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104 lines
2.1 KiB
104 lines
2.1 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 disable use of a PX4IO board add a file /fs/microsd/APM/fmu_only |
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set deviceA /dev/ttyACM0 |
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set deviceC /dev/ttyS1 |
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if [ -f /fs/microsd/APM/nostart ] |
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then |
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echo "APM/nostart found - skipping" |
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else |
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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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mount -t binfs /dev/null /bin |
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fi |
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set sketch NONE |
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if [ -f /bin/ArduPlane ] |
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then |
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set sketch ArduPlane |
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fi |
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if [ -f /bin/ArduCopter ] |
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then |
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set sketch ArduCopter |
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fi |
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if [ -f /bin/APMrover2 ] |
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then |
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set sketch APMrover2 |
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fi |
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if [ $sketch != NONE ] |
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then |
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if [ -f /fs/microsd/px4io.bin ] |
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then |
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echo "Checking for new px4io firmware" |
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if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.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 /fs/microsd/px4io.bin" |
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if px4io update /fs/microsd/px4io.bin > /fs/microsd/APM/px4io_update.log |
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then |
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cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.loaded |
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echo "Loaded /fs/microsd/px4io.bin OK" >> /fs/microsd/APM/px4io_update.log |
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else |
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echo "Failed loading /fs/microsd/px4io.bin" >> /fs/microsd/APM/px4io_update.log |
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echo "Failed to upgrade PX4IO firmware - check PX4IO is in bootloader mode" |
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fi |
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fi |
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fi |
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echo "Starting APM sensors" |
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uorb start |
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mpu6000 start |
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ms5611 start |
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hmc5883 start |
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adc start |
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if [ -f /fs/microsd/APM/fmu_only ] |
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then |
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echo "Setting up PX4FMU direct mode" |
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fmu start mode_pwm |
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if [ $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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else |
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echo "Setting up PX4IO board" |
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px4io start |
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echo "Loading FMU_pass mixer" |
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mixer load /dev/pwm_output /etc/mixers/FMU_pass.mix |
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echo "Setting FMU mode_serial" |
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fmu mode_serial |
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fi |
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echo Starting $sketch |
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$sketch -d $deviceA -d2 $deviceC start |
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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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else |
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echo "No APM sketch found" |
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fi |
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fi |
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echo "rc.APM finished"
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