#!nsh

# APM startup script for NuttX on VRBRAIN

# To disable APM startup add a /fs/microsd/APM/nostart file

# check for an old file called APM, caused by 
# a bug in an earlier firmware release
if [ -f /fs/microsd/APM ]
then
    echo "APM file found - renaming"
    mv /fs/microsd/APM /fs/microsd/APM.old
fi

if [ -f /fs/microsd/APM/nostart ]
then
    echo "APM/nostart found - skipping APM startup"
    sh /etc/init.d/rc.error
fi

# mount binfs so we can find the built-in apps
if [ -f /bin/reboot ]
then
    echo "binfs already mounted"
else
    echo "Mounting binfs"
    if mount -t binfs /dev/null /bin
    then
            echo "binfs mounted OK"
    else
            sh /etc/init.d/rc.error
    fi
fi

set sketch NONE
if rm /fs/microsd/APM/boot.log
then
    echo "removed old boot.log"
fi
set logfile /fs/microsd/APM/BOOT.LOG

if [ ! -f /bin/ArduPilot ]
then
    echo "/bin/ardupilot not found"
    sh /etc/init.d/rc.error
fi

if mkdir /fs/microsd/APM > /dev/null
then
    echo "Created APM directory"
fi

echo "Starting uORB"
if uorb start
then
    echo "uorb started OK"
else
    sh /etc/init.d/rc.error
fi

echo "Starting ADC"
if adc start
then
    echo "ADC started OK"
else
    sh /etc/init.d/rc.error
fi

echo "Starting MTD driver"
if mtd start /fs/mtd
then
    echo "MTD driver started OK"
else
    echo "MTD driver start failed"
    sh /etc/init.d/rc.error           
fi

echo "MTD driver read test"
if mtd readtest /fs/mtd
then
    echo "MTD driver readtest OK"
else
    echo "MTD driver failed to read"
    sh /etc/init.d/rc.error           
fi

echo "FMU mode PWM"
if fmu mode_pwm
then
    echo "Set FMU mode_pwm"
fi


echo "Starting ArduPilot"
if ArduPilot start
then
    echo "ArduPilot started OK"
else
    echo "ArduPilot start failed"
    sh /etc/init.d/rc.error
fi

echo "Exiting from nsh shell"
exit

echo "rc.APM finished"