Startup scripts major cleanup

14 files changed, 315 insertions, 780 deletions

diff --git a/ROMFS/px4fmu_common/init.d/01_fmu_quad_x b/ROMFS/px4fmu_common/init.d/01_fmu_quad_x
index 8223b3ea5..f57e4bd68 100644
--- a/ROMFS/px4fmu_common/init.d/01_fmu_quad_x
+++ b/ROMFS/px4fmu_common/init.d/01_fmu_quad_x
@@ -1,28 +1,6 @@
 #!nsh
-#
-# Flight startup script for PX4FMU with PWM outputs.
-#
- 
-# disable USB and autostart
-set USB no
-set MODE custom
- 
-echo "[init] doing PX4FMU Quad startup..."
- 
-#
-# Start the ORB
-#
-uorb start
- 
-#
-# Load microSD params
-#
-echo "[init] loading microSD params"
-param select /fs/microsd/params
-if [ -f /fs/microsd/params ]
-then
-	param load /fs/microsd/params
-fi
+
+echo "[init] 01_fmu_quad_x: PX4FMU Quad X with PWM outputs"
 
 #
 # Load default params for this platform
@@ -52,11 +30,10 @@ fi
 
 #
 # Force some key parameters to sane values
-# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
-#              see https://pixhawk.ethz.ch/mavlink/
+# MAV_TYPE     2 = quadrotor
 #
 param set MAV_TYPE 2
- 
+
 #
 # Start MAVLink
 #
@@ -64,19 +41,24 @@ mavlink start -d /dev/ttyS0 -b 57600
 usleep 5000
 
 #
-# Start common for all multirotors apps
+# Start PWM output
 #
-sh /etc/init.d/rc.multirotor
+fmu mode_pwm
 
 #
-# Start PWM output
+# Load mixer
 #
-fmu mode_pwm
 mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
+
+#
+# Set PWM output frequency
+#
 pwm -u 400 -m 0xff
- 
-# Try to get an USB console
-nshterm /dev/ttyACM0 &
 
+#
+# Start common for all multirotors apps
+#
+sh /etc/init.d/rc.multirotor
+ 
 # Exit, because /dev/ttyS0 is needed for MAVLink
-#exit
+exit
diff --git a/ROMFS/px4fmu_common/init.d/02_io_quad_x b/ROMFS/px4fmu_common/init.d/02_io_quad_x
index 49483d14f..a37c26ad1 100644
--- a/ROMFS/px4fmu_common/init.d/02_io_quad_x
+++ b/ROMFS/px4fmu_common/init.d/02_io_quad_x
@@ -1,26 +1,6 @@
 #!nsh
-#
-# Flight startup script for PX4FMU+PX4IO
-#
- 
-# disable USB and autostart
-set USB no
-set MODE custom
- 
-#
-# Start the ORB (first app to start)
-#
-uorb start
- 
-#
-# Load microSD params
-#
-echo "[init] loading microSD params"
-param select /fs/microsd/params
-if [ -f /fs/microsd/params ]
-then
-	param load /fs/microsd/params
-fi
+
+echo "[init] 02_io_quad_x: PX4FMU+PX4IO Quad X with PWM outputs"
 
 #
 # Load default params for this platform
@@ -28,74 +8,40 @@ fi
 if param compare SYS_AUTOCONFIG 1
 then
 	# Set all params here, then disable autoconfig
+	# TODO
+	
 	param set SYS_AUTOCONFIG 0
 	param save /fs/microsd/params
 fi
- 
+
 #
 # Force some key parameters to sane values
-# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
-#              see https://pixhawk.ethz.ch/mavlink/
+# MAV_TYPE     2 = quadrotor
 #
 param set MAV_TYPE 2
  
 #
-# Start MAVLink (depends on orb)
+# Start MAVLink
 #
 mavlink start -d /dev/ttyS1 -b 57600
 usleep 5000
- 
-#
-# Start the commander (depends on orb, mavlink)
-#
-commander start
- 
-#
-# Start PX4IO interface (depends on orb, commander)
-#
-px4io start
- 
-#
-# Allow PX4IO to recover from midair restarts.
-# this is very unlikely, but quite safe and robust.
-px4io recovery
 
