mirror of
https://github.com/OpenSolo/OpenSolo.git
synced 2025-05-01 15:14:35 +02:00
PIX: Rework FW loading, error handling, logging
- Major cleanup of initialization - Major cleanup of FW loading - Better error checking to avoid bricking - Better logging - Add reboot arg to script - Tag for param reset if resetParams in /firmware directory
This commit is contained in:
parent
0188446013
commit
e7cc0a3a47
@ -28,10 +28,6 @@ config_baudlist_name = "telemBaudList"
|
|||||||
config_dev_name = "telemDev"
|
config_dev_name = "telemDev"
|
||||||
config_flow_name = "telemFlow"
|
config_flow_name = "telemFlow"
|
||||||
firmware_root = "/firmware"
|
firmware_root = "/firmware"
|
||||||
firmware_root_3dr = "/firmware/3dr"
|
|
||||||
firmware_root_green = "/firmware/green"
|
|
||||||
firmware_root_wipe = "/firmware/wipe"
|
|
||||||
cube_version = "unknown"
|
|
||||||
|
|
||||||
|
|
||||||
# ardupilot/libraries/AP_SerialManager/AP_SerialManager.cpp, supported bauds:
|
# ardupilot/libraries/AP_SerialManager/AP_SerialManager.cpp, supported bauds:
|
||||||
@ -76,10 +72,10 @@ def create_usb_serial(timeout=5):
|
|||||||
end_us = clock.gettime_us(clock.CLOCK_MONOTONIC)
|
end_us = clock.gettime_us(clock.CLOCK_MONOTONIC)
|
||||||
dev_name = glob_file(dev_pattern_usb)
|
dev_name = glob_file(dev_pattern_usb)
|
||||||
if os.path.exists(dev_name):
|
if os.path.exists(dev_name):
|
||||||
logger.debug("%s created in %0.3f sec",
|
logger.info("%s created in %0.3f sec",
|
||||||
dev_name, (end_us - start_us) / 1000000.0)
|
dev_name, (end_us - start_us) / 1000000.0)
|
||||||
else:
|
else:
|
||||||
logger.error("creating %s", dev_pattern_usb)
|
logger.info("error creating %s", dev_pattern_usb)
|
||||||
usb.disable()
|
usb.disable()
|
||||||
usb.uninit()
|
usb.uninit()
|
||||||
return dev_name
|
return dev_name
|
||||||
@ -385,211 +381,58 @@ def get_version():
|
|||||||
logger.warning("no build version received")
|
logger.warning("no build version received")
|
||||||
return version
|
return version
|
||||||
|
|
||||||
# Checking param INS_ACC_ID to see if this is stock Pixhawk 2.0 or a Pixhawk 2.1
|
|
||||||
# - A pixhawk 2.1 will have INS_ACC_ID, and it will be 1442082 (return true)
|
|
||||||
# - A pixhawk 2.0 running master will have INS_ACC_ID, but will not be 1442082 (return false)
|
|
||||||
# - A pixhawk 2.0 with stock 3DR firmware will not have INS_ACC_ID at all (return false)
|
|
||||||
def checkPixhawkVersion():
|
|
||||||
global cube_version
|
|
||||||
# Setup serial comm to the pixhawk
|
|
||||||
config = ConfigParser.SafeConfigParser()
|
|
||||||
config.optionxform = str
|
|
||||||
config.read(sololink_conf)
|
|
||||||
|
|
||||||
serial_dev = config_get(config, config_dev_name)
|
|
||||||
if serial_dev is None:
|
|
||||||
logger.error("reading %s from %s", config_dev_name, sololink_conf)
|
|
||||||
return False
|
|
||||||
logger.debug("%s = %s", config_dev_name, serial_dev)
|
|
||||||
|
|
||||||
serial_flow = config_getbool(config, config_flow_name, True)
|
|
||||||
logger.debug("%s = %s", config_flow_name, serial_flow)
|
|
||||||
|
|
||||||
serial_baud = config_getint(config, config_baud_name)
|
|
||||||
if serial_baud is None:
|
|
||||||
logger.error("reading %s from %s", config_baud_name, sololink_conf)
|
|
||||||
return False
|
|
||||||
logger.debug("%s = %d", config_baud_name, serial_baud)
|
|
||||||
m = mavutil.mavlink_connection(serial_dev, baud=serial_baud)
|
|
||||||
m.set_rtscts(serial_flow)
