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|
#!nsh
#
# PX4FMU startup script for test hackery.
#
set unit_test_failure 0
uorb start
if rgbled start
then
rgbled rgb 20 20 255
fi
if sercon
then
echo "[i] USB interface connected"
# Try to get an USB console
nshterm /dev/ttyACM0 &
fi
#
# Try to mount the microSD card.
#
mount -t vfat /dev/mmcsd0 /fs/microsd
if [ $? == 0 ]
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
#
#
# Load parameters
#
set PARAM_FILE /fs/microsd/params
if mtd start
then
set PARAM_FILE /fs/mtd_params
fi
param select $PARAM_FILE
if param load
then
echo "[param] Loaded: $PARAM_FILE"
else
echo "[param] FAILED loading $PARAM_FILE"
fi
if [ -f /etc/extras/px4io-v2_default.bin ]
then
set io_file /etc/extras/px4io-v2_default.bin
else
set io_file /etc/extras/px4io-v1_default.bin
fi
if px4io start
then
echo "PX4IO OK"
else
set unit_test_failure 1
set unit_test_failure_list "${unit_test_failure_list} px4io_start"
fi
if px4io checkcrc $io_file
then
echo "PX4IO CRC OK"
else
echo "PX4IO CRC failure"
tone_alarm MBABGP
if px4io forceupdate 14662 $io_file
then
if px4io start
then
echo "PX4IO restart OK"
tone_alarm MSPAA
else
echo "PX4IO restart failed"
tone_alarm MNGGG
set unit_test_failure 1
set unit_test_failure_list "${unit_test_failure_list} px4io_flash"
fi
else
echo "PX4IO update failed"
tone_alarm MNGGG
set unit_test_failure 1
set unit_test_failure_list "${unit_test_failure_list} px4io_flash"
fi
fi
#
# The presence of this file suggests we're running a mount stress test
#
if [ -f /fs/microsd/mount_test_cmds.txt ]
then
tests mount
fi
#
# Run unit tests at board boot, reporting failure as needed.
# Add new unit tests using the same pattern as below.
#
if mavlink_tests
then
else
set unit_test_failure 1
set unit_test_failure_list "${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
# Start all sensors on all boards
ms5611 start
adc start
if mpu6000 -X start
then
fi
if mpu6000 start
then
fi
if l3gd20 -X start
then
fi
if l3gd20 start
then
fi
# MAG selection
if param compare SENS_EXT_MAG 2
then
if hmc5883 -I start
then
fi
else
# Use only external as primary
if param compare SENS_EXT_MAG 1
then
if hmc5883 -X start
then
fi
else
# auto-detect the primary, prefer external
if hmc5883 start
then
fi
fi
fi
if ver hwcmp PX4FMU_V2
then
if lsm303d -X start
then
fi
if lsm303d start
then
fi
if ms5611 -X start
then
fi
fi
if meas_airspeed start
then
else
if ets_airspeed start
then
else
if ets_airspeed start -b 1
then
fi
fi
fi
if sensors start
then
fi
# Check for flow sensor
if px4flow start
then
fi
if ll40ls start
then
fi
if tests all
then
else
set unit_test_failure 1
set unit_test_failure_list "${unit_test_failure_list} system_tests"
fi
if [ $unit_test_failure == 0 ]
then
echo
echo "All Unit Tests PASSED"
rgbled rgb 20 255 20
else
echo
echo "Some Unit Tests FAILED:${unit_test_failure_list}"
rgbled rgb 255 20 20
fi
ver all
free
|
