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170 lines
4.0 KiB
170 lines
4.0 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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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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set deviceC /dev/ttyS2 |
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fi |
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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" |
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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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set logfile /fs/microsd/APM/boot.log |
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if [ -f /bin/ArduPilot ] |
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then |
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set sketch ArduPilot |
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fi |
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if [ $sketch != NONE ] |
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then |
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if mkdir /fs/microsd/APM |
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then |
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echo "Created APM directory" |
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fi |
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uorb start |
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if mpu6000 start |
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then |
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echo "Detected FMUv1 board" |
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set BOARD FMUv1 |
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set PX4IOBIN /etc/px4io/px4io-v1.bin |
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else |
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l3gd20 start |
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echo "Detected FMUv2 board" |
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set BOARD FMUv2 |
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set PX4IOBIN /etc/px4io/px4io-v2.bin |
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fi |
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echo checking for $PX4IOBIN |
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if [ -f $PX4IOBIN ] |
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then |
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echo "Checking for new px4io firmware" |
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if cmp $PX4IOBIN /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 $PX4IOBIN |
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tone_alarm MBABGP |
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if px4io update $PX4IOBIN > /fs/microsd/APM/px4io_update.log |
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then |
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cp $PX4IOBIN /fs/microsd/px4io.loaded |
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echo Loaded $PX4IOBIN OK >> /fs/microsd/APM/px4io_update.log |
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tone_alarm MSPAA |
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else |
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echo Failed loading $PX4IOBIN >> /fs/microsd/APM/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 - check PX4IO is in bootloader mode" |
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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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echo "Starting APM sensors" |
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echo "Starting APM sensors" > $logfile |
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if [ $BOARD == FMUv1 ] |
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then |
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ms5611 start |
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hmc5883 start |
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adc start |
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else |
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ms5611 start |
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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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lsm303d start |
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adc start |
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fi |
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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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echo "Trying PX4IO board" |
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echo "Trying PX4IO board" >> $logfile |
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if px4io start |
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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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echo "Loading FMU_pass mixer" |
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mixer load /dev/pwm_output /etc/mixers/FMU_pass.mix |
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if [ $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 [ -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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sleep 1 |
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mkblctrl -mkmode x |
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sleep 1 |
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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 [ $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 $sketch |
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echo Starting $sketch $deviceA $deviceC >> $logfile |
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$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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echo "rc.APM finished" |
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echo "rc.APM finished" >> $logfile |
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fi
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