diff options
Diffstat (limited to 'ROMFS/scripts/rcS')
-rwxr-xr-x | ROMFS/scripts/rcS | 136 |
1 files changed, 136 insertions, 0 deletions
diff --git a/ROMFS/scripts/rcS b/ROMFS/scripts/rcS new file mode 100755 index 000000000..69d791da5 --- /dev/null +++ b/ROMFS/scripts/rcS @@ -0,0 +1,136 @@ +#!nsh +# +# PX4FMU startup script. +# +# This script is responsible for: +# +# - mounting the microSD card (if present) +# - running the user startup script from the microSD card (if present) +# - detecting the configuration of the system and picking a suitable +# startup script to continue with +# +# Note: DO NOT add configuration-specific commands to this script; +# add them to the per-configuration scripts instead. +# + +# +# Default to auto-start mode. An init script on the microSD card +# can change this to prevent automatic startup of the flight script. +# +set MODE autostart +set USB autoconnect + +# +# Start playing the startup tune +# +tone_alarm start + +# +# Try to mount the microSD card. +# +echo "[init] looking for microSD..." +if mount -t vfat /dev/mmcsd0 /fs/microsd +then + echo "[init] card mounted at /fs/microsd" +else + echo "[init] no microSD card found" +fi + +# +# Look for an init script on the microSD card. +# +# To prevent automatic startup in the current flight mode, +# the script should set MODE to some other value. +# +if [ -f /fs/microsd/etc/rc ] +then + echo "[init] reading /fs/microsd/etc/rc" + sh /fs/microsd/etc/rc +fi +# Also consider rc.txt files +if [ -f /fs/microsd/etc/rc.txt ] +then + echo "[init] reading /fs/microsd/etc/rc.txt" + sh /fs/microsd/etc/rc.txt +fi + +# +# Check for USB host +# +if [ $USB != autoconnect ] +then + echo "[init] not connecting USB" +else + if sercon + then + echo "[init] USB interface connected" + else + echo "[init] No USB connected" + fi +fi + +# +# If we are still in flight mode, work out what airframe +# configuration we have and start up accordingly. +# +if [ $MODE != autostart ] +then + echo "[init] automatic startup cancelled by user script" +else + echo "[init] detecting attached hardware..." + + # + # Assume that we are PX4FMU in standalone mode + # + set BOARD PX4FMU + + # + # Are we attached to a PX4IOAR (AR.Drone carrier board)? + # + if boardinfo test name PX4IOAR + then + set BOARD PX4IOAR + if [ -f /etc/init.d/rc.PX4IOAR ] + then + echo "[init] reading /etc/init.d/rc.PX4IOAR" + usleep 500 + sh /etc/init.d/rc.PX4IOAR + fi + else + echo "[init] PX4IOAR not detected" + fi + + # + # Are we attached to a PX4IO? + # + if boardinfo test name PX4IO + then + set BOARD PX4IO + if [ -f /etc/init.d/rc.PX4IO ] + then + echo "[init] reading /etc/init.d/rc.PX4IO" + usleep 500 + sh /etc/init.d/rc.PX4IO + fi + else + echo "[init] PX4IO not detected" + fi + + # + # Looks like we are stand-alone + # + if [ $BOARD == PX4FMU ] + then + echo "[init] no expansion board detected" + if [ -f /etc/init.d/rc.standalone ] + then + echo "[init] reading /etc/init.d/rc.standalone" + sh /etc/init.d/rc.standalone + fi + fi + + # + # We may not reach here if the airframe-specific script exits the shell. + # + echo "[init] startup done." +fi |