 #
-# Disable px4io topic limiting
-#
-px4io limit 200
- 
-#
-# Start the sensors (depends on orb, px4io)
-#
-sh /etc/init.d/rc.sensors
- 
-#
-# Start GPS interface (depends on orb)
-#
-gps start
- 
-#
-# Start the attitude estimator (depends on orb)
+# Start and configure PX4IO interface
 #
-attitude_estimator_ekf start
- 
+sh /etc/init.d/rc.io
+
 #
-# Load mixer and start controllers (depends on px4io)
+# Load mixer
 #
 mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
-pwm -u 400 -m 0xff
-multirotor_att_control start
- 
+
 #
-# Start logging once armed
+# Set PWM output frequency
 #
-sdlog2 start -r 50 -a -b 14
- 
+pwm -u 400 -m 0xff
+
 #
-# Start system state
+# Start common for all multirotors apps
 #
-if blinkm start
-then
-	blinkm systemstate
-fi
+sh /etc/init.d/rc.multirotor
diff --git a/ROMFS/px4fmu_common/init.d/08_ardrone b/ROMFS/px4fmu_common/init.d/08_ardrone
index 5bb1491e9..eb9f82f77 100644
--- a/ROMFS/px4fmu_common/init.d/08_ardrone
+++ b/ROMFS/px4fmu_common/init.d/08_ardrone
@@ -1,86 +1,45 @@
 #!nsh
-#
-# Flight startup script for PX4FMU on PX4IOAR carrier board.
-#
- 
-echo "[init] doing PX4IOAR startup..."
- 
-#
-# Start the ORB
-#
-uorb start
+
+echo "[init] 08_ardrone: PX4FMU on PX4IOAR carrier board"
  
 #
-# Load microSD params
+# Load default params for this platform
 #
-echo "[init] loading microSD params"
-param select /fs/microsd/params
-if [ -f /fs/microsd/params ]
+if param compare SYS_AUTOCONFIG 1
 then
-	param load /fs/microsd/params
+	# Set all params here, then disable autoconfig
+	# TODO
+
+	param set SYS_AUTOCONFIG 0
+	param save /fs/microsd/params
 fi
 
 #
 # Force some key parameters to sane values
-# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
-#              see https://pixhawk.ethz.ch/mavlink/
+# MAV_TYPE     2 = quadrotor
 #
 param set MAV_TYPE 2
 
 #
-# Configure PX4FMU for operation with PX4IOAR
-#
-fmu mode_gpio_serial
- 
-#
-# Start the sensors.
-#
-sh /etc/init.d/rc.sensors
- 
-#
 # Start MAVLink
 #
 mavlink start -d /dev/ttyS0 -b 57600
 usleep 5000
- 
-#
-# Start the commander.
-#
-commander start
- 
-#
-# Start the attitude estimator
-#
-attitude_estimator_ekf start
- 
+
 #
-# Fire up the multi rotor attitude controller
+# Configure PX4FMU for operation with PX4IOAR
 #
-multirotor_att_control start
+fmu mode_gpio_serial
  
 #
 # Fire up the AR.Drone interface.
 #
 ardrone_interface start -d /dev/ttyS1
-
-#
-# Start logging once armed
-#
-sdlog2 start -r 50 -a -b 14
-
-#
-# Start GPS capture
-#
-gps start
  
 #
-# startup is done; we don't want the shell because we
-# use the same UART for telemetry
+# Start common for all multirotors apps
 #
-echo "[init] startup done"
-
-# Try to get an USB console
-nshterm /dev/ttyACM0 &
-
+sh /etc/init.d/rc.multirotor
+ 
 # Exit, because /dev/ttyS0 is needed for MAVLink
 exit
diff --git a/ROMFS/px4fmu_common/init.d/09_ardrone_flow b/ROMFS/px4fmu_common/init.d/09_ardrone_flow
index a223ef7aa..44fbb79b7 100644
--- a/ROMFS/px4fmu_common/init.d/09_ardrone_flow
+++ b/ROMFS/px4fmu_common/init.d/09_ardrone_flow
@@ -1,36 +1,41 @@
 #!nsh
+
+echo "[init] 09_ardrone_flow: PX4FMU on PX4IOAR carrier board with PX4FLOW"
+
 #
-# Flight startup script for PX4FMU on PX4IOAR carrier board.
-#
- 
-echo "[init] doing PX4IOAR startup..."
- 
-#
-# Start the ORB
-#
-uorb start
- 
-#
-# Load microSD params
+# Load default params for this platform
 #
-echo "[init] loading microSD params"
-param select /fs/microsd/params
-if [ -f /fs/microsd/params ]
+if param compare SYS_AUTOCONFIG 1
 then
-	param load /fs/microsd/params
+	# Set all params here, then disable autoconfig
+	# TODO
+
+	param set SYS_AUTOCONFIG 0
+	param save /fs/microsd/params
 fi
 
 #
 # Force some key parameters to sane values
-# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
-#              see https://pixhawk.ethz.ch/mavlink/
+# MAV_TYPE     2 = quadrotor
 #
 param set MAV_TYPE 2
 
