mirror of https://github.com/ArduPilot/ardupilot
94 lines
1.9 KiB
Plaintext
94 lines
1.9 KiB
Plaintext
|
#!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
|
||
|
|
||
|
#
|
||
|
# 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
|
||
|
else
|
||
|
echo "[init] no microSD card found"
|
||
|
set HAVE_MICROSD 0
|
||
|
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 == 1 ]
|
||
|
then
|
||
|
if [ ! -f /fs/microsd/APM/nostart ]
|
||
|
then
|
||
|
if [ -f /etc/init.d/rc.APM ]
|
||
|
then
|
||
|
echo "[init] Running rc.APM"
|
||
|
# if APM startup is successful then nsh will exit
|
||
|
sh /etc/init.d/rc.APM
|
||
|
else
|
||
|
nshterm /dev/ttyACM0 &
|
||
|
fi
|
||
|
else
|
||
|
nshterm /dev/ttyACM0 &
|
||
|
fi
|
||
|
else
|
||
|
if [ -f /etc/init.d/rc.APMNS ]
|
||
|
then
|
||
|
echo "[init] Running rc.APM without SD"
|
||
|
# if APM startup is successful then nsh will exit
|
||
|
sh /etc/init.d/rc.APMNS
|
||
|
else
|
||
|
nshterm /dev/ttyACM0 &
|
||
|
fi
|
||
|
fi
|