Moved to USART1 for the main console, starting a 2nd NSH instance on USB if needed, reworked start scripts to not fall over

7 files changed, 97 insertions, 65 deletions

diff --git a/ROMFS/px4fmu_common/init.d/01_fmu_quad_x b/ROMFS/px4fmu_common/init.d/01_fmu_quad_x
index 58a970eba..c1f3187f9 100644
--- a/ROMFS/px4fmu_common/init.d/01_fmu_quad_x
+++ b/ROMFS/px4fmu_common/init.d/01_fmu_quad_x
@@ -97,11 +97,9 @@ multirotor_att_control start
 # Start logging
 #
 sdlog2 start -r 50 -a -b 14
- 
-#
-# Start system state
-#
-if blinkm start
-then
-	blinkm systemstate
-fi
+
+# 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/02_io_quad_x b/ROMFS/px4fmu_common/init.d/02_io_quad_x
index c63e92f6d..49483d14f 100644
--- a/ROMFS/px4fmu_common/init.d/02_io_quad_x
+++ b/ROMFS/px4fmu_common/init.d/02_io_quad_x
@@ -88,7 +88,7 @@ pwm -u 400 -m 0xff
 multirotor_att_control start
  
 #
-# Start logging
+# Start logging once armed
 #
 sdlog2 start -r 50 -a -b 14
  
diff --git a/ROMFS/px4fmu_common/init.d/08_ardrone b/ROMFS/px4fmu_common/init.d/08_ardrone
index f55ac2ae3..5bb1491e9 100644
--- a/ROMFS/px4fmu_common/init.d/08_ardrone
+++ b/ROMFS/px4fmu_common/init.d/08_ardrone
@@ -2,12 +2,6 @@
 #
 # Flight startup script for PX4FMU on PX4IOAR carrier board.
 #
-
-# Disable the USB interface
-set USB no
-
-# Disable autostarting other apps
-set MODE ardrone
  
 echo "[init] doing PX4IOAR startup..."
  
@@ -70,25 +64,14 @@ multirotor_att_control start
 ardrone_interface start -d /dev/ttyS1
 
 #
-# Start logging
+# Start logging once armed
 #
-sdlog start -s 10
+sdlog2 start -r 50 -a -b 14
 
 #
 # Start GPS capture
 #
 gps start
-
-#
-# Start system state
-#
-if blinkm start
-then
-	echo "using BlinkM for state indication"
-	blinkm systemstate
-else
-	echo "no BlinkM found, OK."
-fi
  
 #
 # startup is done; we don't want the shell because we
@@ -96,4 +79,8 @@ fi
 #
 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/09_ardrone_flow b/ROMFS/px4fmu_common/init.d/09_ardrone_flow
index e7173f6e6..a223ef7aa 100644
--- a/ROMFS/px4fmu_common/init.d/09_ardrone_flow
+++ b/ROMFS/px4fmu_common/init.d/09_ardrone_flow
@@ -2,12 +2,6 @@
 #
 # Flight startup script for PX4FMU on PX4IOAR carrier board.
 #
-
-# Disable the USB interface
-set USB no
-
-# Disable autostarting other apps
-set MODE ardrone
  
 echo "[init] doing PX4IOAR startup..."
  
@@ -84,6 +78,11 @@ 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
@@ -91,4 +90,8 @@ ardrone_interface start -d /dev/ttyS1
 #
 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 0e6d3f5d5..b2fc0c96f 100644
--- a/ROMFS/px4fmu_common/init.d/10_io_f330
+++ b/ROMFS/px4fmu_common/init.d/10_io_f330
@@ -2,10 +2,6 @@
 #
 # Flight startup script for PX4FMU+PX4IO on an F330 quad.
 #
- 
-# disable USB and autostart
-set USB no
-set MODE custom
 
 #
 # Start the ORB (first app to start)
@@ -60,33 +56,36 @@ commander start
 #
 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
-else
-	# SOS
-	tone_alarm 6
-fi
- 
-#
-# Allow PX4IO to recover from midair restarts.
-# this is very unlikely, but quite safe and robust.
-px4io recovery
 
-#
-# This sets a PWM right after startup (regardless of safety button)
-#
-px4io idle 900 900 900 900
+	#
+	# 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
 
-mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
+	#
+	# 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
+
+	mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
+
+else
+	# SOS
+	tone_alarm 6
+fi
  
 #
 # Start the sensors (depends on orb, px4io)
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 650224cf1..8674c3c04 100755
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -61,7 +61,13 @@ then
 #
 # Start terminal
 #
-sercon
+if sercon
+then
+	echo "USB connected"
+else
+	# second attempt
+	sercon &
+fi
 
 #
 # Start the ORB (first app to start)
@@ -128,45 +134,84 @@ fi
 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
+
+	# Start commander
+	commander start
+
+	# Start px4io if present
+	if px4io start
+	then
+		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
+
 # End of autostart
 fi
diff --git a/nuttx-configs/px4fmu-v1/nsh/defconfig b/nuttx-configs/px4fmu-v1/nsh/defconfig
index a7a6725c6..412a29fbe 100644
--- a/nuttx-configs/px4fmu-v1/nsh/defconfig
+++ b/nuttx-configs/px4fmu-v1/nsh/defconfig
@@ -368,7 +368,7 @@ CONFIG_TASK_NAME_SIZE=24
 CONFIG_START_YEAR=1970
 CONFIG_START_MONTH=1
 CONFIG_START_DAY=1
-# CONFIG_DEV_CONSOLE is not set
+CONFIG_DEV_CONSOLE=y
 # CONFIG_MUTEX_TYPES is not set
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_SEM_PREALLOCHOLDERS=0
@@ -476,11 +476,11 @@ CONFIG_ARCH_HAVE_USART6=y
 CONFIG_MCU_SERIAL=y
 CONFIG_STANDARD_SERIAL=y
 CONFIG_SERIAL_NPOLLWAITERS=2
-# CONFIG_USART1_SERIAL_CONSOLE is not set
+CONFIG_USART1_SERIAL_CONSOLE=y
 # CONFIG_USART2_SERIAL_CONSOLE is not set
 # CONFIG_UART5_SERIAL_CONSOLE is not set
 # CONFIG_USART6_SERIAL_CONSOLE is not set
-CONFIG_NO_SERIAL_CONSOLE=y
+# CONFIG_NO_SERIAL_CONSOLE is not set
 
 #
 # USART1 Configuration
@@ -550,7 +550,7 @@ CONFIG_USBDEV_MAXPOWER=500
 # CONFIG_USBDEV_COMPOSITE is not set
 # CONFIG_PL2303 is not set
 CONFIG_CDCACM=y
-CONFIG_CDCACM_CONSOLE=y
+CONFIG_CDCACM_CONSOLE=n
 CONFIG_CDCACM_EP0MAXPACKET=64
 CONFIG_CDCACM_EPINTIN=1
 CONFIG_CDCACM_EPINTIN_FSSIZE=64