 #
+# Start MAVLink and MAVLink Onboard (PX4FLOW Sensor)
+#
+mavlink start -d /dev/ttyS0 -b 57600
+mavlink_onboard start -d /dev/ttyS3 -b 115200
+usleep 5000
+
+#
 # Configure PX4FMU for operation with PX4IOAR
 #
 fmu mode_gpio_serial
+
+#
+# Fire up the AR.Drone interface.
+#
+ardrone_interface start -d /dev/ttyS1
  
 #
 # Start the sensors.
@@ -38,13 +43,6 @@ fmu mode_gpio_serial
 sh /etc/init.d/rc.sensors
 
 #
-# Start MAVLink and MAVLink Onboard (Flow Sensor)
-#
-mavlink start -d /dev/ttyS0 -b 57600
-mavlink_onboard start -d /dev/ttyS3 -b 115200
-usleep 5000
-
-#
 # Start the commander.
 #
 commander start
@@ -73,25 +71,6 @@ flow_position_control start
 # Fire up the flow speed controller
 #
 flow_speed_control start
-
-#
-# Fire up the AR.Drone interface.
-#
-ardrone_interface start -d /dev/ttyS1
-
-#
-# Start logging once armed
-#
-sdlog2 start -r 50 -a -b 14
  
-#
-# startup is done; we don't want the shell because we
-# use the same UART for telemetry
-#
-echo "[init] startup done"
-
-# Try to get an USB console
-nshterm /dev/ttyACM0 &
-
 # Exit, because /dev/ttyS0 is needed for MAVLink
 exit
diff --git a/ROMFS/px4fmu_common/init.d/10_io_f330 b/ROMFS/px4fmu_common/init.d/10_io_f330
index 50842764a..7b6509bf8 100644
--- a/ROMFS/px4fmu_common/init.d/10_io_f330
+++ b/ROMFS/px4fmu_common/init.d/10_io_f330
@@ -1,12 +1,6 @@
 #!nsh
-#
-# Flight startup script for PX4FMU+PX4IO on an F330 quad.
-#
 
-#
-# Start the ORB (first app to start)
-#
-uorb start
+echo "[init] 10_io_f330: PX4FMU+PX4IO on a DJI F330 quad frame"
 
 #
 # Load default params for this platform
@@ -35,8 +29,7 @@ fi
  
 #
 # Force some key parameters to sane values
-# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
-#              see https://pixhawk.ethz.ch/mavlink/
+# MAV_TYPE     2 = quadrotor
 #
 param set MAV_TYPE 2
  
@@ -47,71 +40,28 @@ mavlink start
 usleep 5000
 
 #
-# Start the commander (depends on orb, mavlink)
+# Start and configure PX4IO interface
 #
-commander start
+sh /etc/init.d/rc.io
 
 #
-# Start PX4IO interface (depends on orb, commander)
+# Set PWM values for DJI ESCs
 #
-if px4io start
-then
-	#
-	# This sets a PWM right after startup (regardless of safety button)
-	#
-	px4io idle 900 900 900 900
-
-	pwm -u 400 -m 0xff
-
-	#
-	# Allow PX4IO to recover from midair restarts.
-	# this is very unlikely, but quite safe and robust.
-	px4io recovery
-
-
-
-	#
-	# The values are for spinning motors when armed using DJI ESCs
-	#
-	px4io min 1200 1200 1200 1200
-
-	#
-	# Upper limits could be higher, this is on the safe side
-	#
-	px4io max 1800 1800 1800 1800
+px4io idle 900 900 900 900
+px4io min 1200 1200 1200 1200
+px4io max 1800 1800 1800 1800
 
-	mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
-
-else
-	# SOS
-	tone_alarm 6
-fi
- 
-#
-# Start the sensors (depends on orb, px4io)
-#
-sh /etc/init.d/rc.sensors
- 
 #
-# Start GPS interface (depends on orb)
+# Load mixer
 #
-gps start
- 
+mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
+
 #
-# Start the attitude estimator (depends on orb)
+# Set PWM output frequency
 #
-attitude_estimator_ekf start
-
-multirotor_att_control start
+pwm -u 400 -m 0xff
 
 #
-# Disable px4io topic limiting and start logging
+# Start common for all multirotors apps
 #
-if [ $BOARD == fmuv1 ]
-then
-	px4io limit 200
-	sdlog2 start -r 50 -a -b 16
-else
-	px4io limit 400
-	sdlog2 start -r 200 -a -b 16
-fi
+sh /etc/init.d/rc.multirotor
diff --git a/ROMFS/px4fmu_common/init.d/15_io_tbs b/ROMFS/px4fmu_common/init.d/15_io_tbs
index 237bb4267..b4f063e52 100644
--- a/ROMFS/px4fmu_common/init.d/15_io_tbs
+++ b/ROMFS/px4fmu_common/init.d/15_io_tbs
@@ -1,27 +1,6 @@
 #!nsh
-#
-# Flight startup script for PX4FMU+PX4IO on a Team Blacksheep Discovery quad
-# with stock DJI ESCs, motors and props.
-#
- 
-# disable USB and autostart
-set USB no
-set MODE custom
 
