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|
#!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 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
|
