ardupilot/mk/PX4/ROMFS/init.d/rcS

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