-#
-# Start the ORB (first app to start)
-#
-uorb start
-
-#
-# Load microSD params
-#
-echo "[init] loading microSD params"
-param select /fs/microsd/params
-if [ -f /fs/microsd/params ]
-then
-	param load /fs/microsd/params
-fi
+echo "[init] 15_io_tbs: PX4FMU+PX4IO on a Team Blacksheep Discovery quad"
 
 #
 # Load default params for this platform
@@ -47,11 +26,10 @@ then
 
 	param save /fs/microsd/params
 fi
- 
+
 #
 # Force some key parameters to sane values
-# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
-#              see https://pixhawk.ethz.ch/mavlink/
+# MAV_TYPE     2 = quadrotor
 #
 param set MAV_TYPE 2
  
@@ -62,77 +40,28 @@ mavlink start
 usleep 5000
 
 #
-# Start the commander (depends on orb, mavlink)
-#
-commander start
-
-#
-# Start PX4IO interface (depends on orb, commander)
-#
-px4io start
-pwm -u 400 -m 0xff
- 
+# Start and configure PX4IO interface
 #
-# Allow PX4IO to recover from midair restarts.
-# This is very unlikely, but quite safe and robust.
-px4io recovery
+sh /etc/init.d/rc.io
 
 #
-# This sets a PWM right after startup (regardless of safety button)
+# Set PWM values for DJI ESCs
 #
 px4io idle 900 900 900 900
-
-#
-# The values are for spinning motors when armed using DJI ESCs
-#
 px4io min 1180 1180 1180 1180
-
-#
-# Upper limits could be higher, this is on the safe side
-#
 px4io max 1800 1800 1800 1800
 
 #
 # Load the mixer for a quad with wide arms
 #
 mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix
- 
-#
-# Start the sensors (depends on orb, px4io)
-#
-sh /etc/init.d/rc.sensors
- 
-#
-# Start GPS interface (depends on orb)
-#
-gps start
- 
-#
-# Start the attitude estimator (depends on orb)
-#
-attitude_estimator_ekf start
 
 #
-# Start the controllers (depends on orb)
+# Set PWM output frequency
 #
-multirotor_att_control start
+pwm -u 400 -m 0xff
 
 #
-# Disable px4io topic limiting and start logging
+# Start common for all multirotors apps
 #
-if [ $BOARD == fmuv1 ]
-then
-	px4io limit 200
-	sdlog2 start -r 50 -a -b 16
-	if blinkm start
-	then
-		blinkm systemstate
-	fi
-else
-	px4io limit 400
-	sdlog2 start -r 200 -a -b 16
-	if rgbled start
-	then
-		#rgbled systemstate
-	fi
-fi
+sh /etc/init.d/rc.multirotor
diff --git a/ROMFS/px4fmu_common/init.d/30_io_camflyer b/ROMFS/px4fmu_common/init.d/30_io_camflyer
index 5090b98a4..c9d5d6632 100644
--- a/ROMFS/px4fmu_common/init.d/30_io_camflyer
+++ b/ROMFS/px4fmu_common/init.d/30_io_camflyer
@@ -1,26 +1,6 @@
 #!nsh
-#
-# Flight startup script for PX4FMU+PX4IO
-#
- 
-# disable USB and autostart
-set USB no
-set MODE custom
- 
-#
-# Start the ORB (first app to start)
-#
-uorb start
- 
-#
-# Load microSD params
-#
-echo "[init] loading microSD params"
-param select /fs/microsd/params
-if [ -f /fs/microsd/params ]
-then
-	param load /fs/microsd/params
-fi
+
+cho "[init] 30_io_camflyer: PX4FMU+PX4IO on Camflyer"
 
 #
 # Load default params for this platform
@@ -28,40 +8,19 @@ fi
 if param compare SYS_AUTOCONFIG 1
 then
 	# Set all params here, then disable autoconfig
+	# TODO
+	
 	param set SYS_AUTOCONFIG 0
 	param save /fs/microsd/params
 fi
  
 #
 # Force some key parameters to sane values
-# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
-#              see https://pixhawk.ethz.ch/mavlink/
+# MAV_TYPE     1 = fixed wing
 #
 param set MAV_TYPE 1
  