|
|
||||||
timeout_us = 30 * 1000000
|
|
||||||
|
|
||||||
# First we'll check parameter INS_ACC_ID. On stock 3DR firmware, this param
|
|
||||||
# will not be found. With ArduCopter 3.5+, the parameter will be detected.
|
|
||||||
# A value of 1442082 is a green cube. A value of 1245474 is a stock cube.
|
|
||||||
logger.info("Checking parameter INS_ACC_ID to determine cube version")
|
|
||||||
start_us = clock.gettime_us(clock.CLOCK_MONOTONIC)
|
|
||||||
end_us = start_us
|
|
||||||
while ((end_us - start_us) < timeout_us) and cube_version == 'unknown':
|
|
||||||
m.mav.param_request_read_send(m.target_system, m.target_component, 'INS_ACC_ID', -1)
|
|
||||||
param_check = m.recv_match(type='PARAM_VALUE', blocking=True, timeout=5)
|
|
||||||
end_us = clock.gettime_us(clock.CLOCK_MONOTONIC)
|
|
||||||
if param_check is not None:
|
|
||||||
if param_check.get_type() == 'PARAM_VALUE' and str(param_check.param_id) == 'INS_ACC_ID':
|
|
||||||
if str(param_check.param_value) == '1442082.0':
|
|
||||||
logger.info("Pixhawk 2.1 on board!")
|
|
||||||
cube_version = 'cube_21'
|
|
||||||
m.close()
|
|
||||||
return True
|
|
||||||
elif str(param_check.param_value) == '1245474.0':
|
|
||||||
logger.info("Pixhawk 2.0 on board. But not stock solo firmware")
|
|
||||||
cube_version = 'cube_20'
|
|
||||||
m.close()
|
|
||||||
return True
|
|
||||||
logger.info("cube_version = %s", cube_version)
|
|
||||||
|
|
||||||
# If we've gotten to this point, it must have not found the INS_ACC_ID. So
|
|
||||||
# we'll check the compass #3 device ID instead. On a stock cube with stock
|
|
||||||
# stock FW, it will be 66286. On a stock with AC3.5, it is for some reason
|
|
||||||
# not found. So this only works for stock FW on a stock cube, which should
|
|
||||||
# be fine for all but a few people running master on a stock cube.
|
|
||||||
logger.info("Checking parameter COMPASS_DEV_ID3 to determine cube version")
|
|
||||||
start_us = clock.gettime_us(clock.CLOCK_MONOTONIC)
|
|
||||||
end_us = start_us
|
|
||||||
while ((end_us - start_us) < timeout_us) and cube_version == 'unknown':
|
|
||||||
m.mav.param_request_read_send(m.target_system, m.target_component, 'COMPASS_DEV_ID3', -1)
|
|
||||||
param_check = m.recv_match(type='PARAM_VALUE', blocking=True, timeout=5)
|
|
||||||
end_us = clock.gettime_us(clock.CLOCK_MONOTONIC)
|
|
||||||
if param_check is not None:
|
|
||||||
if param_check.get_type() == 'PARAM_VALUE' and str(param_check.param_id) == 'COMPASS_DEV_ID3':
|
|
||||||
if str(param_check.param_value) == '263178.0':
|
|
||||||
logger.info("Pixhawk 2.1 on board!")
