PX4之启动脚本

PX4通过rcS脚本来设定需要启动的程序，比如设备驱动、控制模块、数据通信等。rcS脚本在项目中的文件位置

ROMFS/px4fmu_common/rcS

对应硬件平台固件上的位置

/etc/init.d/rcS

启动脚本流程如下

#!/bin/sh
# PX4FMU startup script.
# 
# 一些注释
## 设置默认参数
set R /						#根目录
set AUTOCNF no
set FCONFIG /fs/microsd/etc/config.txt		#SD卡上的设置脚本
set FEXTRAS /fs/microsd/etc/extras.txt		#SD卡上的附加脚本
set FRC /fs/microsd/etc/rc.txt				#SD卡上启动脚本，如果有的话运行这个脚本
set IOFW "/etc/extras/px4_io-v2_default.bin"	#固件文件，如果有的话，自动刷新
set IO_PRESENT no
set LOGGER_ARGS ""
set LOGGER_BUF 8
set MAV_TYPE none			#飞行器类型，这里未设定
set MIXER none
set MIXER_AUX none
set MIXER_FILE none
set MIXER_EXTRA none
set OUTPUT_MODE none
set PARAM_FILE ""			#参数文件，未设定
set PWM_OUT none
set PWM_MAIN_RATE p:PWM_MAIN_RATE
set PWM_AUX_OUT none
set PWM_AUX_RATE p:PWM_AUX_RATE
set PWM_EXTRA_OUT none
set PWM_EXTRA_RATE p:PWM_EXTRA_RATE
set EXTRA_MIXER_MODE none
set RC_INPUT_ARGS ""
set SDCARD_AVAILABLE no
set SDCARD_EXT_PATH /fs/microsd/ext_autostart
set SDCARD_FORMAT no
set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
set STARTUP_TUNE 1
set USE_IO no
set VEHICLE_TYPE none#打印系统信息
ver all# 载入SD卡
if [ -b "/dev/mmcsd0" ]
thenif mount -t vfat /dev/mmcsd0 /fs/microsd		#mountthenif [ -f "/fs/microsd/.format" ]thenecho "INFO [init] format /dev/mmcsd0 requested (/fs/microsd/.format)"set SDCARD_FORMAT yesrm /fs/microsd/.formatumount /fs/microsdelseset SDCARD_AVAILABLE yesfifiif [ $SDCARD_AVAILABLE = no -o $SDCARD_FORMAT = yes ]thenecho "INFO [init] formatting /dev/mmcsd0"set STARTUP_TUNE 15 # tune 15 = SD_ERROR (overridden to SD_INIT if format + mount succeeds)if mkfatfs -F 32 /dev/mmcsd0thenecho "INFO [init] card formatted"if mount -t vfat /dev/mmcsd0 /fs/microsdthenset SDCARD_AVAILABLE yesset STARTUP_TUNE 14 # tune 14 = SD_INITelseecho "ERROR [init] card mount failed"fielseecho "ERROR [init] format failed"fifiif [ $SDCARD_AVAILABLE = yes ]thenif hardfault_log checkthenset STARTUP_TUNE 2 # tune 2 = ERROR_TUNEif hardfault_log committhenhardfault_log resetfififiset PARAM_FILE /fs/microsd/params			#载入成功的情况下，设置参数文件为/fs/microsd/params
fi# 查看SD卡上的启动脚本，如果有的话启动SD卡上的脚本，没有的话启动默认脚本
if [ -f $FRC ]
then. $FRC
else# 默认启动脚本# 查询MTD设备，挂载SPI-EEPROM，如果有的话设置从mtd设备载入参数if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_paramsthenset PARAM_FILE /fs/mtd_paramsfi# 载入参数，如果有板载校正数据if mft query -q -k MTD -s MTD_CALDATA -v /fs/mtd_caldatathenparam load /fs/mtd_caldatafi# 从PARAM_FILE载入参数param select $PARAM_FILEif ! param importthenecho "ERROR [init] param import failed"set STARTUP_TUNE 2 # tune 2 = ERROR_TUNEparam dump $PARAM_FILEif [ -d "/fs/microsd" ]thendmesg >> /fs/microsd/param_import_fail.txt &# try to make a backup copycp $PARAM_FILE /fs/microsd/param_import_fail.bson &fi# try importing from backup fileif [ -f "/fs/microsd/parameters_backup.bson" ]thenecho "[init] importing from parameter backup"# dump current backup file contents for comparisonparam dump /fs/microsd/parameters_backup.bsonparam import /fs/microsd/parameters_backup.bsonfifiif [ $SDCARD_AVAILABLE = yes ]thenparam select-backup /fs/microsd/parameters_backup.bsonfi# 如果硬件版本为V5X或V6X，启动网络管理程序if ver hwcmp PX4_FMU_V5X PX4_FMU_V6Xthennetman update -i eth0fi# 如果自动配置不为0，重设一系列参数# SYS_AUTOCONFIG定义针对某一机型的自动参数设置，如DJI-F330, DJI-F450, 