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"
	else
		# second attempt
		sercon &
	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
	
	#
	# Start logging
	#
	sh /etc/init.d/rc.logging
	
	#
	# 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
		set MODE custom
	fi
	
	if param compare SYS_AUTOSTART 2
	then
		sh /etc/init.d/02_io_quad_x
		set MODE custom
	fi
	
	if param compare SYS_AUTOSTART 8
	then
		sh /etc/init.d/08_ardrone
		set MODE custom
	fi
	
	if param compare SYS_AUTOSTART 9
	then
		sh /etc/init.d/09_ardrone_flow
		set MODE custom
	fi
	
	if param compare SYS_AUTOSTART 10
	then
		sh /etc/init.d/10_io_f330
		set MODE custom
	fi
	
	if param compare SYS_AUTOSTART 15
	then
		sh /etc/init.d/15_io_tbs
		set MODE custom
	fi
	
	if param compare SYS_AUTOSTART 30
	then
		sh /etc/init.d/30_io_camflyer
		set MODE custom
	fi
	
	if param compare SYS_AUTOSTART 31
	then
		sh /etc/init.d/31_io_phantom
		set MODE custom
	fi
	
	# Try to get an USB console
	nshterm /dev/ttyACM0 &
	
	# Start any custom extensions that might be missing
	if [ -f /fs/microsd/etc/rc.local ]
	then
		sh /fs/microsd/etc/rc.local
	fi
	
	# If none of the autostart scripts triggered, get a minimal setup
	if [ $MODE == autostart ]
	then
		# Telemetry port is on both FMU boards ttyS1
		mavlink start -b 57600 -d /dev/ttyS1
		usleep 5000
	
		# Start commander
		commander start
	
		# Start px4io if present
		if px4io start
		then
			echo "PX4IO driver started"
		else
			if fmu mode_serial
			then
				echo "FMU driver started"
			fi
		fi
	
		# Start sensors
		sh /etc/init.d/rc.sensors
	
		# Start one of the estimators
		attitude_estimator_ekf start
	
		# Start GPS
		gps start
	
	fi
# End of autostart
fi