5 ?
# UART8 /dev/ttyS6 CONSOLE

#
# Configuration defaults
#
# Increment this variable if the system default configuration
# changes significantly. This will not wipe the param storage
# but force setting the airframe parameters again.
#
set DEFAULTS_VER 1

#
# Mount the procfs.
#
Expand Down Expand Up @@ -60,7 +69,7 @@ set LOG_FILE /fs/microsd/bootlog.txt
# REBOOTWORK this needs to start after the flight control loop
if mount -t vfat /dev/mmcsd0 /fs/microsd
then
echo "[i] microSD mounted: /fs/microsd"
echo "INFO [init] microSD mounted: /fs/microsd"
if hardfault_log check
then
tone_alarm error
Expand Down Expand Up @@ -124,48 +133,48 @@ then
if param load
then
else
if param reset
then
fi
fi

#
# Start system state indicator
#
if rgbled start
then
else
if blinkm start
then
blinkm systemstate
fi
# reset all params if load failed
param reset
fi

# FMUv5 may have both PWM I2C RGB LED support
rgbled_pwm start

#
# Set AUTOCNF flag to use it in AUTOSTART scripts
#
if param compare SYS_AUTOCONFIG 1
then
# Wipe out params except RC* and total flight time
echo "INFO [init] Resetting params to default"
param reset_nostart RC* LND_FLIGHT_T_*
set AUTOCNF yes
else
set AUTOCNF no
fi

#
# Release 1.4.0 transitional support:
# set to old default if unconfigured.
# this preserves the previous behaviour
#
if param compare BAT_N_CELLS 0
#
# Allow overriding airframe defaults as we change them
#
if param compare SYS_PARAM_VER ${DEFAULTS_VER}
then
else
echo "INFO [init] Reapplying airframe default params"
set AUTOCNF yes
fi

#
# Start system state indicator
#
if rgbled start
then
else
if blinkm start
then
param set BAT_N_CELLS 3
blinkm systemstate
fi
fi

# FMUv5 may have both PWM I2C RGB LED support
rgbled_pwm start

#
# Set default values
#
Expand All @@ -185,7 +194,6 @@ then
set PWM_AUX_MIN p:PWM_AUX_MIN
set PWM_AUX_MAX p:PWM_AUX_MAX
set FAILSAFE_AUX none
set MK_MODE none
set FMU_MODE pwm
set AUX_MODE pwm
set FMU_ARGS ""
Expand Down Expand Up @@ -252,9 +260,8 @@ then
#
# Set parameters and env variables for selected AUTOSTART
#
if param compare SYS_AUTOSTART 0
if param greater SYS_AUTOSTART 0
then
else
sh /etc/init.d/rc.autostart
fi
unset MODE
Expand Down Expand Up @@ -310,7 +317,7 @@ then

if px4io checkcrc ${IO_FILE}
then
echo "[init] PX4IO CRC OK" >> $LOG_FILE
echo "[init] PX4IO CRC OK"

set IO_PRESENT yes
else
Expand Down Expand Up @@ -391,9 +398,7 @@ then
fi
# waypoint storage
# REBOOTWORK this needs to start in parallel
if dataman start $DATAMAN_OPT
then
fi
dataman start $DATAMAN_OPT
unset DATAMAN_OPT

#
Expand Down Expand Up @@ -499,7 +504,6 @@ then
fi
unset MKBLCTRL_ARG
fi
unset MK_MODE

if [ $OUTPUT_MODE == hil ]
then
Expand Down Expand Up @@ -1001,11 +1005,13 @@ then
if param compare MNT_MODE_IN -1
then
else
if vmount start
then
fi
vmount start
fi

param set SYS_PARAM_VER ${DEFAULTS_VER}
unset DEFAULTS_VER
param save
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param save is not needed


# End of autostart
fi

Expand Down