mirror of https://github.com/ArduPilot/ardupilot
141 lines
3.0 KiB
Plaintext
Executable File
141 lines
3.0 KiB
Plaintext
Executable File
#!nsh
|
|
#
|
|
# PX4FMU startup script.
|
|
#
|
|
# This script is responsible for:
|
|
#
|
|
# - mounting the microSD card (if present)
|
|
# - running the user startup script from the microSD card (if present)
|
|
# - detecting the configuration of the system and picking a suitable
|
|
# startup script to continue with
|
|
#
|
|
# Note: DO NOT add configuration-specific commands to this script;
|
|
# add them to the per-configuration scripts instead.
|
|
#
|
|
|
|
#
|
|
# Default to auto-start mode. An init script on the microSD card
|
|
# can change this to prevent automatic startup of the flight script.
|
|
#
|
|
set MODE autostart
|
|
set USB autoconnect
|
|
|
|
#
|
|
|
|
#
|
|
|
|
|
|
if rgbled start
|
|
then
|
|
set HAVE_RGBLED 1
|
|
# show startup white
|
|
rgbled rgb 16 16 16
|
|
else
|
|
set HAVE_RGBLED 0
|
|
fi
|
|
|
|
#
|
|
# Try to mount the microSD card.
|
|
#
|
|
echo "[init] looking for microSD..."
|
|
if mount -t vfat /dev/mmcsd0 /fs/microsd
|
|
then
|
|
echo "[init] card mounted at /fs/microsd"
|
|
set HAVE_MICROSD 1
|
|
# Start playing the startup tune
|
|
if [ -f /etc/tones/startup ]
|
|
then
|
|
tone_alarm /etc/tones/startup
|
|
else
|
|
tone_alarm 1
|
|
fi
|
|
else
|
|
set HAVE_MICROSD 0
|
|
echo "Trying format of microSD"
|
|
tone_alarm MBAGP
|
|
if mkfatfs /dev/mmcsd0
|
|
then
|
|
echo "microSD card formatted"
|
|
if mount -t vfat /dev/mmcsd0 /fs/microsd
|
|
then
|
|
echo "format succeeded"
|
|
set HAVE_MICROSD 1
|
|
if [ -f /etc/tones/startup ]
|
|
then
|
|
tone_alarm /etc/tones/startup
|
|
else
|
|
tone_alarm 1
|
|
fi
|
|
else
|
|
echo "mount failed"
|
|
tone_alarm MNBG
|
|
if [ $HAVE_RGBLED == 1 ]
|
|
then
|
|
rgbled rgb 16 0 0
|
|
fi
|
|
fi
|
|
else
|
|
echo "format failed"
|
|
tone_alarm MNBGG
|
|
if [ $HAVE_RGBLED == 1 ]
|
|
then
|
|
rgbled rgb 16 0 0
|
|
fi
|
|
fi
|
|
fi
|
|
|
|
#
|
|
# Look for an init script on the microSD card.
|
|
#
|
|
# To prevent automatic startup in the current flight mode,
|
|
# the script should set MODE to some other value.
|
|
#
|
|
if [ -f /fs/microsd/etc/rc ]
|
|
then
|
|
echo "[init] reading /fs/microsd/etc/rc"
|
|
sh /fs/microsd/etc/rc
|
|
fi
|
|
# Also consider rc.txt files
|
|
if [ -f /fs/microsd/etc/rc.txt ]
|
|
then
|
|
echo "[init] reading /fs/microsd/etc/rc.txt"
|
|
sh /fs/microsd/etc/rc.txt
|
|
fi
|
|
|
|
#
|
|
# Check for USB host
|
|
#
|
|
if [ $USB != autoconnect ]
|
|
then
|
|
echo "[init] not connecting USB"
|
|
else
|
|
if sercon
|
|
then
|
|
echo "[init] USB interface connected"
|
|
else
|
|
echo "[init] No USB connected"
|
|
fi
|
|
fi
|
|
|
|
if [ $HAVE_MICROSD == 0 ]
|
|
then
|
|
if usb_connected
|
|
then
|
|
echo "Opening USB nsh"
|
|
else
|
|
echo "booting with no microSD"
|
|
set HAVE_MICROSD 1
|
|
fi
|
|
fi
|
|
|
|
# if this is an APM build then there will be a rc.APM script
|
|
# from an EXTERNAL_SCRIPTS build option
|
|
if [ -f /etc/init.d/rc.APM -a $HAVE_MICROSD == 1 -a ! -f /fs/microsd/APM/nostart ]
|
|
then
|
|
echo Running rc.APM
|
|
# if APM startup is successful then nsh will exit
|
|
sh /etc/init.d/rc.APM
|
|
else
|
|
nshterm /dev/ttyACM0 &
|
|
fi
|