rc.sensors
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#!/bin/sh
#
# Standard startup script for sensor drivers.
#
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
if ! ver hwcmp OMNIBUS_F4SD
then
if ! ver hwcmp BITCRAZE_CRAZYFLIE
then
# Configure all I2C buses to 100 KHz as they
# are all external or slow
# TODO: move this
pwm_out i2c 1 100000
pwm_out i2c 2 100000
fi
fi
###############################################################################
# Begin Optional drivers #
###############################################################################
if param compare -s SENS_EN_BATT 1
then
batt_smbus start -X
fi
# Sensors on the PWM interface bank
if param compare -s SENS_EN_LL40LS 1
then
if pwm_input start
then
ll40ls_pwm start
fi
fi
# External automatic trigger system
if param compare FD_EXT_ATS_EN 1
then
pwm_input start
fi
# Lidar-Lite on I2C
if param compare -s SENS_EN_LL40LS 2
then
ll40ls start -X
fi
# mappydot lidar sensor
if param compare -s SENS_EN_MPDT 1
then
mappydot start -X
fi
# mb12xx sonar sensor
if param greater -s SENS_EN_MB12XX 0
then
mb12xx start -X
fi
# pga460 sonar sensor
if param greater -s SENS_EN_PGA460 0
then
pga460 start
fi
# Lightware i2c lidar sensor
if param greater -s SENS_EN_SF1XX 0
then
lightware_laser_i2c start -X
fi
# Sensor HY-SRF05 or HC-SR05 ultrasonic sensor
if param compare -s SENS_EN_SR05 1
then
srf05 start
fi
# Heater driver for temperature regulated IMUs.
if param compare -s SENS_EN_THERMAL 1
then
heater start
fi
# Teraranger one tof sensor
if param greater -s SENS_EN_TRANGER 0
then
teraranger start -X
fi
# Possible external pmw3901 optical flow sensor
if param greater -s SENS_EN_PMW3901 0
then
pmw3901 -S start
fi
# Possible external paw3902 optical flow sensor
if param greater -s SENS_EN_PAW3902 0
then
paw3902 -S start
fi
# vl53l1x i2c distance sensor
if param compare -s SENS_EN_VL53L1X 1
then
vl53l1x start -X
fi
# probe for optional external I2C devices
if param compare SENS_EXT_I2C_PRB 1
then
# compasses
ak09916 -X -R 6 -q start # external AK09916 (Here2) is rotated 270 degrees yaw
hmc5883 -T -X -q start
ist8308 -X -q start
ist8310 -X -q start
lis2mdl -X -q start
lis3mdl -X -q start
qmc5883l -X -q start
rm3100 -X -q start
# differential pressure sensors
if [ ${VEHICLE_TYPE} = fw -o ${VEHICLE_TYPE} = vtol ]
then
# Always try to start the airspeed sensors
# even if their usage might be disabled
sdp3x_airspeed start -X -q
sdp3x_airspeed start -X -a 0x22 -q
# Pixhawk 2.1 has a MS5611 on I2C which gets wrongly
# detected as MS5525 because the chip manufacturer was so
# clever to assign the same I2C address and skip a WHO_AM_I
# register.
if [ $BOARD_FMUV3 = 21 ]
then
ms5525_airspeed start -X -b 2 -q
else
ms5525_airspeed start -X -q
fi
ms4525_airspeed start -X -q
ets_airspeed start -X -q
fi
fi
###############################################################################
# End Optional drivers #
###############################################################################
sensors start