mirror of https://github.com/ArduPilot/ardupilot
145 lines
2.8 KiB
Plaintext
145 lines
2.8 KiB
Plaintext
#!nsh
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# APM startup script for NuttX on VRBRAIN
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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 "[APMNS] binfs already mounted"
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else
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echo "[APMNS] Mounting binfs"
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if mount -t binfs /dev/null /bin
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then
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echo "[APMNS] 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 [ ! -f /bin/ArduPilot ]
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then
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echo "[APMNS] /bin/ArduPilot not found"
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sh /etc/init.d/rc.error
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fi
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echo "[APMNS] Starting UORB"
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if uorb start
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then
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echo "[APMNS] 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 "[APMNS] Starting ADC"
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if adc start
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then
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echo "[APMNS] 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 "[APMNS] Starting APM sensors"
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echo "[APMNS] Starting MS5611 Internal"
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if ms5611 -I start
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then
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echo "[APMNS] MS5611 onboard started OK"
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else
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echo "[APMNS] MS5611 onboard start failed"
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sh /etc/init.d/rc.error
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fi
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echo "[APMNS] Starting HMC5883 External GPS"
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if hmc5883 -X start
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then
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echo "[APMNS] HMC5883 External GPS started OK"
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if hmc5883 -X calibrate
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then
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echo "[APMNS] HMC5883 External GPS calibrate OK"
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else
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echo "[APMNS] HMC5883 External GPS calibrate failed"
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fi
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else
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echo "[APMNS] HMC5883 External GPS start failed"
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# sh /etc/init.d/rc.error
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fi
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echo "[APMNS] Starting MPU6000 Internal"
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if mpu6000 -I start
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then
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echo "[APMNS] MPU6000 onboard started OK"
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else
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echo "[APMNS] MPU6000 onboard start failed"
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sh /etc/init.d/rc.error
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fi
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echo "[APMNS] Starting MEAS I2C Airspeed"
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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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echo "[APMNS] Starting MB12XX Range Finder Sensor"
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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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echo "[APMNS] Starting MTD driver"
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if mtd start /fs/mtd
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then
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echo "[APMNS] MTD driver started OK"
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else
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echo "[APMNS] MTD driver start failed"
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sh /etc/init.d/rc.error
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fi
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echo "[APMNS] MTD driver read test"
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if mtd readtest /fs/mtd
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then
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echo "[APMNS] MTD driver readtest OK"
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else
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echo "[APMNS] 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 "[APMNS] 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 "[APMNS] VROUTPUT driver started OK"
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#else
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# echo "[APMNS] VROUTPUT driver start failed"
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# sh /etc/init.d/rc.error
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#fi
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echo "[APMNS] 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 "[APMNS] VRINPUT driver started OK"
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#else
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# echo "[APMNS] 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 "[APMNS] 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 "[APMNS] ArduPilot started OK"
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else
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echo "[APMNS] ArduPilot start failed"
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sh /etc/init.d/rc.error
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fi
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echo "[APMNS] Exiting from nsh shell"
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exit
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echo "[APMNS] Script finished"
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