 #
-# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
-#
-if [ -f /fs/microsd/px4io.bin ]
-then
-	echo "PX4IO Firmware found. Checking Upgrade.."
-	if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
-	then
-		echo "No newer version, skipping upgrade."
-	else
-		echo "Loading /fs/microsd/px4io.bin"
-		if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
-		then
-			cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
-			echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
-		else
-			echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
-			echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
-		fi
-	fi
-fi
- 
-#
 # Start MAVLink (depends on orb)
 #
 mavlink start -d /dev/ttyS1 -b 57600
@@ -106,16 +65,3 @@ kalman_demo start
 #
 mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
 control_demo start
- 
-#
-# Start logging
-#
-sdlog2 start -r 50 -a -b 14
- 
-#
-# Start system state
-#
-if blinkm start
-then
-	blinkm systemstate
-fi
diff --git a/ROMFS/px4fmu_common/init.d/31_io_phantom b/ROMFS/px4fmu_common/init.d/31_io_phantom
index 5090b98a4..0deffe3f1 100644
--- a/ROMFS/px4fmu_common/init.d/31_io_phantom
+++ b/ROMFS/px4fmu_common/init.d/31_io_phantom
@@ -1,26 +1,6 @@
 #!nsh
-#
-# Flight startup script for PX4FMU+PX4IO
-#
- 
-# disable USB and autostart
-set USB no
-set MODE custom
- 
-#
-# Start the ORB (first app to start)
-#
-uorb start
- 
-#
-# Load microSD params
-#
-echo "[init] loading microSD params"
-param select /fs/microsd/params
-if [ -f /fs/microsd/params ]
-then
-	param load /fs/microsd/params
-fi
+
+echo "[init] 31_io_phantom: PX4FMU+PX4IO on Phantom"
 
 #
 # Load default params for this platform
@@ -28,76 +8,50 @@ fi
 if param compare SYS_AUTOCONFIG 1
 then
 	# Set all params here, then disable autoconfig
+	# TODO
+	
 	param set SYS_AUTOCONFIG 0
 	param save /fs/microsd/params
 fi
  
 #
 # Force some key parameters to sane values
-# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
-#              see https://pixhawk.ethz.ch/mavlink/
+# MAV_TYPE     1 = fixed wing
 #
 param set MAV_TYPE 1
- 
-#
-# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
-#
-if [ -f /fs/microsd/px4io.bin ]
-then
-	echo "PX4IO Firmware found. Checking Upgrade.."
-	if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
-	then
-		echo "No newer version, skipping upgrade."
-	else
-		echo "Loading /fs/microsd/px4io.bin"
-		if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
-		then
-			cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
-			echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
-		else
-			echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
-			echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
-		fi
-	fi
-fi
- 
+
 #
 # Start MAVLink (depends on orb)
 #
 mavlink start -d /dev/ttyS1 -b 57600
 usleep 5000
- 
-#
-# Start the commander (depends on orb, mavlink)
-#
-commander start
- 
-#
-# Start PX4IO interface (depends on orb, commander)
+
 #
-px4io start
- 
+# Start and configure PX4IO interface
 #
-# Allow PX4IO to recover from midair restarts.
-# this is very unlikely, but quite safe and robust.
-px4io recovery
+sh /etc/init.d/rc.io
 
 #
 # Set actuator limit to 100 Hz update (50 Hz PWM)
 px4io limit 100
  
 #
-# Start the sensors (depends on orb, px4io)
+# Start the commander
+#
+commander start
+ 
+#
+# Start the sensors
 #
 sh /etc/init.d/rc.sensors
  
 #
-# Start GPS interface (depends on orb)
+# Start GPS interface
 #
 gps start
  
 #
-# Start the attitude estimator (depends on orb)
+# Start the attitude estimator
 #
 kalman_demo start
  
@@ -106,16 +60,3 @@ kalman_demo start
 #
 mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
 control_demo start
- 
-#
-# Start logging
-#
-sdlog2 start -r 50 -a -b 14
- 
-#
-# Start system state
-#
-if blinkm start
-then
-	blinkm systemstate
-fi
diff --git a/ROMFS/px4fmu_common/init.d/40_io_segway b/ROMFS/px4fmu_common/init.d/40_io_segway
index 5742d685a..2890f43be 100644
--- a/ROMFS/px4fmu_common/init.d/40_io_segway
+++ b/ROMFS/px4fmu_common/init.d/40_io_segway
@@ -1,26 +1,4 @@
 #!nsh
-#
-# Flight startup script for PX4FMU+PX4IO
-#
- 
-# disable USB and autostart
-set USB no
-set MODE custom
- 
-#
-# Start the ORB (first app to start)
-#
-uorb start
- 
-#
-# Load microSD params
-#
-echo "[init] loading microSD params"
-param select /fs/microsd/params
-if [ -f /fs/microsd/params ]
-then
-	param load /fs/microsd/params
-fi
 
