px4开机加载文件.doc

modules/PX4Firmware/Build/px4fmu-v2_APM.build/romfs_scratch/init.d/rc.APM 此文件里边指出了启动顺序，在系统启动的时候会被调用，用来初始化整个系统，包括软硬件。 ArduCopter 作为nsh的一个内建命令被开机自动启动。 set deviceA /dev/ttyACM0 if [ -f /fs/microsd/APM ] then echo APM file found - renaming mv /fs/microsd/APM /fs/microsd/APM.old fi if [ -f /fs/microsd/APM/nostart ] then echo APM/nostart found - skipping APM startup sh /etc/init.d/rc.error fi if [ -f /bin/reboot ] then echo binfs already mounted else echo Mounting binfs if mount -t binfs /dev/null /bin then echo binfs mounted OK else sh /etc/init.d/rc.error fi fi set sketch NONE if rm /fs/microsd/APM/boot.log then echo removed old boot.log fi set logfile /fs/microsd/APM/BOOT.LOG if [ ! -f /bin/ArduPilot ] then echo /bin/ardupilot not found sh /etc/init.d/rc.error fi if mkdir /fs/microsd/APM /dev/null then echo Created APM directory fi if [ -f /bin/px4io ] then if [ -f /bin/lsm303d ] then echo Detected FMUv2 board set BOARD FMUv2 else echo Detected FMUv1 board set BOARD FMUv1 fi else echo Detected FMUv4 board set BOARD FMUv4 fi if [ $BOARD == FMUv1 ] then set deviceC /dev/ttyS2 if [ -f /fs/microsd/APM/AUXPWM.en ] then set deviceD /dev/null else set deviceD /dev/ttyS1 fi else set deviceC /dev/ttyS1 set deviceD /dev/ttyS2 fi if uorb start then echo uorb started OK else sh /etc/init.d/rc.error fi if [ -f /fs/microsd/APM/mkblctrl ] then echo Setting up mkblctrl driver echo Setting up mkblctrl driver $logfile mkblctrl -d /dev/pwm_output fi if [ -f /fs/microsd/APM/mkblctrl_+ ] then echo Setting up mkblctrl driver + echo Setting up mkblctrl driver + $logfile mkblctrl -mkmode + -d /dev/pwm_output fi if [ -f /fs/microsd/APM/mkblctrl_x ] then echo Setting up mkblctrl driver x echo Setting up mkblctrl driver x $logfile mkblctrl -mkmode x -d /dev/pwm_output fi if [ -f /bin/px4io ]