|
|
||||||
cube_version = 'cube_21'
|
|
||||||
m.close()
|
|
||||||
return True
|
|
||||||
elif str(param_check.param_value) == '66826.0':
|
|
||||||
logger.info("Pixhawk 2.0 on board. You should go green :)")
|
|
||||||
cube_version = 'cube_20'
|
|
||||||
m.close()
|
|
||||||
return True
|
|
||||||
logger.info("cube_version = %s", cube_version)
|
|
||||||
|
|
||||||
# Handle scenario where the external compass is unplugged, so what was
|
|
||||||
# compass #3 has become #2.
|
|
||||||
logger.info("Checking parameter COMPASS_DEV_ID2 to determine cube version")
|
|
||||||
start_us = clock.gettime_us(clock.CLOCK_MONOTONIC)
|
|
||||||
end_us = start_us
|
|
||||||
while ((end_us - start_us) < timeout_us) and cube_version == 'unknown':
|
|
||||||
m.mav.param_request_read_send(m.target_system, m.target_component, 'COMPASS_DEV_ID2', -1)
|
|
||||||
param_check = m.recv_match(type='PARAM_VALUE', blocking=True, timeout=5)
|
|
||||||
end_us = clock.gettime_us(clock.CLOCK_MONOTONIC)
|
|
||||||
if param_check is not None:
|
|
||||||
if param_check.get_type() == 'PARAM_VALUE' and str(param_check.param_id) == 'COMPASS_DEV_ID2':
|
|
||||||
if str(param_check.param_value) == '263178.0':
|
|
||||||
logger.info("Pixhawk 2.1 on board!")
|
|
||||||
cube_version = 'cube_21'
|
|
||||||
m.close()
|
|
||||||
return True
|
|
||||||
elif str(param_check.param_value) == '66826.0':
|
|
||||||
logger.info("Pixhawk 2.0 on board. You should go green :)")
|
|
||||||
cube_version = 'cube_20'
|
|
||||||
m.close()
|
|
||||||
return True
|
|
||||||
logger.info("cube_version = %s", cube_version)
|
|
||||||
|
|
||||||
# If we've reached this point, we were unable to positively identify which
|
|
||||||
# cube is in the solo. Probably because something is malfunctioning, or
|
|
||||||
# because someone is running master on a stock cube. In either case, there
|
|
||||||
# is nothing more we can do, so returning false and leave cube_version unknown.
|
|
||||||
cube_version = 'unknown'
|
|
||||||
logger.info("Unable to determine cube version")
|
|
||||||
return False
|
|
||||||
|
|
||||||
def removeFWfiles(dir):
|
|
||||||
if dir == '3dr':
|
|
||||||
filelist=glob.glob('/firmware/3dr/*.*')
|
|
||||||
elif dir == 'green':
|
|
||||||
filelist=glob.glob('/firmware/green/*.*')
|
|
||||||
elif dir == 'main':
|
|
||||||
filelist=glob.glob('/firmware/*.px4') + glob.glob('/firmware/*.apj')
|
|
||||||
for file in filelist:
|
|
||||||
os.remove(file)
|
|
||||||
|
|
||||||
# load firmware
|
# load firmware
|
||||||
def load(firmware_path):
|
def load(firmware_path):
|
||||||
logger.info("loading %s", firmware_path)
|
logger.info("loading %s", firmware_path)
|
||||||
|
print "pixhawk: loading firmware %s:", firmware_path
|
||||||
|
|
||||||
dev_name = create_usb_serial()
|
dev_name = create_usb_serial()
|
||||||
if dev_name is None:
|
if dev_name is None:
|
||||||
|
logger.info("Failed to open USB serial port to load firmware")
|
||||||
return False
|
return False
|
||||||
|
|
||||||
# load firmware
|
# load firmware
|
||||||
start_us = clock.gettime_us(clock.CLOCK_MONOTONIC)
|
start_us = clock.gettime_us(clock.CLOCK_MONOTONIC)
|
||||||
ret = subprocess.call(["uploader.py",
|
uploader = subprocess.Popen(["uploader.py",
|
||||||
"--port=%s" % dev_pattern_usb,
|
"--port=%s" % dev_pattern_usb,
|
||||||
firmware_path])
|
firmware_path])
|
||||||
if ret != 0:
|
|
||||||
|
## Start a 2 minute timeout for loading firmware in case it fails
|
||||||
|
delay = 1.0
|
||||||
|
timeout = int(120 / delay)
|
||||||
|
while uploader.poll() is None and timeout > 0:
|
||||||
|
time.sleep(delay)
|
||||||
|
timeout -= delay
|
||||||
|
|
||||||
|
if uploader.poll() is None:
|
||||||
|
#px_uploader.py failed to complete, probably hosed
|
||||||
loaded = False
|
loaded = False
|
||||||
logger.error("loading firmware")
|
logger.info("Firmware loading failed due to timeout.")
