You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
111 lines
2.3 KiB
111 lines
2.3 KiB
#!nsh |
|
|
|
# APM startup script for NuttX on PX4 |
|
|
|
# To disable APM startup add a /fs/microsd/APM/nostart file |
|
# To enable mkblctrl startup add a /fs/microsd/APM/mkblctrl file |
|
# To enable mkblctrl_+ startup add a /fs/microsd/APM/mkblctrl_+ file |
|
# To enable mkblctrl_x startup add a /fs/microsd/APM/mkblctrl_x file |
|
|
|
# check for an old file called APM, caused by |
|
# a bug in an earlier firmware release |
|
if [ -f /fs/microsd/APM ] |
|
then |
|
echo "APM file found - renaming" |
|
mv /fs/microsd/APM /fs/microsd/APM.old |
|
fi |
|
|
|
if [ -f /fs/microsd/APM/nostart ] |
|
then |
|
echo "APM/nostart found - skipping APM startup" |
|
sh /etc/init.d/rc.error |
|
fi |
|
|
|
# mount binfs so we can find the built-in apps |
|
if [ -f /bin/reboot ] |
|
then |
|
echo "binfs already mounted" |
|
else |
|
echo "Mounting binfs" |
|
if mount -t binfs /dev/null /bin |
|
then |
|
echo "binfs mounted OK" |
|
else |
|
sh /etc/init.d/rc.error |
|
fi |
|
fi |
|
|
|
set sketch NONE |
|
if rm /fs/microsd/APM/boot.log |
|
then |
|
echo "removed old boot.log" |
|
fi |
|
set logfile /fs/microsd/APM/BOOT.LOG |
|
|
|
if [ ! -f /bin/ArduPilot ] |
|
then |
|
echo "/bin/ardupilot not found" |
|
sh /etc/init.d/rc.error |
|
fi |
|
|
|
if mkdir /fs/microsd/APM > /dev/null |
|
then |
|
echo "Created APM directory" |
|
fi |
|
|
|
if uorb start |
|
then |
|
echo "uorb started OK" |
|
else |
|
sh /etc/init.d/rc.error |
|
fi |
|
|
|
# start mkblctrl driver if configured |
|
if [ -f /fs/microsd/APM/mkblctrl ] |
|
then |
|
echo "Setting up mkblctrl driver" |
|
echo "Setting up mkblctrl driver" >> $logfile |
|
mkblctrl -d /dev/pwm_output |
|
fi |
|
|
|
if [ -f /fs/microsd/APM/mkblctrl_+ ] |
|
then |
|
echo "Setting up mkblctrl driver +" |
|
echo "Setting up mkblctrl driver +" >> $logfile |
|
mkblctrl -mkmode + -d /dev/pwm_output |
|
fi |
|
|
|
if [ -f /fs/microsd/APM/mkblctrl_x ] |
|
then |
|
echo "Setting up mkblctrl driver x" |
|
echo "Setting up mkblctrl driver x" >> $logfile |
|
mkblctrl -mkmode x -d /dev/pwm_output |
|
fi |
|
|
|
if mtd start /fs/mtd |
|
then |
|
echo "started mtd driver OK" |
|
else |
|
echo "failed to start mtd driver" |
|
echo "failed to start mtd driver" >> $logfile |
|
sh /etc/init.d/rc.error |
|
fi |
|
|
|
if mtd readtest /fs/mtd |
|
then |
|
echo "mtd readtest OK" |
|
else |
|
echo "failed to read mtd" |
|
echo "failed to read mtd" >> $logfile |
|
sh /etc/init.d/rc.error |
|
fi |
|
|
|
echo Starting ArduPilot |
|
if ArduPilot start |
|
then |
|
echo ArduPilot started OK |
|
else |
|
sh /etc/init.d/rc.error |
|
fi |
|
|
|
echo "rc.APM finished"
|
|
|