APM启动流程及ArduPilot函数入口

 

PX4 (APM)的启动流程

1.  脚本运行阶段

PX4的软件主要可分为Bootloader，Nuttx内核，ROMFS文件系统的挂载，和ArduPilot程序的执行，我们首先讨论ROMFS文件系统挂载完成到ArduPilot执行的过程。

ROMFS挂载完成后，会先执行/etc/init.d/rcS脚本，在源代码中的位置为mk/PX4/ROMFS/init.d/rcS，其内容见附录一

在px4-v2上，正常运行时，此脚本可以简化为下：

set MODE autostart set USB autoconnect rgbled start set HAVE_RGBLED 1 rgbled rgb 16 16 16   echo "[init] looking for microSD..." mount -t vfat /dev/mmcsd0 /fs/microsd echo "[init] card mounted at /fs/microsd" set HAVE_MICROSD 1 tone_alarm 1        sercon echo "[init] USB interface connected"   echo Running rc.APM sh /etc/init.d/rc.APM

 

可以看到此脚本的功能就是，挂载rgbled设备并置成白色，挂载SD卡，注册CDC/ACM驱动，执行rc.APM脚本。

 

rc.APM脚本位于源代码mk/PX4/ROMFS/init.d路径下，其内容见附录二。

在px4-v2上正常运行时，此脚本可以简化如下：

set deviceA /dev/ttyACM0   echo "Mounting binfs" mount -t binfs /dev/null /bin echo "binfs mounted OK"   set sketch NONE   rm /fs/microsd/APM/boot.log set logfile /fs/microsd/APM/BOOT.LOG   mkdir /fs/microsd/APM > /dev/null   echo "Detected FMUv2 board" set BOARD FMUv2   set deviceC /dev/ttyS1 set deviceD /dev/ttyS2   uorb start echo "uorb started OK"   echo "Trying PX4IO board" set HAVE_PX4IO false px4io start norc set HAVE_PX4IO true   echo "PX4IO board OK" px4io checkcrc /etc/px4io/px4io.bin echo "PX4IO CRC OK"   fmu mode_pwm4 echo "Set FMU mode_pwm4"   echo "Starting APM sensors"   ms5611 start echo "ms5611 started OK"   adc start echo "adc started OK"   echo "Starting FMUv2 sensors"   hmc5883 -C -T -X start echo "Have external hmc5883" hmc5883 -C -T -I -R 4 start echo "No internal hmc5883"     mpu6000 -X -R 4 start mpu9250 -X -R 4 start echo "No MPU6000 or MPU9250 external" set HAVE_FMUV3 false   mpu6000 start echo "Found MPU6000"   l3gd20 start echo "l3gd20 started OK" lsm303d start echo "lsm303d started OK"   ets_airspeed start   meas_airspeed start meas_airspeed start -b 2   ll40ls -X start ll40ls -I start   trone start   mb12xx start   px4flow start   pwm_input start echo "started pwm_input driver"   mtd start /fs/mtd echo "started mtd driver OK"       mtd readtest /fs/mtd echo "mtd readtest OK"     oreoled start autoupdate echo "oreoled started OK"   batt_smbus -b 2 start echo "Found batt_smbus"   irlock start   mtd rwtest /fs/mtd echo "mtd rwtest OK"   echo Starting ArduPilot $deviceA $deviceC $deviceD ArduPilot -d $deviceA -d2 $deviceC -d3 $deviceD start echo ArduPilot started OK   echo "rc.APM finished"

可以看到，此脚本主要是启动px4io及各个传感器，最后启动了ArduPilot主程序。下面我们来来看看ArduPilot主程序。

2.  ArduPilot程序的启动

在ArduCopter下的ArduCopter.cpp的最后一行为：

AP_HAL_MAIN_CALLBACKS(&copter);

而AP_HAL_MAIN_CALLBACKS定义在libraries/AP_HAL/ AP_HAL_Main.h中

#define AP_MAIN __EXPORT ArduPilot_main   #define AP_HAL_MAIN_CALLBACKS