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65 lines
1.1 KiB
65 lines
1.1 KiB
#!nsh |
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# APM startup script for NuttX on PX4 |
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uorb start |
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# mount binfs so we can find the built-in apps |
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mount -t binfs /dev/null /bin |
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set device /dev/ttyS1 |
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set sketch NONE |
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if [ -f /bin/ArduPlane ] |
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then |
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set sketch ArduPlane |
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fi |
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if [ -f /bin/ArduCopter ] |
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then |
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set sketch ArduCopter |
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fi |
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if [ -f /bin/APMrover2 ] |
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then |
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set sketch APMrover2 |
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fi |
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if [ $sketch != NONE ] |
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then |
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echo "Starting APM sensors" |
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mpu6000 start |
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ms5611 start |
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hmc5883 start |
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adc start |
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echo Trying PX4IO start |
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if px4io start |
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then |
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echo Setting up PX4IO board |
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echo Loading FMU_pass mixer |
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mixer load /dev/pwm_output /etc/mixers/FMU_pass.mix |
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echo Setting FMU mode_serial |
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fmu mode_serial |
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else |
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echo Setting up PX4FMU direct mode |
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fmu start mode_pwm |
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if [ $device == /dev/ttyS1 ] |
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then |
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# ttyS1 is used for PWM output when there |
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# is no IO board |
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set device /dev/ttyS2 |
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fi |
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fi |
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echo Starting $sketch |
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$sketch -d $device start |
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# if starting on the console, tell nsh to exit |
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# this prevents it from chewing bytes |
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if [ $device == /dev/ttyS0 ] |
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then |
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exit |
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fi |
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else |
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echo "No APM sketch found" |
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fi
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