mirror of https://github.com/ArduPilot/ardupilot
253 lines
5.2 KiB
Plaintext
253 lines
5.2 KiB
Plaintext
#!nsh
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# APM startup script for NuttX on VRBRAIN
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# To disable APM startup add a /fs/microsd/APM/nostart 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] 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] 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 "[APM] binfs already mounted"
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else
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echo "[APM] Mounting binfs"
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if mount -t binfs /dev/null /bin
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then
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echo "[APM] 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 rm /fs/microsd/APM/boot.log
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then
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echo "[APM] 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 "[APM] /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 "[APM] Created APM directory"
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fi
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echo "[APM] Starting UORB"
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if uorb start
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then
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echo "[APM] 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 "[APM] Starting ADC"
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if adc start
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then
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echo "[APM] 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 "[APM] Starting APM sensors"
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echo "[APM] Starting MS5611 Internal"
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if ms5611 -I start
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then
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echo "[APM] MS5611 onboard started OK"
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else
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echo "[APM] MS5611 onboard start failed"
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sh /etc/init.d/rc.error
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fi
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echo "[APM] Starting MS5611 External EXP"
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if ms5611 -X start
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then
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echo "[APM] MS5611 external EXP started OK"
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else
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echo "[APM] MS5611 external EXP start failed"
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# sh /etc/init.d/rc.error
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fi
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echo "[APM] Starting MS5611 External IMU"
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if ms5611 -U start
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then
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echo "[APM] MS5611 external IMU started OK"
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else
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echo "[APM] MS5611 external IMU start failed"
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# sh /etc/init.d/rc.error
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fi
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echo "[APM] Starting HMC5883 External GPS"
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if hmc5883 -X start
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then
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echo "[APM] HMC5883 External GPS started OK"
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if hmc5883 -X calibrate
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then
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echo "[APM] HMC5883 External GPS calibrate OK"
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else
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echo "[APM] HMC5883 External GPS calibrate failed"
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fi
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else
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echo "[APM] 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 "[APM] Starting HMC5883 Internal"
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if hmc5883 -I start
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then
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echo "[APM] HMC5883 Internal started OK"
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if hmc5883 -I calibrate
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then
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echo "[APM] HMC5883 Internal calibrate OK"
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else
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echo "[APM] HMC5883 Internal calibrate failed"
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fi
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else
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echo "[APM] HMC5883 Internal start failed"
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# sh /etc/init.d/rc.error
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fi
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echo "[APM] Starting HMC5983 External EXP"
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if hmc5983 -X start
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then
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echo "[APM] HMC5983 external EXP started OK"
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if hmc5983 -X calibrate
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then
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echo "[APM] HMC5983 external EXP calibrate OK"
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else
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echo "[APM] HMC5983 external EXP calibrate failed"
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fi
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else
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echo "[APM] HMC5983 external EXP start failed"
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# sh /etc/init.d/rc.error
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fi
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echo "[APM] Starting HMC5983 External IMU"
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if hmc5983 -U start
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then
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echo "[APM] HMC5983 external IMU started OK"
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if hmc5983 -U calibrate
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then
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echo "[APM] HMC5983 external IMU calibrate OK"
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else
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echo "[APM] HMC5983 external IMU calibrate failed"
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fi
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else
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echo "[APM] HMC5983 external IMU start failed"
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# sh /etc/init.d/rc.error
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fi
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echo "[APM] Starting MPU6000 Internal"
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if mpu6000 -I start
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then
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echo "[APM] MPU6000 onboard started OK"
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else
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echo "[APM] MPU6000 onboard start failed"
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sh /etc/init.d/rc.error
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fi
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echo "[APM] Starting MPU6000 External EXP"
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if mpu6000 -X start
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then
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echo "[APM] MPU6000 external EXP started OK"
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else
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echo "[APM] MPU6000 external EXP start failed"
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# sh /etc/init.d/rc.error
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fi
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echo "[APM] Starting MPU6000 External IMU"
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if mpu6000 -U start
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then
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echo "[APM] MPU6000 external IMU started OK"
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else
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echo "[APM] MPU6000 external IMU start failed"
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# sh /etc/init.d/rc.error
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fi
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echo "[APM] 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 "[APM] 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 "[APM] Starting MTD driver"
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if mtd start /fs/mtd
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then
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echo "[APM] MTD driver started OK"
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else
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echo "[APM] MTD driver start failed"
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sh /etc/init.d/rc.error
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fi
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echo "[APM] MTD driver read test"
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if mtd readtest /fs/mtd
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then
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echo "[APM] MTD driver readtest OK"
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else
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echo "[APM] 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 "[APM] 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 "[APM] VROUTPUT driver started OK"
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#else
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# echo "[APM] VROUTPUT driver start failed"
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# sh /etc/init.d/rc.error
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#fi
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echo "[APM] 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 "[APM] VRINPUT driver started OK"
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#else
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# echo "[APM] 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 "[APM] 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 "[APM] ArduPilot started OK"
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else
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echo "[APM] ArduPilot start failed"
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sh /etc/init.d/rc.error
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fi
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echo "[APM] Exiting from nsh shell"
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exit
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echo "[APM] Script finished"
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