ardupilot/mk/VRBRAIN/ROMFS/init.d/rcS

#!nsh
#
# VRBRAIN startup script.
#
# This script is responsible for:
#
# - mounting the microSD card (if present)
# - running the user startup script from the microSD card (if present)
# - detecting the configuration of the system and picking a suitable
#   startup script to continue with
#
# Note: DO NOT add configuration-specific commands to this script;
#       add them to the per-configuration scripts instead.
#

#
# Default to auto-start mode.  An init script on the microSD card
# can change this to prevent automatic startup of the flight script.
#
set MODE autostart
set USB autoconnect

#

#


if rgbled start
then
    set HAVE_RGBLED 1
    # show startup white
    rgbled rgb 16 16 16
else
    set HAVE_RGBLED 0
fi

#
# Try to mount the microSD card.
#
echo "[init] looking for microSD..."
if mount -t vfat /dev/mmcsd0 /fs/microsd
then
    echo "[init] card mounted at /fs/microsd"
    set HAVE_MICROSD 1
    # Start playing the startup tune
    if [ -f /etc/tones/startup ]
    then
        tone_alarm /etc/tones/startup
    else
        tone_alarm 1
    fi
else
    set HAVE_MICROSD 0
    echo "Trying format of microSD"
    tone_alarm MBAGP
    if mkfatfs /dev/mmcsd0
    then
        echo "microSD card formatted"
            if mount -t vfat /dev/mmcsd0 /fs/microsd
            then
                echo "format succeeded"
                set HAVE_MICROSD 1
                if [ -f /etc/tones/startup ]
                then
                    tone_alarm /etc/tones/startup
                else
                    tone_alarm 1
                fi
            else
                echo "mount failed"
                tone_alarm MNBG
                if [ $HAVE_RGBLED == 1 ]
                then
                    rgbled rgb 16 0 0
                fi
            fi
    else
        echo "format failed"
        tone_alarm MNBGG
        if [ $HAVE_RGBLED == 1 ]
        then
                rgbled rgb 16 0 0
        fi
    fi
fi

#
# Look for an init script on the microSD card.
#
# To prevent automatic startup in the current flight mode,
# the script should set MODE to some other value.
#
if [ -f /fs/microsd/etc/rc ]
then
    echo "[init] reading /fs/microsd/etc/rc"
    sh /fs/microsd/etc/rc
fi
# Also consider rc.txt files
if [ -f /fs/microsd/etc/rc.txt ]
then
    echo "[init] reading /fs/microsd/etc/rc.txt"
    sh /fs/microsd/etc/rc.txt
fi

#
# Check for USB host
#
if [ $USB != autoconnect ]
then
    echo "[init] not connecting USB"
else
    if sercon
    then
        echo "[init] USB interface connected"
    else
        echo "[init] No USB connected"
    fi
fi

if [ $HAVE_MICROSD == 0 ]
then
    if usb_connected
    then
        echo "Opening USB nsh"
    else
        echo "booting with no microSD"
        set HAVE_MICROSD 1
    fi
fi

# if this is an APM build then there will be a rc.APM script
# from an EXTERNAL_SCRIPTS build option
if [ -f /etc/init.d/rc.APM -a $HAVE_MICROSD == 1 -a ! -f /fs/microsd/APM/nostart ]
then
    echo Running rc.APM
    # if APM startup is successful then nsh will exit
    sh /etc/init.d/rc.APM
else
    nshterm /dev/ttyACM0 &
fi