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|
#!nsh
#
# PX4FMU startup script.
#
# 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
#
# 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"
# Start playing the startup tune
tone_alarm start
else
echo "[init] no microSD card found"
# Play SOS
tone_alarm 2
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
# if this is an APM build then there will be a rc.APM script
# from an EXTERNAL_SCRIPTS build option
if [ -f /etc/init.d/rc.APM ]
then
if sercon
then
echo "[init] USB interface connected"
fi
echo "Running rc.APM"
# if APM startup is successful then nsh will exit
sh /etc/init.d/rc.APM
fi
if [ $MODE == autostart ]
then
#
# Start the ORB (first app to start)
#
uorb start
#
# Load microSD params
#
if ramtron start
then
param select /ramtron/params
if [ -f /ramtron/params ]
then
param load /ramtron/params
fi
else
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
then
param load /fs/microsd/params
fi
fi
fi
|