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184 lines
3.7 KiB
184 lines
3.7 KiB
#!nsh |
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# APM startup script for NuttX on VRBRAIN |
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# To disable APM startup add a /fs/microsd/APM/nostart file |
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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] 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] 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 "[APM] binfs already mounted" |
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else |
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echo "[APM] Mounting binfs" |
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if mount -t binfs /dev/null /bin |
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then |
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echo "[APM] 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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if rm /fs/microsd/APM/boot.log |
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then |
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echo "[APM] Removed old boot.log" |
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fi |
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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 "[APM] /bin/ArduPilot not found" |
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sh /etc/init.d/rc.error |
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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 "[APM] Created APM directory" |
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fi |
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echo "[APM] Starting UORB" |
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if uorb start |
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then |
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echo "[APM] 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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echo "[APM] Starting ADC" |
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if adc start |
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then |
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echo "[APM] 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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echo "[APM] Starting APM sensors" |
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echo "[APM] Starting MS5611 Internal" |
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if ms5611 -I start |
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then |
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echo "[APM] MS5611 onboard started OK" |
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else |
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echo "[APM] MS5611 onboard start failed" |
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sh /etc/init.d/rc.error |
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fi |
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echo "[APM] Starting HMC5883 External GPS" |
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if hmc5883 -X start |
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then |
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echo "[APM] HMC5883 External GPS started OK" |
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if hmc5883 -X calibrate |
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then |
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echo "[APM] HMC5883 External GPS calibrate OK" |
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else |
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echo "[APM] HMC5883 External GPS calibrate failed" |
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fi |
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else |
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echo "[APM] HMC5883 External GPS start failed" |
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# sh /etc/init.d/rc.error |
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fi |
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echo "[APM] Starting HMC5883 Internal" |
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if hmc5883 -I start |
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then |
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echo "[APM] HMC5883 onboard started OK" |
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if hmc5883 -I calibrate |
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then |
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echo "[APM] HMC5883 onboard calibrate OK" |
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else |
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echo "[APM] HMC5883 onboard calibrate failed" |
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fi |
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else |
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echo "[APM] HMC5883 onboard start failed" |
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# sh /etc/init.d/rc.error |
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fi |
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echo "[APM] Starting MPU6000 Internal" |
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if mpu6000 -I start |
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then |
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echo "[APM] MPU6000 onboard started OK" |
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else |
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echo "[APM] MPU6000 onboard start failed" |
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sh /etc/init.d/rc.error |
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fi |
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echo "[APM] Starting MPU6000 External" |
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if mpu6000 -X start |
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then |
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echo "[APM] MPU6000 external started OK" |
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else |
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echo "[APM] MPU6000 external start failed" |
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# sh /etc/init.d/rc.error |
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fi |
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echo "[APM] Starting MTD driver" |
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if mtd start /fs/mtd |
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then |
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echo "[APM] MTD driver started OK" |
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else |
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echo "[APM] MTD driver start failed" |
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sh /etc/init.d/rc.error |
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fi |
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echo "[APM] MTD driver read test" |
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if mtd readtest /fs/mtd |
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then |
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echo "[APM] MTD driver readtest OK" |
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else |
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echo "[APM] MTD driver failed to read" |
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sh /etc/init.d/rc.error |
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fi |
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echo "[APM] Starting VROUTPUT driver" |
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vroutput mode_pwm |
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#if vroutput mode_pwm |
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#then |
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# echo "[APM] VROUTPUT driver started OK" |
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#else |
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# echo "[APM] VROUTPUT driver start failed" |
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# sh /etc/init.d/rc.error |
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#fi |
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echo "[APM] Starting VRINPUT driver" |
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vrinput start |
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#if vrinput start |
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#then |
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# echo "[APM] VRINPUT driver started OK" |
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#else |
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# echo "[APM] VRINPUT driver start failed" |
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# sh /etc/init.d/rc.error |
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#fi |
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set sketch NONE |
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set deviceA /dev/ttyACM0 |
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set deviceC /dev/ttyS2 |
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echo "[APM] Starting ArduPilot" |
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#if ArduPilot -d $deviceA -d2 $deviceC start |
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if ArduPilot start |
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then |
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echo "[APM] ArduPilot started OK" |
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else |
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echo "[APM] ArduPilot start failed" |
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sh /etc/init.d/rc.error |
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fi |
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echo "[APM] Exiting from nsh shell" |
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exit |
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echo "[APM] Script finished" |
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