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Load and Start Modules on PX4 Autopilot After Boot-Up

The startup sequence of the PX4® modules during boot-up of the hardware is controlled by the startup script contained in the PX4 firmware. The hardware setup process of the UAV Toolbox Support Package for PX4 Autopilots you to select either the default or custom startup script.

The default startup script, rcS, loads the modules and the desired airframe mixers after the Autopilot is booted up. If you select rcS as the startup script, all PX4 modules are available for you to use in your Autopilot. The px4_simulink_app module which contains the Simulink® generated code is also added as an additional module in rcS so that it is started after the Autopilot is booted up.

Alternatively, you can use a custom startup script, rc.txt, that you place on the SD card of the PX4 Autopilot. The custom start up script allows you to select which PX4 modules to enable in accordance with your controller design requirements. If the rc.txt is not present on the SD card, the default startup script is executed on startup.

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