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123 lines
2.1 KiB
123 lines
2.1 KiB
#!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 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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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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