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136 lines
2.7 KiB
136 lines
2.7 KiB
#!nsh |
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# |
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# PX4FMU startup script. |
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# |
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# This script is responsible for: |
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# |
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# - mounting the microSD card (if present) |
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# - running the user startup script from the microSD card (if present) |
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# - detecting the configuration of the system and picking a suitable |
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# startup script to continue with |
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# |
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# Note: DO NOT add configuration-specific commands to this script; |
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# add them to the per-configuration scripts instead. |
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# |
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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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set USB autoconnect |
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# |
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# Start playing the startup tune |
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# |
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tone_alarm start |
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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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else |
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echo "[init] no microSD card found" |
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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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# |
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# Check for USB host |
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# |
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if [ $USB != autoconnect ] |
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then |
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echo "[init] not connecting USB" |
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else |
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if sercon |
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then |
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echo "[init] USB interface connected" |
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else |
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echo "[init] No USB connected" |
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fi |
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fi |
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# |
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# If we are still in flight mode, work out what airframe |
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# configuration we have and start up accordingly. |
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# |
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if [ $MODE != autostart ] |
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then |
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echo "[init] automatic startup cancelled by user script" |
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else |
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echo "[init] detecting attached hardware..." |
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# |
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# Assume that we are PX4FMU in standalone mode |
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# |
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set BOARD PX4FMU |
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# |
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# Are we attached to a PX4IOAR (AR.Drone carrier board)? |
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# |
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if boardinfo test name PX4IOAR |
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then |
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set BOARD PX4IOAR |
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if [ -f /etc/init.d/rc.PX4IOAR ] |
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then |
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echo "[init] reading /etc/init.d/rc.PX4IOAR" |
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usleep 500 |
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sh /etc/init.d/rc.PX4IOAR |
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fi |
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else |
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echo "[init] PX4IOAR not detected" |
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fi |
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# |
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# Are we attached to a PX4IO? |
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# |
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if boardinfo test name PX4IO |
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then |
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set BOARD PX4IO |
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if [ -f /etc/init.d/rc.PX4IO ] |
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then |
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echo "[init] reading /etc/init.d/rc.PX4IO" |
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usleep 500 |
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sh /etc/init.d/rc.PX4IO |
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fi |
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else |
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echo "[init] PX4IO not detected" |
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fi |
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# |
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# Looks like we are stand-alone |
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# |
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if [ $BOARD == PX4FMU ] |
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then |
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echo "[init] no expansion board detected" |
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if [ -f /etc/init.d/rc.standalone ] |
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then |
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echo "[init] reading /etc/init.d/rc.standalone" |
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sh /etc/init.d/rc.standalone |
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fi |
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fi |
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# |
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# We may not reach here if the airframe-specific script exits the shell. |
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# |
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echo "[init] startup done." |
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fi
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