|
||||||
else:
|
elif uploader.returncode != 0:
|
||||||
|
#px_uploader.py returned error, failed to load due to error
|
||||||
|
loaded = False
|
||||||
|
logger.info("Firmware loading failed due to error.")
|
||||||
|
elif uploader.returncode == 0:
|
||||||
|
#px_uploader succeeded
|
||||||
loaded = True
|
loaded = True
|
||||||
end_us = clock.gettime_us(clock.CLOCK_MONOTONIC)
|
end_us = clock.gettime_us(clock.CLOCK_MONOTONIC)
|
||||||
logger.info("firmware loaded in %0.3f sec",
|
logger.info("firmware loaded in %0.3f sec",
|
||||||
(end_us - start_us) / 1000000.0)
|
(end_us - start_us) / 1000000.0)
|
||||||
|
|
||||||
if loaded:
|
|
||||||
# firmware loaded; wait for heartbeat on telemetry port
|
|
||||||
# This allows for the baud rate to change along with the firmware load.
|
|
||||||
start_us = clock.gettime_us(clock.CLOCK_MONOTONIC)
|
|
||||||
# 0.6.x ... 1.0.5 has a pixhawk build at 115200 baud
|
|
||||||
# internal versions might have a pixhawk build at 921600 baud
|
|
||||||
# 1.1.5 and later have a pixhawk build at 115200 baud
|
|
||||||
baudlist = get_baudlist(None, 115200)
|
|
||||||
hb_quit = False
|
|
||||||
hb_time_us = None
|
|
||||||
wait_us = None
|
|
||||||
hb = None
|
|
||||||
while not hb_quit:
|
|
||||||
for baud in baudlist:
|
|
||||||
logger.debug("trying %d", baud)
|
|
||||||
m = create_tty_mavlink(baud)
|
|
||||||
if m is None:
|
|
||||||
logger.error("creating tty mavlink connection")
|
|
||||||
hb_quit = True
|
|
||||||
break # for baud
|
|
||||||
# flush input - could we have data from before flashing?
|
|
||||||
flush_bytes = m.port.inWaiting()
|
|
||||||
if flush_bytes > 0:
|
|
||||||
logger.info("flushing %d bytes", flush_bytes)
|
|
||||||
m.port.flushInput()
|
|
||||||
logger.debug("waiting for heartbeat")
|
|
||||||
hb = m.recv_match(type='HEARTBEAT', blocking=True, timeout=1.1)
|
|
||||||
wait_us = clock.gettime_us(clock.CLOCK_MONOTONIC) - start_us
|
|
||||||
if hb is None:
|
|
||||||
logger.debug("timeout waiting for first heartbeat")
|
|
||||||
else:
|
else:
