mirror of https://github.com/ArduPilot/ardupilot
208 lines
4.3 KiB
Plaintext
208 lines
4.3 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 mavlink on ttys0 add a /fs/microsd/APM/mavlink-ttys0 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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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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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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########################
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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 -a $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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sleep 1
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