ardupilot/mk/PX4/ROMFS/init.d/rcS

#!nsh
#
# PX4FMU 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.
#

set USB autoconnect
set NSH_ERROR_UART1 /dev/ttyACM0
set NSH_ERROR_UART2 /dev/ttyS0

#
# 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
    tone_alarm MNBGG
fi

# Look for an additional init script that allows changing the default
# behavior. Settings may be overriden in the following order:
#
# board-specific file
# etc/rc on microSD card
# etc/rc.txt on microSD card
if [ -f /etc/init.d/rc.board ]
then
    echo "[init] reading /etc/init.d/rc.board"
    sh /etc/init.d/rc.board
fi
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