|
||||||
# insisting on a second heartbeat was in response to
|
#Unsure if loading FW worked or not, so we'll proceed
|
||||||
# occasionally detecting a heartbeat at the wrong baud
|
loaded = True
|
||||||
# when the baud changes with the firmware (!)
|
end_us = clock.gettime_us(clock.CLOCK_MONOTONIC)
|
||||||
logger.debug("got first heartbeat")
|
logger.info("firmware may have loaded. Checking for HB")
|
||||||
hb_time_us = clock.gettime_us(clock.CLOCK_MONOTONIC) - start_us
|
|
||||||
hb = m.recv_match(type='HEARTBEAT', blocking=True, timeout=1.1)
|
|
||||||
if hb is None:
|
|
||||||
# this has been observed to happen (rarely)
|
|
||||||
logger.info("timeout waiting for second heartbeat at %d after loading", baud)
|
|
||||||
# ...and continue with the next baud rate
|
|
||||||
else:
|
|
||||||
logger.debug("got second heartbeat")
|
|
||||||
m.close()
|
|
||||||
if hb is not None:
|
|
||||||
set_baud(baud)
|
|
||||||
hb_quit = True
|
|
||||||
break # for baud
|
|
||||||
# 0.1.0 comes up in about 25 sec
|
|
||||||
# 1.0.8 comes up in about 8 sec
|
|
||||||
# 1.1.4 comes up in about 15 sec
|
|
||||||
if wait_us > 45000000: # 45 sec
|
|
||||||
hb_quit = True # to exit the while loop
|
|
||||||
break # exit the baud loop
|
|
||||||
### for baud in baudlist
|
|
||||||
### while !hb_quit
|
|
||||||
if hb is None:
|
|
||||||
logger.error("timeout waiting for heartbeat after loading")
|
|
||||||
else:
|
|
||||||
logger.info("heartbeat after loading in %0.3f sec", hb_time_us / 1000000.0)
|
|
||||||
|
|
||||||
delete_usb_serial()
|
delete_usb_serial()
|
||||||
|
|
||||||
|
if loaded:
|
||||||
|
move_firmware(firmware_path)
|
||||||
|
else:
|
||||||
|
os.system("rm -f /firmware/*.apj")
|
||||||
|
os.system("rm -f /firmware/*.px4")
|
||||||
|
|
||||||
|
time.sleep(5)
|
||||||
return loaded
|
return loaded
|
||||||
|
|
||||||
|
|
||||||
@ -633,7 +476,7 @@ def verify_usb():
|
|||||||
(end_us - start_us) / 1000000.0)
|
(end_us - start_us) / 1000000.0)
|
||||||
return True
|
return True
|
||||||
else:
|
else:
|
||||||
logger.error("ERROR getting heartbeat over USB")
|
logger.info("ERROR getting heartbeat over USB")
|
||||||
return False
|
return False
|
||||||
|
|
||||||
|
|
||||||
@ -644,6 +487,7 @@ def verify_usb():
|
|||||||
def find_firmware(dir):
|
def find_firmware(dir):
|
||||||
files = glob.glob("%s/*.apj" % dir) + glob.glob("%s/*.px4" % dir)
|
files = glob.glob("%s/*.apj" % dir) + glob.glob("%s/*.px4" % dir)
|
||||||
if len(files) == 0:
|
if len(files) == 0:
|
||||||
|
logger.info("No firmware file found")
|
||||||
return (None, None)
|
return (None, None)
|
||||||
# read git hashes
|
# read git hashes
|
||||||
full_path = files[-1]
|
full_path = files[-1]
|
||||||
@ -724,7 +568,10 @@ def resetParameters():
|
|||||||
|
|
||||||
m.mav.param_set_send(m.target_system, m.target_component, 'SYSID_SW_MREV', 0, 0)
|
m.mav.param_set_send(m.target_system, m.target_component, 'SYSID_SW_MREV', 0, 0)
|
||||||
time.sleep(5)
|
time.sleep(5)
|
||||||
|
m.mav.command_long_send(m.target_system, m.target_component,246 , 0, 1, 0, 0, 0, 0, 0, 0)
|
||||||
m.close()
|
m.close()
|
||||||
|
logger.info(" Waiting 30 seconds for pixhawk to reboot...")
|
||||||
|
time.sleep(30)
|
||||||
return
|
return
|
||||||
|
|
||||||
def recoveryCheck():
|
def recoveryCheck():
|
||||||
@ -761,67 +608,16 @@ def rebootPixhawk():
|
|||||||
|
|
||||||
m.mav.command_long_send(m.target_system, m.target_component,246 , 0, 1, 0, 0, 0, 0, 0, 0)
|
m.mav.command_long_send(m.target_system, m.target_component,246 , 0, 1, 0, 0, 0, 0, 0, 0)
|
||||||
m.close()
|
m.close()
|
||||||
logger.info(" Waiting 60 seconds for pixhawk to reboot...")