3DR SOLO等，都有一个对应的数字，具体可以查看/etc/init.d目录下的脚本，或者项目目录ROMFS/px4fmu_common/init.d/airframes目录下的脚本if param greater SYS_AUTOCONFIG 0then# Wipe out params except RC*, flight modes, total flight time, calibration parameters, next flight UUIDparam reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT*set AUTOCNF yesfi# 板载架构配置脚本（可选）set BOARD_ARCH_RC_DEFAULTS ${R}etc/init.d/rc.board_arch_defaultsif [ -f $BOARD_ARCH_RC_DEFAULTS ]thenecho "Board architecture defaults: ${BOARD_ARCH_RC_DEFAULTS}". $BOARD_ARCH_RC_DEFAULTSfiunset BOARD_ARCH_RC_DEFAULTS# 板载配置脚本（可选）set BOARD_RC_DEFAULTS ${R}etc/init.d/rc.board_defaultsif [ -f $BOARD_RC_DEFAULTS ]thenecho "Board defaults: ${BOARD_RC_DEFAULTS}". $BOARD_RC_DEFAULTSfiunset BOARD_RC_DEFAULTS# 启动声调报警模块tone_alarm start# 启动数据管理模块，根据源代码注释，也包含路径点存储（waypoints storage）if param compare SYS_DM_BACKEND 1thendataman start -relseif param compare SYS_DM_BACKEND 0then# dataman start defaultdataman startfifi# 启动socket通讯和事件发送模块send_event start# 启动资源载入监控load_mon start# 启动灯闪控制模块rgbled start -X -qrgbled_ncp5623c start -X -q# 运行自动配置脚本，自动配置脚本中，根据SYS_AUTOSTART数值运行对应机型的参数配置set AUTOSTART_PATH etc/init.d/rc.autostartif ! param compare SYS_AUTOSTART 0thenif param greater SYS_AUTOSTART 1000000then# Use external startup fileif [ $SDCARD_AVAILABLE = yes ]thenset AUTOSTART_PATH etc/init.d/rc.autostart_extelseecho "ERROR [init] SD card not mounted - trying to load airframe from ROMFS"fifi. ${R}$AUTOSTART_PATHfiunset AUTOSTART_PATH# 运行SD卡上的用户配置文件，FCONFIG在前面定义，指向SD卡上的配置文件if [ -f $FCONFIG ]thenecho "Custom: ${FCONFIG}". $FCONFIGfi# 如果AUTOCNF已经设置，SYS_AUTOCONFIG置零if [ $AUTOCNF = yes ]thenparam set SYS_AUTOCONFIG 0fi# 如果设置了UAVCAN_ENABLE，启动CAN总线控制if param greater -s UAVCAN_ENABLE 0thenif uavcan startthenif param greater UAVCAN_ENABLE 2thenset OUTPUT_MODE uavcan_escfielsetune_control play errorfielseif param greater -s UAVCAN_V1_ENABLE 0thenuavcan_v1 startfifi# 检查PX4IO以及是否需要更新固件if [ -f $IOFW ]then# Check for the mini using build with px4io fw file# but not a px4IOif ver hwtypecmp V540 V560thenparam set SYS_USE_IO 0elseif px4io checkcrc ${IOFW}thenset IO_PRESENT yeselse# tune Program PX4IOtune_control play -t 16 # tune 16 = PROG_PX4IOif px4io update ${IOFW}thenusleep 10000tune_control stopif px4io checkcrc ${IOFW}thentune_control play -t 17 # tune 17 = PROG_PX4IO_OKset IO_PRESENT yeselsetune_control play -t 18 # tune 18 = PROG_PX4IO_ERRfielsetune_control stopfifififiif param compare -s SYS_USE_IO 1thenset USE_IO yesfiif [ $USE_IO = yes -a $IO_PRESENT = no ]thenecho "PX4IO not found"set STARTUP_TUNE 2 # tune 2 = ERROR_TUNEfi# 启动RC更新（把RC输入映射到手动控制）rc_update start#启动手动控制模块manual_control start# 启动传感器程序，启动commander模块if param greater SYS_HITL 0thenset OUTPUT_MODE hilsensors start -hcommander start -h# disable GPSparam set GPS_1_CONFIG 0# start the simulator in hardware if neededif param compare SYS_HITL 2thensih startfielseset BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensorsif [ -f $BOARD_RC_SENSORS ]thenecho "Board sensors: ${BOARD_RC_SENSORS}". $BOARD_RC_SENSORSfiunset BOARD_RC_SENSORS. ${R}etc/init.d/rc.sensorsif param compare -s BAT1_SOURCE 2thenesc_battery startfiif ! param compare BAT1_SOURCE 