From 41d06c54db1c9a1037fac258cc1a2b32aecae8ea Mon Sep 17 00:00:00 2001
From: Chris Roadfeldt <chris@roadfeldt.com>
Date: Tue, 26 Sep 2017 02:14:40 +0000
Subject: [PATCH] Added systemd service file.

---
 README.md | 29 +++++++++++++++++++++++++++++
 1 file changed, 29 insertions(+)

diff --git a/README.md b/README.md
index 2218144..c748553 100644
--- a/README.md
+++ b/README.md
@@ -71,6 +71,8 @@ Example: MAVLink groundstation via radio connected to UART4 and GPS connected to
 
 If ArduCopter should start automatically at boot time follow the instructions below:
 
+SYS V init based startup
+
 Edit `/etc/rc.local` with `sudo nano /etc/rc.local`
 Modify file to:
 ```
@@ -100,6 +102,33 @@ exit 0
 2. Exit nano: `Strg + x`
 3. Reboot BegaleBone with `sudo reboot`
 
+Systemd based startup, useful with arducopter packages from debian/rcnee repo.
+
+Edit systemd startup vi with vi command below, or use sudo nano command from above
+
+sudo vi /lib/systemd/system/arducopter.service
+
+Replace contents of service file with below. Use ESC, then :wq to exit.
+
+[Unit]
+Description=ArduCopter Service
+After=networking.service
+Conflicts=arduplane.service ardupilot.service ardurover.service
+
+[Service]
+EnvironmentFile=/etc/default/arducopter
+ExecStartPre=/bin/bash -c "/bin/echo uart > /sys/devices/platform/ocp/ocp:P9_21_pinmux/state"
+ExecStartPre=/bin/bash -c "/bin/echo uart > /sys/devices/platform/ocp/ocp:P9_22_pinmux/state"
+ExecStartPre=/bin/bash -c "/bin/echo uart > /sys/devices/platform/ocp/ocp:P9_24_pinmux/state"
+ExecStartPre=/bin/bash -c "/bin/echo uart > /sys/devices/platform/ocp/ocp:P9_26_pinmux/state"
+ExecStartPre=/bin/bash -c "/bin/echo pruecapin_pu > /sys/devices/platform/ocp/ocp:P8_15_pinmux/state"
+ExecStart=/usr/bin/ardupilot/blue-arducopter $TELEM1 $TELEM2 $GPS
+
+Restart=on-failure
+
+[Install]
+WantedBy=multi-user.target
+
 # License
 
 <a rel="license" href="http://creativecommons.org/licenses/by-sa/4.0/"><img alt="Creative Commons License" style="border-width:0" src="https://i.creativecommons.org/l/by-sa/4.0/88x31.png" /></a><br /><span xmlns:dct="http://purl.org/dc/terms/" property="dct:title">BeagleBone Blue ArduPilot</span> by <a xmlns:cc="http://creativecommons.org/ns#" href="https://github.com/mirkix" property="cc:attributionName" rel="cc:attributionURL">Mirko Denecke</a> is licensed under a <a rel="license" href="http://creativecommons.org/licenses/by-sa/4.0/">Creative Commons Attribution-ShareAlike 4.0 International License</a>.