|
logger.info(" Waiting 30 seconds for pixhawk to reboot...")
|
||||||
time.sleep(60)
|
time.sleep(30)
|
||||||
return
|
return
|
||||||
|
|
||||||
def initialize():
|
def checkArduCopter():
|
||||||
global cube_version
|
|
||||||
firmware_path = None
|
|
||||||
paramsAfterLoad = False
|
|
||||||
|
|
||||||
start_us = clock.gettime_us(clock.CLOCK_MONOTONIC)
|
|
||||||
led.blink(1000, 100)
|
|
||||||
print "pixhawk..."
|
|
||||||
baud = get_baud()
|
baud = get_baud()
|
||||||
if baud == None:
|
if baud == None:
|
||||||
print "pixhawk: ERROR checking baud"
|
print "pixhawk: ERROR checking baud"
|
||||||
logger.error("finding baud")
|
logger.info("Error checking baud. No response")
|
||||||
logger.error("pixhawk status: no response")
|
return False
|
||||||
# pixhawk might be stuck in bootloader
|
|
||||||
|
|
||||||
# If we're in a factory reset, we just need to reset the pixhawk.
|
|
||||||
# If we've just completed the clean install, load the appropriate ArduCopter FW and reset the pixhawk
|
|
||||||
# Otherwise, just look in /firmware and load whatever is there.
|
|
||||||
if recoveryCheck():
|
|
||||||
resetParameters()
|
|
||||||
rebootPixhawk()
|
|
||||||
else:
|
|
||||||
if (os.path.isdir("/firmware/3dr") or os.path.isdir("/firmware/green")) and checkPixhawkVersion():
|
|
||||||
# This must be a clean install if the initial FW directories are here.
|
|
||||||
paramsAfterLoad = True
|
|
||||||
if cube_version == 'cube_20':
|
|
||||||
(firmware_path, firmware_version) = find_firmware(firmware_root_3dr)
|
|
||||||
elif cube_version == 'cube_21':
|
|
||||||
(firmware_path, firmware_version) = find_firmware(firmware_root_green)
|
|
||||||
else:
|
|
||||||
# Not a clean install, look for FW in the normal location
|
|
||||||
(firmware_path, firmware_version) = find_firmware(firmware_root)
|
|
||||||
|
|
||||||
if firmware_path is None:
|
|
||||||
logger.info("no new firmware file")
|
|
||||||
elif os.path.exists("/log/.factory") and (baud is not None) and verify_usb():
|
|
||||||
logger.info("pixhawk: factory - not loading firmware")
|
|
||||||
else:
|
|
||||||
print "pixhawk: loading firmware"
|
|
||||||
logger.info("%s:", firmware_path)
|
|
||||||
for v in firmware_version:
|
|
||||||
logger.info("%-20s %s", v, firmware_version[v])
|
|
||||||
if load(firmware_path):
|
|
||||||
move_firmware(firmware_path)
|
|
||||||
os.system("rm -rf /firmware/3dr")
|
|
||||||
os.system("rm -rf /firmware/green")
|
|
||||||
os.system("rm -rf /firmware/wipe")
|
|
||||||
if paramsAfterLoad:
|
|
||||||
logger.info("Executing post-install parameter reset...")
