mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 06:28:27 -04:00
PX4: removed driver startup from rc.APM
moved to AP_BoardConfig instead
This commit is contained in:
Andrew Tridgell
parent
0d59935847
commit
00f3113e83
@ -250,18 +250,6 @@ then
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fi
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fi
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echo "Starting APM sensors"
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if ms5611 start
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then
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echo "ms5611 started OK"
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else
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echo "no ms5611 found"
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echo "No ms5611 found" >> $logfile
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sh /etc/init.d/rc.error
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fi
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if adc start
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then
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echo "adc started OK"
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@ -270,232 +258,6 @@ else
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sh /etc/init.d/rc.error
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fi
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if [ $BOARD == FMUv1 ]
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then
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echo "Starting FMUv1 sensors"
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if hmc5883 -C -T -X start
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then
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echo "Have external hmc5883"
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else
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echo "No external hmc5883"
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fi
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if hmc5883 -C -T -I start
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then
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echo "Have internal hmc5883"
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else
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echo "No internal hmc5883"
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fi
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if mpu6000 start
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then
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echo "mpu6000 started OK"
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else
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sh /etc/init.d/rc.error
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fi
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if l3gd20 start
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then
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echo "l3gd20 started OK"
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else
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echo "No l3gd20"
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echo "No l3gd20" >> $logfile
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fi
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fi
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if [ $BOARD == FMUv2 ]
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then
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echo "Starting FMUv2 sensors"
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if hmc5883 -C -T -X start
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then
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echo "Have external hmc5883"
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else
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echo "No external hmc5883"
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fi
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if hmc5883 -C -T -I -R 4 start
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then
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echo "Have internal hmc5883"
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else
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echo "No internal hmc5883"
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fi
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# external MPU6000 is rotated YAW_180 from standard
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if mpu6000 -X -R 4 start
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then
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echo "Found MPU6000 external"
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set HAVE_FMUV3 true
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else
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if mpu9250 -X -R 4 start
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then
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echo "Found MPU9250 external"
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set HAVE_FMUV3 true
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else
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echo "No MPU6000 or MPU9250 external"
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set HAVE_FMUV3 false
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fi
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fi
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if [ $HAVE_FMUV3 == true ]
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then
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# external L3GD20 is rotated YAW_180 from standard
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if l3gd20 -X -R 4 start
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then
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echo "l3gd20 external started OK"
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else
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echo "No l3gd20"
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sh /etc/init.d/rc.error
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fi
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# external LSM303D is rotated YAW_270 from standard
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if lsm303d -a 16 -X -R 6 start
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then
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echo "lsm303d external started OK"
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else
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echo "No lsm303d"
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sh /etc/init.d/rc.error
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fi
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# internal MPU6000 is rotated ROLL_180_YAW_270 from standard
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if mpu6000 -R 14 start
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then
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echo "Found MPU6000 internal"
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else
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if mpu9250 -R 14 start
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then
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echo "Found MPU9250 internal"
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else
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echo "No MPU6000 or MPU9250"
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echo "No MPU6000 or MPU9250" >> $logfile
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sh /etc/init.d/rc.error
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fi
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fi
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if hmc5883 -C -T -S -R 8 start
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then
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echo "Found SPI hmc5883"
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fi
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else
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if mpu6000 start
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then
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echo "Found MPU6000"
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else
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if mpu9250 start
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then
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echo "Found MPU9250"
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else
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echo "No MPU6000 or MPU9250"
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echo "No MPU9250" >> $logfile
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fi
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fi
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if l3gd20 start
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then
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echo "l3gd20 started OK"
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else
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sh /etc/init.d/rc.error
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fi
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if lsm303d -a 16 start
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then
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echo "lsm303d started OK"
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else
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sh /etc/init.d/rc.error
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fi
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fi
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fi
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if [ $BOARD == FMUv4 ]
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then
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echo "Starting FMUv4 sensors"
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if hmc5883 -C -T -X start
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then
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echo "Have external hmc5883"
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else
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echo "No external hmc5883"
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fi
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if hmc5883 -C -T -S -R 2 start
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then
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echo "Have SPI hmc5883"
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else
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echo "No SPI hmc5883"
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fi
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if mpu6000 -R 2 -T 20608 start
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then
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echo "Found ICM-20608 internal"
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fi
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if mpu9250 -R 2 start
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then
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echo "Found mpu9250 internal"
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fi
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fi
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# optional ETS airspeed sensor
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if ets_airspeed start
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then
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echo "Found ETS airspeed sensor"
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fi
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if meas_airspeed start
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then
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echo "Found MEAS airspeed sensor"
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else
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if meas_airspeed start -b 2
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then
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echo "Found MEAS airspeed sensor (bus2)"
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fi
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fi
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# optional Range Finder sensor
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if ll40ls -X start
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then
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echo "Found external ll40ls sensor"
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fi
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if ll40ls -I start
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then
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echo "Found internal ll40ls sensor"
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fi
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if trone start
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then
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echo "Found trone sensor"
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fi
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if mb12xx start
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then
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echo "Found mb12xx sensor"
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fi
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# optional PX4Flow sensor
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if [ -f /bin/px4flow ]
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then
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if px4flow start
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then
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echo "Found px4flow sensor"
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fi
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fi
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# optional PWM input driver
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if pwm_input start
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then
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echo "started pwm_input driver"
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fi
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# optional oreo leds
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if [ -f /bin/oreoled ]
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then
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if oreoled start autoupdate
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then
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echo "oreoled started OK"
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fi
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fi
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# optional smbus battery monitor
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if batt_smbus -b 2 start
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then
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echo "Found batt_smbus"
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fi
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# optional irlock
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if irlock start
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then
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echo "irlock started"
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fi
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echo Starting ArduPilot $deviceA $deviceC $deviceD
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if ArduPilot -d $deviceA -d2 $deviceC -d3 $deviceD start
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then
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