ardupilot/mk/VRBRAIN/ROMFS_VRBRAIN52_APM/init.d/rcS

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#!nsh
#
# VRBRAIN 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
#
# 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
else
echo "[init] no microSD card found"
set HAVE_MICROSD 0
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 == 1 ]
then
if [ -f /fs/microsd/bootloader.bin ]
then
bl_update /fs/microsd/bootloader.bin
rm /fs/microsd/bootloader.bin
else
fi
if [ ! -f /fs/microsd/APM/nostart ]
then
if [ -f /etc/init.d/rc.APM ]
then
echo "[init] Running rc.APM"
# if APM startup is successful then nsh will exit
sh /etc/init.d/rc.APM
else
nshterm /dev/ttyACM0 &
fi
else
nshterm /dev/ttyACM0 &
fi
else
if [ -f /etc/init.d/rc.APMNS ]
then
echo "[init] Running rc.APM without SD"
# if APM startup is successful then nsh will exit
sh /etc/init.d/rc.APMNS
else
nshterm /dev/ttyACM0 &
fi
fi