forked from Archive/PX4-Autopilot
168 lines
3.0 KiB
Plaintext
Executable File
168 lines
3.0 KiB
Plaintext
Executable File
#!nsh
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#
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# PX4FMU startup script.
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#
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# Default to auto-start mode. An init script on the microSD card
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# can change this to prevent automatic startup of the flight script.
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#
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set MODE autostart
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#
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# Try to mount the microSD card.
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#
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echo "[init] looking for microSD..."
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if mount -t vfat /dev/mmcsd0 /fs/microsd
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then
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echo "[init] card mounted at /fs/microsd"
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# Start playing the startup tune
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tone_alarm start
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else
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echo "[init] no microSD card found"
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# Play SOS
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tone_alarm 2
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fi
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#
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# Look for an init script on the microSD card.
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#
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# To prevent automatic startup in the current flight mode,
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# the script should set MODE to some other value.
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#
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if [ -f /fs/microsd/etc/rc ]
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then
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echo "[init] reading /fs/microsd/etc/rc"
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sh /fs/microsd/etc/rc
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fi
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# Also consider rc.txt files
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if [ -f /fs/microsd/etc/rc.txt ]
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then
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echo "[init] reading /fs/microsd/etc/rc.txt"
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sh /fs/microsd/etc/rc.txt
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fi
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# if this is an APM build then there will be a rc.APM script
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# from an EXTERNAL_SCRIPTS build option
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if [ -f /etc/init.d/rc.APM ]
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then
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if sercon
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then
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echo "[init] USB interface connected"
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fi
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echo "Running rc.APM"
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# if APM startup is successful then nsh will exit
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sh /etc/init.d/rc.APM
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fi
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if [ $MODE == autostart ]
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then
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#
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# Start terminal
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#
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sercon
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#
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# Start the ORB (first app to start)
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#
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uorb start
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#
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# Load microSD params
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#
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if ramtron start
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then
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param select /ramtron/params
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if [ -f /ramtron/params ]
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then
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param load /ramtron/params
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fi
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else
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param select /fs/microsd/params
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if [ -f /fs/microsd/params ]
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then
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param load /fs/microsd/params
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fi
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fi
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#
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# Start system state indicator
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#
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if rgbled start
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then
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echo "Using external RGB Led"
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else
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if blinkm start
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then
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blinkm systemstate
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fi
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fi
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#
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# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
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#
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if [ -f /fs/microsd/px4io.bin ]
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then
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echo "PX4IO Firmware found. Checking Upgrade.."
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if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.cur
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then
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echo "No newer version, skipping upgrade."
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else
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echo "Loading /fs/microsd/px4io.bin"
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if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io.log
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then
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cp /fs/microsd/px4io.bin /fs/microsd/px4io.cur
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echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io.log
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else
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echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io.log
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echo "Failed to upgrade px4io firmware - check if px4io is in bootloader mode"
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fi
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fi
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fi
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#
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# Check if auto-setup from one of the standard scripts is wanted
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# SYS_AUTOSTART = 0 means no autostart (default)
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#
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if param compare SYS_AUTOSTART 1
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then
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sh /etc/init.d/01_fmu_quad_x
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fi
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if param compare SYS_AUTOSTART 2
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then
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sh /etc/init.d/02_io_quad_x
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fi
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if param compare SYS_AUTOSTART 8
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then
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sh /etc/init.d/08_ardrone
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fi
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if param compare SYS_AUTOSTART 9
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then
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sh /etc/init.d/09_ardrone_flow
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fi
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if param compare SYS_AUTOSTART 10
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then
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sh /etc/init.d/10_io_f330
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fi
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if param compare SYS_AUTOSTART 30
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then
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sh /etc/init.d/30_io_camflyer
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fi
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if param compare SYS_AUTOSTART 31
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then
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sh /etc/init.d/31_io_phantom
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fi
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# Try to get an USB console
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nshterm /dev/ttyACM0 &
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# End of autostart
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fi
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