mirror of https://github.com/ArduPilot/ardupilot
PX4: better error handling in startup script
This commit is contained in:
Andrew Tridgell
parent
c3b27629ec
commit
200d310843
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@ -18,8 +18,9 @@ fi
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if [ -f /fs/microsd/APM/nostart ]
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then
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echo "APM/nostart found - skipping"
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else
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echo "APM/nostart found - skipping APM startup"
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sh /etc/init.d/rc.error
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fi
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# mount binfs so we can find the built-in apps
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if [ -f /bin/reboot ]
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@ -27,147 +28,180 @@ then
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echo "binfs already mounted"
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else
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echo "Mounting binfs"
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mount -t binfs /dev/null /bin
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if mount -t binfs /dev/null /bin
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then
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echo "binfs mounted 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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set sketch NONE
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set logfile /fs/microsd/APM/boot.log
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if [ -f /bin/ArduPilot ]
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if [ ! -f /bin/ArduPilot ]
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then
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set sketch ArduPilot
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echo "/bin/ardupilot not found"
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sh /etc/init.d/rc.error
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fi
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if [ $sketch != NONE ]
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if mkdir /fs/microsd/APM
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then
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if mkdir /fs/microsd/APM
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then
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echo "Created APM directory"
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fi
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echo "Created APM directory"
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fi
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uorb start
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if mpu6000 start
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then
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echo "Detected FMUv1 board"
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set BOARD FMUv1
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else
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l3gd20 start
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echo "Detected FMUv2 board"
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set BOARD FMUv2
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fi
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if [ -f /fs/microsd/APM/mavlink-ttys0 ]
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then
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set deviceC /dev/ttyS0
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else
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if [ $BOARD == FMUv1 ]
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then
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set deviceC /dev/ttyS2
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else
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set deviceC /dev/ttyS1
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fi
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fi
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echo checking for /etc/px4io/px4io.bin
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if [ -f /etc/px4io/px4io.bin ]
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then
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echo "Checking for new px4io firmware"
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if cmp /etc/px4io/px4io.bin /fs/microsd/px4io.loaded
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then
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echo "No new px4io firmware"
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else
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echo Loading /etc/px4io/px4io.bin
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tone_alarm MBABGP
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if px4io update /etc/px4io/px4io.bin > /fs/microsd/APM/px4io_update.log
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then
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cp /etc/px4io/px4io.bin /fs/microsd/px4io.loaded
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echo Loaded /etc/px4io/px4io.bin OK >> /fs/microsd/APM/px4io_update.log
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tone_alarm MSPAA
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else
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echo Failed loading /etc/px4io/px4io.bin >> /fs/microsd/APM/px4io_update.log
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echo "check Safety Button" >> /fs/microsd/APM/px4io_update.log
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echo "Failed to upgrade PX4IO firmware"
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tone_alarm MNGGG
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fi
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fi
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fi
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echo "Starting APM sensors"
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echo "Starting APM sensors" > $logfile
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if [ $BOARD == FMUv1 ]
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then
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ms5611 start
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hmc5883 start
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adc start
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else
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ms5611 start
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if hmc5883 start
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then
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echo "Using external magnetometer"
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fi
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lsm303d start
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adc start
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fi
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if ets_airspeed start
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then
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echo "Found ETS airspeed sensor" >> $logfile
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fi
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echo "Trying PX4IO board"
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echo "Trying PX4IO board" >> $logfile
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if px4io start
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then
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echo "PX4IO board OK"
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echo "PX4IO board OK" >> $logfile
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echo "Setting FMU mode_pwm"
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fmu mode_pwm
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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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if [ $BOARD == FMUv1 ] && [ $deviceC == /dev/ttyS1 ]
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then
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# ttyS1 is used for PWM output for 4 extra channels
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set deviceC /dev/ttyS2
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fi
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else
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echo "No PX4IO board found"
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echo "No PX4IO board found" >> $logfile
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if [ -f /fs/microsd/APM/mkblctrl ]
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then
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echo "APM/mkblctrl found - switch to MK I2C ESCs"
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echo "APM/mkblctrl found - switch to MK I2C ESCs" >> $logfile
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echo "Setting up mkblctrl driver"
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echo "Setting up mkblctrl driver" >> $logfile
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sleep 1
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mkblctrl -mkmode x
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sleep 1
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fi
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echo "Setting up PX4FMU direct mode"
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fmu mode_pwm
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if [ $BOARD == FMUv1 ] && [ $deviceC == /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 deviceC /dev/ttyS2
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fi
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fi
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echo Starting $sketch
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echo Starting $sketch $deviceA $deviceC >> $logfile
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$sketch -d $deviceA -d2 $deviceC 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 [ $deviceC == /dev/ttyS0 ]
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then
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echo "Exiting from nsh shell"
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exit
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fi
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uorb start
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if mpu6000 start
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then