|
|
||||||
resetParameters()
|
|
||||||
rebootPixhawk()
|
|
||||||
logger.info("...Reset complete")
|
|
||||||
else:
|
|
||||||
print "pixhawk: ERROR loading firmware"
|
|
||||||
logger.error("pixhawk status: can't load")
|
|
||||||
|
|
||||||
os.system("rm -f /log/.factory")
|
|
||||||
|
|
||||||
running_version = get_version()
|
running_version = get_version()
|
||||||
logger.info(running_version)
|
logger.info(running_version)
|
||||||
@ -840,6 +636,45 @@ def initialize():
|
|||||||
print "pixhawk: running %s" % running_version["build_version"]
|
print "pixhawk: running %s" % running_version["build_version"]
|
||||||
else:
|
else:
|
||||||
print "pixhawk: ERROR checking version"
|
print "pixhawk: ERROR checking version"
|
||||||
|
|
||||||
|
return True
|
||||||
|
|
||||||
|
def doFirmware():
|
||||||
|
firmware_path = None
|
||||||
|
(firmware_path, firmware_version) = find_firmware(firmware_root)
|
||||||
|
|
||||||
|
if firmware_path is not None and verify_usb():
|
||||||
|
# We have firmware to load.
|
||||||
|
for v in firmware_version:
|
||||||
|
logger.info("%-20s %s", v, firmware_version[v])
|
||||||
|
|
||||||
|
load(firmware_path)
|
||||||
|
|
||||||
|
def initialize():
|
||||||
|
start_us = clock.gettime_us(clock.CLOCK_MONOTONIC)
|
||||||
|
led.blink(1000, 100)
|
||||||
|
print "pixhawk..."
|
||||||
|
|
||||||
|
serial_ok = False
|
||||||
|
|
||||||
|
if os.path.exists("/log/.factory") or os.path.exists("/log/updates/FACTORYRESET") or os.path.exists("/log/updates/UPDATE") or os.path.exists("/log/updates/RESETSETTINGS"):
|
||||||
|
os.system("rm -f /log/.factory")
|
||||||
|
else:
|
||||||
|
serial_ok = checkArduCopter()
|
||||||
|
|
||||||
|
# if we're in factory reset, just reset parameters and exit
|
||||||
|
if recoveryCheck() and serial_ok:
|
||||||
|
resetParameters()
|
||||||
|
else:
|
||||||
|
# find and load ArduCopter FW
|
||||||
|
if doFirmware():
|
||||||
|
serial_ok = checkArduCopter()
|
||||||
|
|
||||||
|
# reset ArduCopter parameters if tagged
|
||||||
|
if os.path.exists("/firmware/resetParams") and serial_ok:
|
||||||
|
resetParameters()
|
||||||
|
os.remove("/firmware/resetParams")
|
||||||
|
|
||||||
led.off()
|
led.off()
|
||||||
end_us = clock.gettime_us(clock.CLOCK_MONOTONIC)
|
end_us = clock.gettime_us(clock.CLOCK_MONOTONIC)
|
||||||
logger.debug("pixhawk initialization took %0.3f sec",
|
logger.debug("pixhawk initialization took %0.3f sec",
|
||||||
@ -867,6 +702,8 @@ if __name__ == "__main__":
|
|||||||
help="firmware root directory (%s)" % firmware_root)
|
help="firmware root directory (%s)" % firmware_root)
|
||||||
parser.add_option("-p", "--pix_version", dest="pix", type="string", default=None,
|
parser.add_option("-p", "--pix_version", dest="pix", type="string", default=None,
|
||||||
help="pixhawk version file (%s)" % version_file)
|
help="pixhawk version file (%s)" % version_file)
|
||||||
|
parser.add_option("-r", "--reboot", dest="reboot", action="store_true",
|
||||||
|
default=False, help="reboots pixhawk")
|
||||||
(opts, args) = parser.parse_args()
|
(opts, args) = parser.parse_args()
|
||||||
|
|
||||||
if opts.conf is not None:
|
if opts.conf is not None:
|
||||||
@ -908,4 +745,7 @@ if __name__ == "__main__":
|
|||||||
if opts.usb:
|
if opts.usb:
|
||||||
print check_usb()
|
print check_usb()
|
||||||
|
|
||||||
|
if opts.reboot:
|
||||||
|
rebootPixhawk()
|
||||||
|
|
||||||
logger.info("pixhawk.py finished")
|
logger.info("pixhawk.py finished")
|
||||||
|
Loading…
x
Reference in New Issue
Block a user