1thenbattery_status startficommander startfi# 启动磁偏估计if param compare -s MBE_ENABLE 1thenmag_bias_estimator startfi# 启动摄像头相关程序if param greater -s TRIG_MODE 0thencamera_trigger startcamera_feedback startfi# 启动板载mavlink流（可选）set BOARD_RC_MAVLINK ${R}etc/init.d/rc.board_mavlinkif [ -f $BOARD_RC_MAVLINK ]thenecho "Board mavlink: ${BOARD_RC_MAVLINK}". $BOARD_RC_MAVLINKfiunset BOARD_RC_MAVLINK# 启动UART/串口驱动程序. ${R}etc/init.d/rc.serialif [ $IO_PRESENT = no ]then# Must be started after the serial config is readrc_input start $RC_INPUT_ARGSfi# 启动PPS输入驱动if param greater -s PPS_CAP_ENABLE 0thenpps_capture startfi# 启动摄像头拍摄模块if param greater -s CAM_CAP_FBACK 0thenif camera_capture startthencamera_capture onfifi# 运行rc.vehicle_setup# rc.vehicle_setup脚本中运行接口程序（rc.interface）和飞行器应用程序（rc.mc_apps）（以多轴飞行器为例）# 其中rc.interface中启动电机PWM控制程序pwm_out和载入输出配置mixer文件，类似#		pwm_out start			- 启动PWM输出程序#		mixer load ...			- 载入PWM输出配置文件# rc.mc_apps启动飞行器相关主要控制程序，包括#		attitude_estimate_q		- 姿态估计#		ekf2					- 卡尔曼滤波#		mc_att_control			- 姿态控制#		mc_rate_control			- 速度控制#		mc_pos_control			- 位置控制#		land_detector			- 着陆检测# 等. ${R}etc/init.d/rc.vehicle_setup# 播放启动提示音param compare CBRK_BUZZER 782090if [ "$?" != "0" -o "$STARTUP_TUNE" != "1" ]thentune_control play -t $STARTUP_TUNEfi# 启动导航模块navigator start# 启动热校正（thermal calibration）程序. ${R}etc/init.d/rc.thermal_cal# 启动vmount, px4flow, bst等模块if param greater -s MNT_MODE_IN -1thenvmount startfiif param compare -s SENS_EN_PX4FLOW 1thenpx4flow start -Xfi# Blacksheep telemetryif param compare -s TEL_BST_EN 1thenbst start -Xfi# 启动陀螺仪滤波、校正等相关程序if param compare -s IMU_GYRO_FFT_EN 1thengyro_fft startfiif param compare -s IMU_GYRO_CAL_EN 1thengyro_calibration startfi# 启动附加板载脚本set BOARD_RC_EXTRAS ${R}etc/init.d/rc.board_extrasif [ -f $BOARD_RC_EXTRAS ]thenecho "Board extras: ${BOARD_RC_EXTRAS}". $BOARD_RC_EXTRASfiunset BOARD_RC_EXTRAS# 启动SD卡俯加脚本if [ -f $FEXTRAS ]thenecho "Addons script: ${FEXTRAS}". $FEXTRASfi# 启动数据记录. ${R}etc/init.d/rc.logging# 启动AUTOSTART后处理程序if ! param compare SYS_AUTOSTART 0then. ${R}etc/init.d/rc.autostart.postfi# 启动板载bootloader升级程序set BOARD_BOOTLOADER_UPGRADE ${R}etc/init.d/rc.board_bootloader_upgradeif [ -f $BOARD_BOOTLOADER_UPGRADE ]thensh $BOARD_BOOTLOADER_UPGRADEfiunset BOARD_BOOTLOADER_UPGRADE
fi# 清除参数设置
unset R
unset AUTOCNF
unset FCONFIG
unset FEXTRAS
unset FRC
unset IO_PRESENT
unset IOFW
unset LOGGER_ARGS
unset LOGGER_BUF
unset MAV_TYPE
unset MIXER
unset MIXER_AUX
unset MIXER_FILE
unset OUTPUT_MODE
unset PARAM_FILE
unset PWM_AUX_OUT
unset PWM_AUX_RATE
unset PWM_MAIN_RATE
unset PWM_OUT
unset PWM_EXTRA_OUT
unset PWM_EXTRA_RATE
unset RC_INPUT_ARGS
unset SDCARD_AVAILABLE
unset SDCARD_EXT_PATH
unset SDCARD_FORMAT
unset SDCARD_MIXERS_PATH
unset STARTUP_TUNE
unset USE_IO
unset VEHICLE_TYPE# 通知mavlink启动完成
mavlink boot_complete

启动的过程按图示大致如下（当前版本）

其中黄色部分为SD卡自定义脚本，蓝色部分为控制相关程序，紫色部分为机型相关自动配置程序，绿色部分为算法程序。

总结主要的点有：

1 程序启动首先Load SD卡，如果SD卡上有自定义启动脚本，就运行SD卡上的脚本，如果没有（默认情况），运行板载自动启动流程
2 机型相关的参数配置通过SYS_AUTOSTART值来定义，通过设置这个值，可以自动载入某一机型对应的参数（如DJI 450，3DR SOLO等）
3 飞行控制相关程序在commander，rc.vehicle_setup，navigator等模块或脚本启动，主要的飞控相关模块有
rc_input - 遥控输入
commander - 命令处理
navigator - 导航
pos_control - 位置控制
att_control - 姿态控制
pwm_out - 电机输出