mirror of https://github.com/ArduPilot/ardupilot
112 lines
2.3 KiB
Plaintext
Executable File
112 lines
2.3 KiB
Plaintext
Executable File
#!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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# 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 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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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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echo Starting ArduPilot
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if ArduPilot 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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