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259 lines
5.2 KiB
259 lines
5.2 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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# To enable mkblctrl startup add a /fs/microsd/APM/mkblctrl file |
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# To enable mavlink on ttys0 add a /fs/microsd/APM/mavlink-ttys0 file |
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set deviceA /dev/ttyACM0 |
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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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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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######################## |
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# PX4IO upgrade handling |
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echo checking for /etc/px4io/px4io.bin |
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if [ -f /etc/px4io/px4io.bin ] |
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then |
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echo "Checking for new px4io firmware" |
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if cmp /etc/px4io/px4io.bin /fs/microsd/px4io.loaded |
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then |
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echo "No new px4io firmware" |
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else |
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echo Loading /etc/px4io/px4io.bin |
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tone_alarm MBABGP |
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echo Loading /etc/px4io/px4io.bin > /fs/microsd/px4io_update.log |
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if px4io update /etc/px4io/px4io.bin |
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then |
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cp /etc/px4io/px4io.bin /fs/microsd/px4io.loaded |
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echo Loaded /etc/px4io/px4io.bin OK >> /fs/microsd/px4io_update.log |
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tone_alarm MSPAA |
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else |
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echo Failed loading /etc/px4io/px4io.bin >> /fs/microsd/px4io_update.log |
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echo "check Safety Button" >> /fs/microsd/APM/px4io_update.log |
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echo "Failed to upgrade PX4IO firmware" |
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tone_alarm MNGGG |
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fi |
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fi |
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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 [ -f /bin/lsm303d ] |
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then |
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echo "Detected FMUv2 board" |
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set BOARD FMUv2 |
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else |
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echo "Detected FMUv1 board" |
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set BOARD FMUv1 |
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fi |
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if [ -f /fs/microsd/APM/mavlink-ttys0 ] |
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then |
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set deviceC /dev/ttyS0 |
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else |
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if [ $BOARD == FMUv1 ] |
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then |
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set deviceC /dev/ttyS2 |
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else |
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set deviceC /dev/ttyS1 |
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fi |
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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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# try the px4io start twice. Some FMUv2 board don't |
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# come up the first time |
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set HAVE_PX4IO false |
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if px4io start |
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then |
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set HAVE_PX4IO true |
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else |
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tone_alarm MNGG |
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sleep 2 |
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if px4io start |
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then |
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set HAVE_PX4IO true |
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# play happy tune again |
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tone_alarm start |
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fi |
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fi |
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if [ $HAVE_PX4IO == true ] |
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then |
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echo "PX4IO board OK" |
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echo "PX4IO board OK" >> $logfile |
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echo "Setting FMU mode_pwm" |
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fmu mode_pwm |
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if [ $BOARD == FMUv1 -a $deviceC == /dev/ttyS1 ] |
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then |
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# ttyS1 is used for PWM output for 4 extra channels |
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set deviceC /dev/ttyS2 |
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fi |
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else |
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echo "No PX4IO board found" |
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echo "No PX4IO board found" >> $logfile |
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if [ $BOARD == FMUv2 ] |
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then |
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sh /etc/init.d/rc.error |
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fi |
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if [ -f /fs/microsd/APM/mkblctrl ] |
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then |
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echo "APM/mkblctrl found - switch to MK I2C ESCs" |
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echo "APM/mkblctrl found - switch to MK I2C ESCs" >> $logfile |
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echo "Setting up mkblctrl driver" |
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echo "Setting up mkblctrl driver" >> $logfile |
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mkblctrl -mkmode x |
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fi |
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echo "Setting up PX4FMU direct mode" |
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fmu mode_pwm |
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if [ $BOARD == FMUv1 -a $deviceC == /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 deviceC /dev/ttyS2 |
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fi |
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fi |
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echo "Starting APM sensors" |
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echo "Starting APM sensors" > $logfile |
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if ms5611 start |
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then |
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echo "ms5611 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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if adc start |
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then |
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echo "adc 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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if [ $BOARD == FMUv1 ] |
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then |
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echo "Starting FMUv1 sensors" |
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if hmc5883 start |
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then |
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echo "hmc5883 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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if mpu6000 start |
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then |
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echo "mpu6000 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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else |
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echo "Starting FMUv2 sensors" |
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if hmc5883 start |
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then |
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echo "Using external magnetometer" |
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fi |
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if l3gd20 start |
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then |
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echo "l3gd20 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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if lsm303d start |
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then |
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echo "lsm303d 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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fi |
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# optional ETS airspeed sensor |
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if ets_airspeed start |
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then |
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echo "Found ETS airspeed sensor" >> $logfile |
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fi |
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if meas_airspeed start |
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then |
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echo "Found MEAS airspeed sensor" >> $logfile |
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fi |
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echo "Trying PX4IO board" |
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echo "Trying PX4IO board" >> $logfile |
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# rgbled |
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if rgbled start |
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then |
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echo "rgbled started OK" |
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else |
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echo "Failed to start rgbled driver" >> $logfile |
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fi |
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echo Starting ArduPilot |
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echo Starting ArduPilot $deviceA $deviceC >> $logfile |
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if ArduPilot -d $deviceA -d2 $deviceC 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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# if starting on the console, tell nsh to exit |
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# this prevents it from chewing bytes |
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if [ $deviceC == /dev/ttyS0 ] |
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then |
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echo "Exiting from nsh shell" |
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exit |
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fi |
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echo "rc.APM finished" |
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echo "rc.APM finished" >> $logfile |
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