mirror of https://github.com/ArduPilot/ardupilot
151 lines
3.4 KiB
Plaintext
151 lines
3.4 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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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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set deviceC /dev/ttyS2
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fi
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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"
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else
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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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mount -t binfs /dev/null /bin
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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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set sketch ArduPilot
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fi
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if [ $sketch != NONE ]
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then
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if mkdir /fs/microsd/APM
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then
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echo "Created APM directory"
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fi
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if [ -f /fs/microsd/px4io.bin ]
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then
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echo "Checking for new px4io firmware"
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if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.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 /fs/microsd/px4io.bin"
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tone_alarm MBABGP
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if px4io update /fs/microsd/px4io.bin > /fs/microsd/APM/px4io_update.log
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then
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cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.loaded
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echo "Loaded /fs/microsd/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 /fs/microsd/px4io.bin (check PX4IO is in bootloader mode - hold down the Safety Button while powering up)" >> /fs/microsd/APM/px4io_update.log
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echo "Failed to upgrade PX4IO firmware - check PX4IO is in bootloader mode"
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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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uorb start
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mpu6000 start
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ms5611 start
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hmc5883 start
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adc start
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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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echo "Loading FMU_pass mixer"
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mixer load /dev/pwm_output /etc/mixers/FMU_pass.mix
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if [ $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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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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sleep 1
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mkblctrl -mkmode x
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sleep 1
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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 [ $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 $sketch
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echo Starting $sketch $deviceA $deviceC >> $logfile
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$sketch -d $deviceA -d2 $deviceC start
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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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else
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echo "No APM sketch found"
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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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fi
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