diff --git a/mk/PX4/ROMFS/init.d/rc.APM b/mk/PX4/ROMFS/init.d/rc.APM index 7da5216f593d3c69515e8053230c820cd23b145d..8b2e887036d552517eb4c43b3f707d6ac91a43e5 100644 --- a/mk/PX4/ROMFS/init.d/rc.APM +++ b/mk/PX4/ROMFS/init.d/rc.APM @@ -4,10 +4,7 @@ # To disable APM startup add a /fs/microsd/APM/nostart file # To enable mkblctrl startup add a /fs/microsd/APM/mkblctrl file -# To enable uartD on FMUv1 on ttyS1 add a /fs/microsd/APM/uartD.en -# file - -# enable uartD by default on PX4v1 +# To enable PWM on FMUv1 on ttyS1 add a /fs/microsd/APM/AUXPWM.en file set deviceA /dev/ttyACM0 @@ -65,11 +62,11 @@ fi if [ $BOARD == FMUv1 ] then set deviceC /dev/ttyS2 - if [ -f /fs/microsd/APM/uartD.en ] + if [ -f /fs/microsd/APM/AUXPWM.en ] then - set deviceD /dev/ttyS1 - else set deviceD /dev/null + else + set deviceD /dev/ttyS1 fi else set deviceC /dev/ttyS1 @@ -261,8 +258,8 @@ else fi echo Starting ArduPilot -echo Starting ArduPilot $deviceA $deviceC >> $logfile -if ArduPilot -d $deviceA -d2 $deviceC start +echo Starting ArduPilot $deviceA $deviceC $deviceD >> $logfile +if ArduPilot -d $deviceA -d2 $deviceC -d3 $deviceD start then echo ArduPilot started OK else