mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-02 05:04:08 +08:00
aacbc04730
These changes remove the two code paths to updates (forceupdate and update) and try to reboot and bootload IO independent of its state, wether it is in bootloader mode already, safety switch is off or if it is in "nominal state" (running and safety on). This ensures that there are no conditions where user error or boot sequence can prevent a successful upgrade. The only state where an upgrade will not be done is if the system is fully armed.
136 lines
2.2 KiB
Bash
136 lines
2.2 KiB
Bash
#!/bin/sh
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#
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# PX4FMU startup script for test hackery.
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#
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set +e
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set R /
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set unit_test_failure 0
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set BOARD_RC ${R}etc/init.d/rc.board
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if rgbled start -X
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then
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led_control on -c blue
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fi
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if sercon
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then
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echo "[i] USB interface connected"
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# Try to get an USB console
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nshterm /dev/ttyACM0 &
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fi
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#
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# Try to mount the microSD card.
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#
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mount -t vfat /dev/mmcsd0 /fs/microsd
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if [ $? = 0 ]
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then
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echo "[i] card mounted at /fs/microsd"
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# Start playing the startup tune
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tune_control play -t 1 # tune 1 = STARTUP
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else
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echo "[i] no microSD card found"
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tune_control play error
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fi
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#
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# Start a minimal system
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#
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#
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# Load parameters
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#
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set PARAM_FILE /fs/microsd/params
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if mtd start
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then
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set PARAM_FILE /fs/mtd_params
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fi
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param select $PARAM_FILE
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if param load
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then
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echo "[param] Loaded: $PARAM_FILE"
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else
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echo "[param] FAILED loading $PARAM_FILE"
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fi
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#
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# run boards rc.board if available
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#
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if [ -f $BOARD_RC ]
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then
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echo "Board init: ${BOARD_RC}"
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. $BOARD_RC
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fi
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if [ -f /etc/extras/px4_io-v2_default.bin ]
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then
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set io_file /etc/extras/px4_io-v2_default.bin
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fi
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if px4io start
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then
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echo "PX4IO OK"
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else
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set unit_test_failure 1
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set unit_test_failure_list "${unit_test_failure_list} px4io_start"
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fi
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if px4io checkcrc $io_file
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then
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echo "PX4IO CRC OK"
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else
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echo "PX4IO CRC failure"
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tune_control play -t 16 # tune 16 = PROG_PX4IO
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if px4io update $io_file
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then
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if px4io start
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then
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echo "PX4IO restart OK"
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tune_control play-t 17 # tune 17 = PROG_PX4IO_OK
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else
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echo "PX4IO restart failed"
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tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
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set unit_test_failure 1
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set unit_test_failure_list "${unit_test_failure_list} px4io_flash"
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fi
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else
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echo "PX4IO update failed"
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tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
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set unit_test_failure 1
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set unit_test_failure_list "${unit_test_failure_list} px4io_flash"
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fi
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fi
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#
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# The presence of this file suggests we're running a mount stress test
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#
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if [ -f /fs/microsd/mount_test_cmds.txt ]
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then
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tests mount
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fi
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. ${R}etc/init.d/rc.sensors
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ver all
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#
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# Run unit tests at board boot, reporting failure as needed.
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# Add new unit tests using the same pattern as below.
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#
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if tests all
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then
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echo
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echo "All Unit Tests PASSED"
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led_control on -c green
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else
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echo
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echo "Some Unit Tests FAILED"
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led_control on -c red
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fi
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free
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