px4-firmware/ROMFS/px4fmu_common/init.d/rcS

#!nsh
#
# PX4FMU startup script.

#
# 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

#
# 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"
	# Start playing the startup tune
	tone_alarm start
else
	echo "[init] no microSD card found"
	# Play SOS
	tone_alarm 2
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

# 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 ]
then
	if sercon
	then
		echo "[init] USB interface connected"
	fi

	echo "Running rc.APM"
	# if APM startup is successful then nsh will exit
	sh /etc/init.d/rc.APM
fi

if [ $MODE == autostart ]
then

#
# Start terminal
#
if sercon
then
	echo "USB connected"
	nshterm /dev/ttyACM0 &
fi

#
# Start the ORB (first app to start)
#
uorb start

#
# Load microSD params
#
if ramtron start
then
	param select /ramtron/params
	if [ -f /ramtron/params ]
	then
		param load /ramtron/params
	fi
else
	param select /fs/microsd/params
	if [ -f /fs/microsd/params ]
	then
		param load /fs/microsd/params
	fi
fi

#
# Start system state indicator
#
if rgbled start
then
	echo "Using external RGB Led"
else
	if blinkm start
	then
		blinkm systemstate
	fi
fi

#
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
#
if [ -f /fs/microsd/px4io.bin ]
then
	echo "PX4IO Firmware found. Checking Upgrade.."
	if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.cur
	then
		echo "No newer version, skipping upgrade."
	else
		echo "Loading /fs/microsd/px4io.bin"
		if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io.log
		then
			cp /fs/microsd/px4io.bin /fs/microsd/px4io.cur
			echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io.log
		else
			echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io.log
			echo "Failed to upgrade px4io firmware - check if px4io is in bootloader mode"
		fi
	fi
fi

#
# Check if auto-setup from one of the standard scripts is wanted
# SYS_AUTOSTART = 0 means no autostart (default)
#
if param compare SYS_AUTOSTART 1
then
	sh /etc/init.d/01_fmu_quad_x
fi

if param compare SYS_AUTOSTART 2
then
	sh /etc/init.d/02_io_quad_x
fi

if param compare SYS_AUTOSTART 8
then
	sh /etc/init.d/08_ardrone
fi

if param compare SYS_AUTOSTART 9
then
	sh /etc/init.d/09_ardrone_flow
fi

if param compare SYS_AUTOSTART 10
then
	sh /etc/init.d/10_io_f330
fi

if param compare SYS_AUTOSTART 30
then
	sh /etc/init.d/30_io_camflyer
fi

if param compare SYS_AUTOSTART 31
then
	sh /etc/init.d/31_io_phantom
fi

# End of autostart
fi