mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-06 16:08:28 -04:00
26d3ad18b8
This reverts commit 71b2306aa9.
This broke the build due to git submodules. We need to work out how
ArduPilot is going to handle the external uavcan module dependency
before we enable this again
383 lines
8.2 KiB
Plaintext
383 lines
8.2 KiB
Plaintext
#!nsh
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# APM startup script for NuttX on PX4
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# To disable APM startup add a /fs/microsd/APM/nostart file
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# To enable mkblctrl startup add a /fs/microsd/APM/mkblctrl file
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# To enable mkblctrl_+ startup add a /fs/microsd/APM/mkblctrl_+ file
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# To enable mkblctrl_x startup add a /fs/microsd/APM/mkblctrl_x file
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# To enable PWM on FMUv1 on ttyS1 add a /fs/microsd/APM/AUXPWM.en file
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set deviceA /dev/ttyACM0
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# check for an old file called APM, caused by
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# a bug in an earlier firmware release
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if [ -f /fs/microsd/APM ]
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then
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echo "APM file found - renaming"
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mv /fs/microsd/APM /fs/microsd/APM.old
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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 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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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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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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if rm /fs/microsd/APM/boot.log
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then
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echo "removed old boot.log"
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fi
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set logfile /fs/microsd/APM/BOOT.LOG
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if [ ! -f /bin/ArduPilot ]
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then
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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 mkdir /fs/microsd/APM > /dev/null
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then
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echo "Created APM directory"
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fi
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if [ -f /bin/lsm303d ]
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then
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echo "Detected FMUv2 board"
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set BOARD FMUv2
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else
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echo "Detected FMUv1 board"
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set BOARD FMUv1
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fi
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if [ $BOARD == FMUv1 ]
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then
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set deviceC /dev/ttyS2
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if [ -f /fs/microsd/APM/AUXPWM.en ]
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then
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set deviceD /dev/null
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else
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set deviceD /dev/ttyS1
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fi
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else
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set deviceC /dev/ttyS1
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set deviceD /dev/ttyS2
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fi
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if uorb start
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then
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echo "uorb 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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# start mkblctrl driver if configured
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if [ -f /fs/microsd/APM/mkblctrl ]
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then
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echo "Setting up mkblctrl driver"
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echo "Setting up mkblctrl driver" >> $logfile
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mkblctrl -d /dev/pwm_output
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fi
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if [ -f /fs/microsd/APM/mkblctrl_+ ]
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then
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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 + -d /dev/pwm_output
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fi
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if [ -f /fs/microsd/APM/mkblctrl_x ]
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then
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echo "Setting up mkblctrl driver x"
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echo "Setting up mkblctrl driver x" >> $logfile
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mkblctrl -mkmode x -d /dev/pwm_output
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fi
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echo "Trying PX4IO board"
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# try the px4io start twice. Some FMUv2 board don't
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# come up the first time
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set HAVE_PX4IO false
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if px4io start norc
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then
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set HAVE_PX4IO true
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else
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# it may be in bootloader mode
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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
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then
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echo "upgraded PX4IO firmware OK"
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tone_alarm MSPAA
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else
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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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sleep 1
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if px4io start norc
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then
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set HAVE_PX4IO true
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# play happy tune again
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tone_alarm start
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fi
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fi
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if [ $HAVE_PX4IO == true ]
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then
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echo "PX4IO board OK"
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if px4io checkcrc /etc/px4io/px4io.bin
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then
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echo "PX4IO CRC OK"
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else
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echo "PX4IO CRC failure"
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echo "PX4IO CRC failure" >> $logfile
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tone_alarm MBABGP
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if px4io forceupdate 14662 /etc/px4io/px4io.bin
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then
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sleep 1
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if px4io start norc
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then
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echo "PX4IO restart OK"
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echo "PX4IO restart OK" >> $logfile
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tone_alarm MSPAA
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else
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echo "PX4IO restart failed"
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echo "PX4IO restart failed" >> $logfile
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tone_alarm MNGGG
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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 "PX4IO update failed"
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echo "PX4IO update failed" >> $logfile
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tone_alarm MNGGG
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fi
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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 [ $BOARD == FMUv2 ]
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then
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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 [ $BOARD == FMUv1 -a $deviceD == /dev/ttyS1 ]
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then
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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 FMU mode_pwm"
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fmu mode_pwm
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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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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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if hmc5883 calibrate
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then
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echo "hmc5883 calibrate OK"
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else
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echo "hmc5883 calibrate failed"
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echo "hmc5883 calibrate failed" >> $logfile
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tone_alarm MSBBB
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fi
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else
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echo "hmc5883 start failed"
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echo "hmc5883 start failed" >> $logfile
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sh /etc/init.d/rc.error
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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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else
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echo "Starting FMUv2 sensors"
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if hmc5883 -C -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 -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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echo "No MPU6000 external"
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set HAVE_FMUV3 false
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fi
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if [ $HAVE_FMUV3 == true ]
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then
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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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echo "No MPU6000"
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echo "No MPU6000" >> $logfile
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sh /etc/init.d/rc.error
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fi
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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 -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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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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echo "No MPU6000"
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echo "No MPU6000" >> $logfile
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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 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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# 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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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 mb12xx start
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then
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echo "Found mb12xx sensor"
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fi
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if mtd start /fs/mtd
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then
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echo "started mtd driver OK"
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else
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echo "failed to start mtd driver"
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echo "failed to start mtd driver" >> $logfile
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sh /etc/init.d/rc.error
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fi
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if mtd readtest /fs/mtd
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then
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echo "mtd readtest OK"
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else
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echo "failed to read mtd"
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echo "failed to read mtd" >> $logfile
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sh /etc/init.d/rc.error
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fi
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if [ $BOARD == FMUv2 ]
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then
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# the ramtron on FMUv2 is very fast and can handle trillions of
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# writes. This full rw test on each boot ensures it is working
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# properly. We have one board that failed this, so
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# the test is arguably worth having
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if mtd rwtest /fs/mtd
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then
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echo "mtd rwtest OK"
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else
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echo "failed to test mtd"
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echo "failed to test mtd" >> $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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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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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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echo "rc.APM finished"
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