大话pixhawk运行Ardu:Copter启动过程

1：了解启动过程有什么帮助？

2：硬件连接

3：启动过程&分析

[rgbled] on I2C bus 2 at 0x55 (bus: 100 KHz, max: 100 KHz)
[init] looking for microSD...
[init] card mounted at /fs/microsd
sercon: Registering CDC/ACM serial driver
sercon: Successfully registered the CDC/ACM serial driver
[init] USB interface connected
Running rc.APM
Mounting binfs
binfs mounted OK
nsh: rm: unlink failed: No such file or directory
Detected FMUv2 board
uorb started OK
Trying PX4IO board
PX4: param_find(SYS_RESTART_TYPE)
PX4: param_find(CBRK_IO_SAFETY)
[px4io] default PWM output device
PX4: param_find(CBRK_FLIGHTTERM)
PX4IO board OK
PX4: param_find(RC_DSM_BIND)
PX4: param_find(BAT_V_SCALE_IO)
PX4: param_find(RC_FAILS_THR)
PX4: param_find(RC_FAILS_THR)
PX4: param_find(CBRK_FLIGHTTERM)
PX4: param_find(RC_RSSI_PWM_CHAN)
PX4: param_find(RC_RSSI_PWM_MAX)
PX4: param_find(RC_RSSI_PWM_MIN)
PX4: param_find(PWM_MAIN_REV1)
PX4: param_find(PWM_MAIN_REV2)
PX4: param_find(PWM_MAIN_REV3)
PX4: param_find(PWM_MAIN_REV4)
PX4: param_find(PWM_MAIN_REV5)
px4io: CRCs match
PX4: param_find(PWM_MAIN_REV6)
PX4IO CRC OK
PX4: param_find(PWM_MAIN_REV7)
PX4: param_find(PWM_MAIN_REV8)
<fmuservo> MODE_4PWM
PX4: param_find(PWM_AUX_REV1)
<fmuservo> set_pwm_rate 0 50 50
PX4: param_find(PWM_AUX_REV2)
Set FMU mode_pwm4
PX4: param_find(PWM_AUX_REV3)
Starting APM sensors
PX4: param_find(PWM_AUX_REV4)
[MS5611_SPI] on SPI bus 4 at 2 (PX4: param_find(PWM_AUX_REV5)
11000 KHz)
PX4: param_find(PWM_AUX_REV6)
ms5611: no device on bus 4
<fmuservo> adjusted actuator upd[MS5611_SPI] on SPI bus 1 at 3 (ate interval to 20ms
11000 KHz)
ms5611: no device on bus 1
ms5611: no device on bus 2
ms5611 started OK
<adc> init done
adc started OK
Starting FMUv2 sensors
hmc5883: no device on bus 2
hmc5883: driver start failed
No external hmc5883
hmc5883: no device on bus 1
hmc5883: driver start failed
No internal hmc5883
mpu6000: driver start failed
mpu9250: driver start failed
No MPU6000 or MPU9250 external
[MPU6000] on SPI bus 1 at 4 (1000 KHz)
Found MPU6000
[L3GD20] on SPI bus 1 at 1 (11000 KHz)
l3gd20 started OK
[LSM303D] on SPI bus 1 at 2 (11000 KHz)
lsm303d started OK
ets_airspeed: no ETS airspeed sensor connected
meas_airspeed: no MS4525 airspeed sensor connected
ll40ls: driver start failed
ll40ls: driver start failed
trone: driver start failed
mb12xx: driver start failed
px4flow: no PX4FLOW connected over I2C
started pwm_input driver
Trying PX4IO board
started mtd driver OK
reading /fs/mtd expecting 32768 bytes
readtest OK
mtd readtest OK
PX4: param_find(UAVCAN_NODE_ID)
PX4: param_find(UAVCAN_BITRATE)
uavcan: Node ID 1, bitrate 1000000
uavcan: SW version vcs_commit: 0xacf2e10c
uavcan: sensor bridge 'gnss' init ok
uavcan: sensor bridge 'mag' init ok
uavcan: sensor bridge 'baro' init ok
started uavcan OK
[batt_smbus] on I2C bus 2 at 0x0b (bus: 100 KHz, max: 100 KHz)
Found batt_smbus
[oreoled] on I2C bus 2 at 0x68 (bus: 100 KHz, max: 100 KHz)
oreoled started OK
rwtest /fs/mtd testing 32768 bytes
rwtest OK
mtd rwtest OK
Starting ArduPilot /dev/ttyACM0 /dev/ttyS1 /dev/ttyS2
Starting ArduCopter uartA=/dev/ttyACM0 uartC=/dev/ttyS1 uartD=/dev/ttyS2 uartE=/dev/ttyS6
initialised /dev/ttyS3 OK 1024 512
initialised /dev/ttyS1 OK 1024 512
initialised /dev/ttyS2 OK 1024 512
initialised /dev/ttyS6 OK 1024 512
ArduPilot started OK
rc.APM finished

NuttShell (NSH)
nsh> <fmuservo> MODE_4PWM
<fmuservo> set_pwm_rate 0 50 50
disabling flow control on /dev/ttyS1 _total_written=135
disabling flow control on /dev/ttyS2 _total_written=135
hpwork: did not find smart battery