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echo "Detected FMUv1 board"
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set BOARD FMUv1
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else
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echo "No APM sketch found"
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l3gd20 start
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echo "Detected FMUv2 board"
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set BOARD FMUv2
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fi
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if [ -f /fs/microsd/APM/mavlink-ttys0 ]
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then
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set deviceC /dev/ttyS0
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else
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if [ $BOARD == FMUv1 ]
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then
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set deviceC /dev/ttyS2
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else
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set deviceC /dev/ttyS1
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fi
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fi
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########################
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# PX4IO upgrade handling
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echo checking for /etc/px4io/px4io.bin
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if [ -f /etc/px4io/px4io.bin ]
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then
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echo "Checking for new px4io firmware"
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if cmp /etc/px4io/px4io.bin /fs/microsd/px4io.loaded
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then
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echo "No new px4io firmware"
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else
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echo Loading /etc/px4io/px4io.bin
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tone_alarm MBABGP
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if px4io update /etc/px4io/px4io.bin > /fs/microsd/APM/px4io_update.log
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then
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cp /etc/px4io/px4io.bin /fs/microsd/px4io.loaded
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echo Loaded /etc/px4io/px4io.bin OK >> /fs/microsd/APM/px4io_update.log
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tone_alarm MSPAA
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else
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echo Failed loading /etc/px4io/px4io.bin >> /fs/microsd/APM/px4io_update.log
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echo "check Safety Button" >> /fs/microsd/APM/px4io_update.log
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echo "Failed to upgrade PX4IO firmware"
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tone_alarm MNGGG
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fi
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fi
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fi
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echo "Starting APM sensors"
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echo "Starting APM sensors" > $logfile
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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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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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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 start
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then
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echo "hmc5883 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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else
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echo "Starting FMUv2 sensors"
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if hmc5883 start
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then
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echo "Using external magnetometer"
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fi
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if lsm303d 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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# why is this sleep needed?
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sleep 1
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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" >> $logfile
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fi
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echo "Trying PX4IO board"
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echo "Trying PX4IO board" >> $logfile
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if px4io start
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then
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echo "PX4IO board OK"
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echo "PX4IO board OK" >> $logfile
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echo "Setting FMU mode_pwm"
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fmu mode_pwm
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if [ $BOARD == FMUv1 -a $deviceC == /dev/ttyS1 ]
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then
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# ttyS1 is used for PWM output for 4 extra channels
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set deviceC /dev/ttyS2
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fi
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sleep 1
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else
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echo "No PX4IO board found"
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echo "No PX4IO board found" >> $logfile
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if [ -f /fs/microsd/APM/mkblctrl ]
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then
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echo "APM/mkblctrl found - switch to MK I2C ESCs"
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echo "APM/mkblctrl found - switch to MK I2C ESCs" >> $logfile
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echo "Setting up mkblctrl driver"
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echo "Setting up mkblctrl driver" >> $logfile
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mkblctrl -mkmode x
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fi
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echo "Setting up PX4FMU direct mode"
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fmu mode_pwm
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if [ $BOARD == FMUv1 ] && [ $deviceC == /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 deviceC /dev/ttyS2
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fi
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fi
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echo Starting ArduPilot
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echo Starting ArduPilot $deviceA $deviceC >> $logfile
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if ArduPilot -d $deviceA -d2 $deviceC start
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then
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echo ArduPilot 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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sleep 1
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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 [ $deviceC == /dev/ttyS0 ]
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then
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echo "Exiting from nsh shell"
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exit
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fi
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echo "rc.APM finished"
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echo "rc.APM finished" >> $logfile
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fi
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sleep 1
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@ -0,0 +1,7 @@
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echo "Error in startup"
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tone_alarm MNCC
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nshterm /dev/ttyACM0 &
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sleep 1
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nshterm /dev/ttyS0 &
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sleep 1
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exit
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@ -32,10 +32,12 @@ echo "[init] looking for microSD..."
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if mount -t vfat /dev/mmcsd0 /fs/microsd
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then
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echo "[init] card mounted at /fs/microsd"
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set HAVE_MICROSD 1
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# Start playing the startup tune
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tone_alarm start
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else
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echo "[init] no microSD card found"
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set HAVE_MICROSD 0
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# Play SOS
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tone_alarm 2
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fi
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@ -75,9 +77,10 @@ fi
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# if this is an APM build then there will be a rc.APM script
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# from an EXTERNAL_SCRIPTS build option
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if [ -f /etc/init.d/rc.APM ]
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if [ -f /etc/init.d/rc.APM -a $HAVE_MICROSD == 1 ]
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then
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echo Running rc.APM
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# if APM startup is successful then nsh will exit
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sh /etc/init.d/rc.APM
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sleep 1
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fi
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