ardupilot/mk/VRBRAIN/ROMFS_VRUBRAIN52_APM/init.d/rc.APM

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#!nsh
# APM startup script for NuttX on VRBRAIN
# To disable APM startup add a /fs/microsd/APM/nostart file
# check for an old file called APM, caused by
# a bug in an earlier firmware release
if [ -f /fs/microsd/APM ]
then
echo "[APM] APM file found - renaming"
mv /fs/microsd/APM /fs/microsd/APM.old
fi
if [ -f /fs/microsd/APM/nostart ]
then
echo "[APM] APM/nostart found - skipping APM startup"
sh /etc/init.d/rc.error
fi
# mount binfs so we can find the built-in apps
if [ -f /bin/reboot ]
then
echo "[APM] binfs already mounted"
else
echo "[APM] Mounting binfs"
if mount -t binfs /dev/null /bin
then
echo "[APM] binfs mounted OK"
else
sh /etc/init.d/rc.error
fi
fi
if rm /fs/microsd/APM/boot.log
then
echo "[APM] Removed old boot.log"
fi
set logfile /fs/microsd/APM/BOOT.LOG
if [ ! -f /bin/ArduPilot ]
then
echo "[APM] /bin/ArduPilot not found"
sh /etc/init.d/rc.error
fi
if mkdir /fs/microsd/APM > /dev/null
then
echo "[APM] Created APM directory"
fi
echo "[APM] Starting UORB"
if uorb start
then
echo "[APM] UORB started OK"
else
sh /etc/init.d/rc.error
fi
echo "[APM] Starting ADC"
if adc start
then
echo "[APM] ADC started OK"
else
sh /etc/init.d/rc.error
fi
echo "[APM] Starting APM sensors"
echo "[APM] Starting MS5611 Internal"
if ms5611 -I start
then
echo "[APM] MS5611 onboard started OK"
else
echo "[APM] MS5611 onboard start failed"
sh /etc/init.d/rc.error
fi
echo "[APM] Starting HMC5883 External GPS"
if hmc5883 -X start
then
echo "[APM] HMC5883 External GPS started OK"
if hmc5883 -X calibrate
then
echo "[APM] HMC5883 External GPS calibrate OK"
else
echo "[APM] HMC5883 External GPS calibrate failed"
fi
else
echo "[APM] HMC5883 External GPS start failed"
# sh /etc/init.d/rc.error
fi
echo "[APM] Starting MPU6000 Internal"
if mpu6000 -I start
then
echo "[APM] MPU6000 onboard started OK"
else
echo "[APM] MPU6000 onboard start failed"
sh /etc/init.d/rc.error
fi
echo "[APM] Starting MEAS I2C Airspeed"
if meas_airspeed start
then
echo "Found MEAS airspeed sensor"
fi
echo "[APM] Starting MB12XX Range Finder Sensor"
if mb12xx start
then
echo "Found mb12xx sensor"
fi
echo "[APM] Starting MTD driver"
if mtd start /fs/mtd
then
echo "[APM] MTD driver started OK"
else
echo "[APM] MTD driver start failed"
sh /etc/init.d/rc.error
fi
echo "[APM] MTD driver read test"
if mtd readtest /fs/mtd
then
echo "[APM] MTD driver readtest OK"
else
echo "[APM] MTD driver failed to read"
sh /etc/init.d/rc.error
fi
echo "[APM] Starting VROUTPUT driver"
vroutput mode_pwm
#if vroutput mode_pwm
#then
# echo "[APM] VROUTPUT driver started OK"
#else
# echo "[APM] VROUTPUT driver start failed"
# sh /etc/init.d/rc.error
#fi
echo "[APM] Starting VRINPUT driver"
vrinput start
#if vrinput start
#then
# echo "[APM] VRINPUT driver started OK"
#else
# echo "[APM] VRINPUT driver start failed"
# sh /etc/init.d/rc.error
#fi
set sketch NONE
set deviceA /dev/ttyACM0
set deviceC /dev/ttyS2
echo "[APM] Starting ArduPilot"
#if ArduPilot -d $deviceA -d2 $deviceC start
if ArduPilot start
then
echo "[APM] ArduPilot started OK"
else
echo "[APM] ArduPilot start failed"
sh /etc/init.d/rc.error
fi
echo "[APM] Exiting from nsh shell"
exit
echo "[APM] Script finished"