mirror of https://github.com/ArduPilot/ardupilot
64 lines
1.1 KiB
Plaintext
64 lines
1.1 KiB
Plaintext
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#!nsh
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# APM startup script for NuttX on PX4
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uorb start
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# mount binfs so we can find the built-in apps
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mount -t binfs /dev/null /bin
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set device /dev/ttyS1
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set sketch NONE
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if [ -f /bin/ArduPlane ]
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then
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set sketch ArduPlane
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fi
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if [ -f /bin/ArduCopter ]
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then
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set sketch ArduCopter
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fi
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if [ -f /bin/APMrover2 ]
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then
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set sketch APMrover2
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fi
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if [ $sketch != NONE ]
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then
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echo "Starting APM sensors"
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mpu6000 start
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ms5611 start
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hmc5883 start
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echo Trying PX4IO start
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if px4io start
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then
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echo Setting up PX4IO board
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echo Loading FMU_pass mixer
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mixer load /dev/pwm_output /etc/mixers/FMU_pass.mix
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echo Setting FMU mode_serial
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fmu mode_serial
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else
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echo Setting up PX4FMU direct mode
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fmu start mode_pwm
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if [ $device == /dev/ttyS1 ]
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then
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# ttyS1 is used for PWM output when there
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# is no IO board
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set device /dev/ttyS2
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fi
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fi
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echo Starting $sketch
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$sketch -d $device start
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# if starting on the console, tell nsh to exit
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# this prevents it from chewing bytes
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if [ $device == /dev/ttyS0 ]
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then
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exit
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fi
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else
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echo "No APM sketch found"
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fi
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