mirror of https://github.com/ArduPilot/ardupilot
178 lines
3.5 KiB
Plaintext
178 lines
3.5 KiB
Plaintext
#!nsh
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# APM startup script for NuttX on VRBRAIN
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# To disable APM startup add a /fs/microsd/APM/nostart file
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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] 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] 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 "[APM] binfs already mounted"
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else
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echo "[APM] Mounting binfs"
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if mount -t binfs /dev/null /bin
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then
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echo "[APM] 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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if rm /fs/microsd/APM/boot.log
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then
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echo "[APM] 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 "[APM] /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 "[APM] Created APM directory"
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fi
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echo "[APM] Starting UORB"
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if uorb start
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then
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echo "[APM] 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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echo "[APM] Starting ADC"
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if adc start
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then
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echo "[APM] 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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echo "[APM] Starting APM sensors"
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if ms5611 start
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then
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echo "[APM] MS5611 started OK"
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else
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echo "[APM] MS5611 start failed"
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sh /etc/init.d/rc.error
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fi
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if hmc5883_onboard start
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then
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echo "[APM] HMC5883 onboard started OK"
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# if hmc5883 calibrate
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# then
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# echo "[APM] HMC5883 onboard calibrate OK"
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# else
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# echo "[APM] HMC5883 onboard calibrate failed"
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# fi
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else
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echo "[APM] HMC5883 onboard start failed"
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sh /etc/init.d/rc.error
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fi
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if hmc5883_external start
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then
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echo "[APM] HMC5883 external started OK"
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# if hmc5883 calibrate
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# then
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# echo "[APM] HMC5883 external calibrate OK"
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# else
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# echo "[APM] HMC5883 external calibrate failed"
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# fi
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else
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echo "[APM] HMC5883 external start failed"
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# sh /etc/init.d/rc.error
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fi
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if mpu6000_onboard start
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then
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echo "[APM] MPU6000 onboard started OK"
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else
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echo "[APM] MPU6000 onboard start failed"
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sh /etc/init.d/rc.error
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fi
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if mpu6000_external start
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then
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echo "[APM] MPU6000 external started OK"
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else
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echo "[APM] MPU6000 external start failed"
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# sh /etc/init.d/rc.error
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fi
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echo "[APM] Starting MTD driver"
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if mtd start /fs/mtd
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then
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echo "[APM] MTD driver started OK"
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else
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echo "[APM] MTD driver start failed"
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sh /etc/init.d/rc.error
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fi
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echo "[APM] MTD driver read test"
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if mtd readtest /fs/mtd
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then
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echo "[APM] MTD driver readtest OK"
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else
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echo "[APM] MTD driver failed to read"
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sh /etc/init.d/rc.error
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fi
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echo "[APM] Starting VROUTPUT driver"
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vroutput mode_pwm
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#if vroutput mode_pwm
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#then
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# echo "[APM] VROUTPUT driver started OK"
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#else
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# echo "[APM] VROUTPUT driver start failed"
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# sh /etc/init.d/rc.error
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#fi
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echo "[APM] Starting VRINPUT driver"
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vrinput start
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#if vrinput start
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#then
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# echo "[APM] VRINPUT driver started OK"
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#else
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# echo "[APM] VRINPUT driver start failed"
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# sh /etc/init.d/rc.error
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#fi
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set sketch NONE
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set deviceA /dev/ttyACM0
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set deviceC /dev/ttyS2
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echo "[APM] Starting ArduPilot"
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#if ArduPilot -d $deviceA -d2 $deviceC start
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if ArduPilot start
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then
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echo "[APM] ArduPilot started OK"
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else
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echo "[APM] ArduPilot start failed"
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sh /etc/init.d/rc.error
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fi
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echo "[APM] Exiting from nsh shell"
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exit
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echo "[APM] Script finished"
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