 #
 # Load default params for this platform
@@ -28,39 +6,18 @@ fi
 if param compare SYS_AUTOCONFIG 1
 then
 	# Set all params here, then disable autoconfig
+	# TODO
+	
 	param set SYS_AUTOCONFIG 0
 	param save /fs/microsd/params
 fi
  
 #
 # Force some key parameters to sane values
-# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
-#              see https://pixhawk.ethz.ch/mavlink/
+# MAV_TYPE     10 = ground rover
 #
 param set MAV_TYPE 10
- 
-#
-# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
-#
-if [ -f /fs/microsd/px4io.bin ]
-then
-	echo "PX4IO Firmware found. Checking Upgrade.."
-	if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
-	then
-		echo "No newer version, skipping upgrade."
-	else
-		echo "Loading /fs/microsd/px4io.bin"
-		if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
-		then
-			cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
-			echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
-		else
-			echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
-			echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
-		fi
-	fi
-fi
- 
+  
 #
 # Start MAVLink (depends on orb)
 #
@@ -68,26 +25,16 @@ mavlink start -d /dev/ttyS1 -b 57600
 usleep 5000
  
 #
-# Start the commander (depends on orb, mavlink)
+# Start and configure PX4IO interface
 #
-commander start
+sh /etc/init.d/rc.io
  
 #
-# Start PX4IO interface (depends on orb, commander)
-#
-px4io start
- 
+# Start the commander (depends on orb, mavlink)
 #
-# Allow PX4IO to recover from midair restarts.
-# this is very unlikely, but quite safe and robust.
-px4io recovery
+commander start
 
 #
-# Disable px4io topic limiting
-#
-px4io limit 200
- 
-#
 # Start the sensors (depends on orb, px4io)
 #
 sh /etc/init.d/rc.sensors
@@ -107,16 +54,3 @@ attitude_estimator_ekf start
 #
 md25 start 3 0x58
 segway start
- 
-#
-# Start logging
-#
-sdlog2 start -r 50 -a -b 14
- 
-#
-# Start system state
-#
-if blinkm start
-then
-	blinkm systemstate
-fi
diff --git a/ROMFS/px4fmu_common/init.d/666_fmu_quad_x550 b/ROMFS/px4fmu_common/init.d/666_fmu_q_x550
index a7ffffaee..2c8218013 100644
--- a/ROMFS/px4fmu_common/init.d/666_fmu_quad_x550
+++ b/ROMFS/px4fmu_common/init.d/666_fmu_q_x550
@@ -1,28 +1,6 @@
 #!nsh
-#
-# Flight startup script for PX4FMU with PWM outputs.
-#
- 
-# disable USB and autostart
-set USB no
-set MODE custom
- 
-echo "[init] doing PX4FMU Quad startup 666_fmu_quad_X550..."
- 
-#
-# Start the ORB
-#
-uorb start
- 
-#
-# Load microSD params
-#
-echo "[init] loading microSD params"
-param select /fs/microsd/params
-if [ -f /fs/microsd/params ]
-then
-	param load /fs/microsd/params
-fi
+
+echo "[init] 666_fmu_q_x550: PX4FMU Quad X550 with PWM outputs"
 
 #
 # Load default params for this platform
@@ -52,8 +30,7 @@ fi
 
 #
 # Force some key parameters to sane values
-# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
-#              see https://pixhawk.ethz.ch/mavlink/
+# MAV_TYPE     2 = quadrotor
 #
 param set MAV_TYPE 2
  
@@ -62,55 +39,26 @@ param set MAV_TYPE 2
 #
 mavlink start -d /dev/ttyS0 -b 57600
 usleep 5000
- 
-#
-# Start the sensors and test them.
-#
-sh /etc/init.d/rc.sensors
- 
-#
-# Start the commander.
-#
-commander start
 
 #
-# Start GPS interface (depends on orb)
-#
-gps start
- 
-#
-# Start the attitude estimator
-#
-attitude_estimator_ekf start
+# Start PWM output
 #
-# Start the position estimator
-#
-position_estimator_inav start
- 
-echo "[init] starting PWM output"
 fmu mode_pwm
-mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
-pwm -u 400 -m 0xff
- 
+
 #
-# Start attitude control
+# Load mixer
 #
-multirotor_att_control start
+mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
 
