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68 lines
1.2 KiB
68 lines
1.2 KiB
#!nsh |
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# APM startup script for NuttX on PX4 |
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# To disable APM startup add a /fs/microsd/APM/nostart file |
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# check for an old file called APM, caused by |
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# a bug in an earlier firmware release |
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if [ -f /fs/microsd/APM ] |
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then |
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echo "APM file found - renaming" |
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mv /fs/microsd/APM /fs/microsd/APM.old |
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fi |
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if [ -f /fs/microsd/APM/nostart ] |
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then |
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echo "APM/nostart found - skipping APM startup" |
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sh /etc/init.d/rc.error |
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fi |
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# mount binfs so we can find the built-in apps |
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if [ -f /bin/reboot ] |
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then |
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echo "binfs already mounted" |
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else |
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echo "Mounting binfs" |
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if mount -t binfs /dev/null /bin |
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then |
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echo "binfs mounted OK" |
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else |
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sh /etc/init.d/rc.error |
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fi |
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fi |
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set sketch NONE |
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if rm /fs/microsd/APM/boot.log |
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then |
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echo "removed old boot.log" |
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fi |
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set logfile /fs/microsd/APM/BOOT.LOG |
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if [ ! -f /bin/ArduPilot ] |
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then |
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echo "/bin/ardupilot not found" |
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sh /etc/init.d/rc.error |
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fi |
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if mkdir /fs/microsd/APM > /dev/null |
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then |
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echo "Created APM directory" |
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fi |
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if uorb start |
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then |
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echo "uorb started OK" |
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else |
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sh /etc/init.d/rc.error |
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fi |
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echo Starting ArduPilot |
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if ArduPilot start |
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then |
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echo ArduPilot started OK |
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else |
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sh /etc/init.d/rc.error |
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fi |
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echo "rc.APM finished"
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