#!nsh
#
# PX4FMU startup script for test hackery.
#
uorb start

if sercon
then
	echo "[i] USB interface connected"

	# Try to get an USB console
	nshterm /dev/ttyACM0 &
fi

#
# Try to mount the microSD card.
#
echo "[i] looking for microSD..."
if mount -t vfat /dev/mmcsd0 /fs/microsd
then
	echo "[i] card mounted at /fs/microsd"
	# Start playing the startup tune
	tone_alarm start
else
	echo "[i] no microSD card found"
	# Play SOS
	tone_alarm error
fi

#
# Start a minimal system
#

if [ -f /etc/extras/px4io-v2_default.bin ]
then
	set io_file /etc/extras/px4io-v2_default.bin
else
	set io_file /etc/extras/px4io-v1_default.bin
fi

if px4io start
then
	echo "PX4IO OK"
fi

if px4io checkcrc $io_file
then
	echo "PX4IO CRC OK"
else
	echo "PX4IO CRC failure"
	tone_alarm MBABGP
	if px4io forceupdate 14662 $io_file
	then
		usleep 500000
		if px4io start
		then
			echo "PX4IO restart OK"
			tone_alarm MSPAA
		else
			echo "PX4IO restart failed"
			tone_alarm MNGGG
			sleep 5
			reboot
		fi
	else
		echo "PX4IO update failed"
		tone_alarm MNGGG
	fi
fi

#
# The presence of this file suggests we're running a mount stress test
#
if [ -f /fs/microsd/mount_test_cmds.txt ]
then
	tests mount
fi

#
# Run unit tests at board boot, reporting failure as needed.
# Add new unit tests using the same pattern as below.
#

set unit_test_failure 0

if mavlink_tests
then
else
	set unit_test_failure 1
	set unit_test_failure_list "${unit_test_failure_list} mavlink_tests"
fi

if commander_tests
then
else
	set unit_test_failure 1
	set unit_test_failure_list "${unit_test_failure_list} commander_tests"
fi

if uorb test
then
else
	set unit_test_failure 1
	set unit_test_failure_list "${unit_test_failure_list} uorb_tests"
fi

if hmc5883 -I start
then
	# This is an FMUv3
	echo "FMUv3"
	ms5611 start
	mpu6000 -X start
	mpu6000 start
	lsm303d -X start
	l3gd20 -X start
	echo "EVALUATION ONLY SENSORS (not used in production)"
	ms5611 -X start
else
	# This is an FMUv1 or FMUv2
	echo "FMUv2 (or FMUv3 where 'hmc5883 -I start' failed)"
	ms5611 start
	mpu6000 start
	lsm303d start
	l3gd20 start
fi

if [ $unit_test_failure == 0 ]
then
	echo
	echo "All Unit Tests PASSED"
else
	echo
	echo "Some Unit Tests FAILED:${unit_test_failure_list}"
fi