 #
-# Start position control
+# Set PWM output frequency
 #
-multirotor_pos_control start
+pwm -u 400 -m 0xff
 
 #
-# Start logging
+# Start common for all multirotors apps
 #
-sdlog2 start -r 50 -a -b 14
+sh /etc/init.d/rc.multirotor
  
-#
-# Start system state
-#
-if blinkm start
-then
-	blinkm systemstate
-fi
+# Exit, because /dev/ttyS0 is needed for MAVLink
+exit
diff --git a/ROMFS/px4fmu_common/init.d/rc.io b/ROMFS/px4fmu_common/init.d/rc.io
new file mode 100644
index 000000000..85f00e582
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/rc.io
@@ -0,0 +1,23 @@
+#
+# Start PX4IO interface (depends on orb, commander)
+#
+if px4io start
+then
+	#
+	# Allow PX4IO to recover from midair restarts.
+	# this is very unlikely, but quite safe and robust.
+	px4io recovery
+
+	#
+	# Disable px4io topic limiting
+	#
+	if [ $BOARD == fmuv1 ]
+	then
+		px4io limit 200
+	else
+		px4io limit 400
+	fi
+else
+	# SOS
+	tone_alarm 6
+fi
diff --git a/ROMFS/px4fmu_common/init.d/rc.logging b/ROMFS/px4fmu_common/init.d/rc.logging
index 09c2d00d1..dc4be8055 100644
--- a/ROMFS/px4fmu_common/init.d/rc.logging
+++ b/ROMFS/px4fmu_common/init.d/rc.logging
@@ -5,5 +5,10 @@
 
 if [ -d /fs/microsd ]
 then
-	sdlog start
+	if [ $BOARD == fmuv1 ]
+	then
+		sdlog2 start -r 50 -a -b 16
+	else
+		sdlog2 start -r 200 -a -b 16
+	fi
 fi
diff --git a/ROMFS/px4fmu_common/init.d/rc.multirotor b/ROMFS/px4fmu_common/init.d/rc.multirotor
index 81184f363..73f1b3742 100644
--- a/ROMFS/px4fmu_common/init.d/rc.multirotor
+++ b/ROMFS/px4fmu_common/init.d/rc.multirotor
@@ -37,13 +37,3 @@ multirotor_att_control start
 # Start position control
 #
 multirotor_pos_control start
-
-#
-# Start logging
-#
-if [ $BOARD == fmuv1 ]
-then
-	sdlog2 start -r 50 -a -b 16
-else
-	sdlog2 start -r 200 -a -b 16
-fi
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 6b624b278..d92a3ce5e 100755
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -57,162 +57,165 @@ fi
 
 if [ $MODE == autostart ]
 then
-
-#
-# Start terminal
-#
-if sercon
-then
-	echo "USB connected"
-else
-	# second attempt
-	sercon &
-fi
-
-#
-# Start the ORB (first app to start)
-#
-uorb start
-
-#
-# Load microSD params
-#
-if ramtron start
-then
-	param select /ramtron/params
-	if [ -f /ramtron/params ]
+	#
+	# Start terminal
+	#
+	if sercon
 	then
-		param load /ramtron/params
+		echo "USB connected"
+	else
+		# second attempt
+		sercon &
 	fi
-else
-	param select /fs/microsd/params
-	if [ -f /fs/microsd/params ]
+	
+	#
+	# Start the ORB (first app to start)
+	#
+	uorb start
+	
+	#
+	# Load microSD params
+	#
+	if ramtron start
 	then
-		param load /fs/microsd/params
+		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
-
-#
-# Start system state indicator
-#
-if rgbled start
-then
-	echo "Using external RGB Led"
-else
-	if blinkm start
+	
+	#
+	# Start system state indicator
+	#
+	if rgbled start
 	then
-		blinkm systemstate
+		echo "Using external RGB Led"
+	else
+		if blinkm start
+		then
+			blinkm systemstate
+		fi
 	fi
-fi
-
-#
-# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
-#
-if [ -f /fs/microsd/px4io.bin ]
-then
-	echo "PX4IO Firmware found. Checking Upgrade.."
-	if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.cur
+	
+	#
+	# Start logging
+	#
+	sh /etc/init.d/rc.logging
+	
+	#
+	# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
+	#
+	if [ -f /fs/microsd/px4io.bin ]
 	then
-		echo "No newer version, skipping upgrade."
-	else
-		echo "Loading /fs/microsd/px4io.bin"
-		if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io.log
+		echo "PX4IO Firmware found. Checking Upgrade.."
+		if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.cur
 		then
-			cp /fs/microsd/px4io.bin /fs/microsd/px4io.cur
-			echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io.log
+			echo "No newer version, skipping upgrade."
 		else
-			echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io.log
-			echo "Failed to upgrade px4io firmware - check if px4io is in bootloader mode"
+			echo "Loading /fs/microsd/px4io.bin"
+			if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io.log
+			then
+				cp /fs/microsd/px4io.bin /fs/microsd/px4io.cur
+				echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io.log
+			else
+				echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io.log
+				echo "Failed to upgrade px4io firmware - check if px4io is in bootloader mode"
+			fi
 		fi
 	fi
-fi
-
-#
-# Check if auto-setup from one of the standard scripts is wanted
-# SYS_AUTOSTART = 0 means no autostart (default)
-#
-if param compare SYS_AUTOSTART 1
-then
-	sh /etc/init.d/01_fmu_quad_x
-	set MODE custom
-fi
-
-if param compare SYS_AUTOSTART 2
-then
-	sh /etc/init.d/02_io_quad_x
-	set MODE custom
-fi
-
-if param compare SYS_AUTOSTART 8
-then
-	sh /etc/init.d/08_ardrone
-	set MODE custom
-fi
-
-if param compare SYS_AUTOSTART 9
-then
-	sh /etc/init.d/09_ardrone_flow
-	set MODE custom
-fi
-
-if param compare SYS_AUTOSTART 10
-then
-	sh /etc/init.d/10_io_f330
-	set MODE custom
-fi
-
-if param compare SYS_AUTOSTART 15
-then
-	sh /etc/init.d/15_io_tbs
-	set MODE custom
-fi
-
-if param compare SYS_AUTOSTART 30
-then
-	sh /etc/init.d/30_io_camflyer
-	set MODE custom
-fi
-
-if param compare SYS_AUTOSTART 31
-then
-	sh /etc/init.d/31_io_phantom
-	set MODE custom
-fi
-
-# Try to get an USB console
-nshterm /dev/ttyACM0 &
-
-# If none of the autostart scripts triggered, get a minimal setup
-if [ $MODE == autostart ]
-then
-	# Telemetry port is on both FMU boards ttyS1
-	mavlink start -b 57600 -d /dev/ttyS1
-	usleep 5000
-
-	# Start commander
-	commander start
-
-	# Start px4io if present
-	if px4io start
+	
+	#
+	# Check if auto-setup from one of the standard scripts is wanted
+	# SYS_AUTOSTART = 0 means no autostart (default)
+	#
+	if param compare SYS_AUTOSTART 1
 	then
-		echo "PX4IO driver started"
-	else
-		if fmu mode_serial
+		sh /etc/init.d/01_fmu_quad_x
+		set MODE custom
+	fi
+	
+	if param compare SYS_AUTOSTART 2
+	then
+		sh /etc/init.d/02_io_quad_x
+		set MODE custom
+	fi
+	
+	if param compare SYS_AUTOSTART 8
+	then
+		sh /etc/init.d/08_ardrone
+		set MODE custom
+	fi
+	
+	if param compare SYS_AUTOSTART 9
+	then
+		sh /etc/init.d/09_ardrone_flow
+		set MODE custom
+	fi
+	
+	if param compare SYS_AUTOSTART 10
+	then
+		sh /etc/init.d/10_io_f330
+		set MODE custom
+	fi
+	
+	if param compare SYS_AUTOSTART 15
+	then
+		sh /etc/init.d/15_io_tbs
+		set MODE custom
+	fi
+	
+	if param compare SYS_AUTOSTART 30
+	then
+		sh /etc/init.d/30_io_camflyer
+		set MODE custom
+	fi
+	
+	if param compare SYS_AUTOSTART 31
+	then
+		sh /etc/init.d/31_io_phantom
+		set MODE custom
+	fi
+	
+	# Try to get an USB console
+	nshterm /dev/ttyACM0 &
+	
+	# If none of the autostart scripts triggered, get a minimal setup
+	if [ $MODE == autostart ]
+	then
+		# Telemetry port is on both FMU boards ttyS1
+		mavlink start -b 57600 -d /dev/ttyS1
+		usleep 5000
+	
+		# Start commander
+		commander start
+	
+		# Start px4io if present
+		if px4io start
 		then
-			echo "FMU driver started"
+			echo "PX4IO driver started"
+		else
+			if fmu mode_serial
+			then
+				echo "FMU driver started"
+			fi
 		fi
+	
+		# Start sensors
+		sh /etc/init.d/rc.sensors
+	
+		# Start one of the estimators
+		attitude_estimator_ekf start
+	
+		# Start GPS
+		gps start
+	
 	fi
-
-	# Start sensors
-	sh /etc/init.d/rc.sensors
-
-	# Start one of the estimators
-	attitude_estimator_ekf start
-
-	# Start GPS
-	gps start
-
-fi
-
 # End of autostart
 fi