Merged multirotor branch

1 files changed, 151 insertions, 75 deletions

diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index f0ee1a0c6..c4abd07d2 100755
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -57,90 +57,166 @@ fi
 
 if [ $MODE == autostart ]
 then
-
-#
-# 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
-
-#
-# 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 system state indicator
+	#
+	if rgbled start
 	then
-		echo "No newer version, skipping upgrade."
+		echo "Using external RGB Led"
 	else
-		echo "Loading /fs/microsd/px4io.bin"
-		if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io.log
+		if blinkm start
 		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"
+			blinkm systemstate
 		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
-fi
-
-if param compare SYS_AUTOSTART 2
-then
-	sh /etc/init.d/02_io_quad_x
-fi
-
-if param compare SYS_AUTOSTART 8
-then
-	sh /etc/init.d/08_ardrone
-fi
-
-if param compare SYS_AUTOSTART 9
-then
-	sh /etc/init.d/09_ardrone_flow
-fi
-
-if param compare SYS_AUTOSTART 10
-then
-	sh /etc/init.d/10_io_f330
-fi
-
-if param compare SYS_AUTOSTART 30
-then
-	sh /etc/init.d/30_io_camflyer
-fi
-
-if param compare SYS_AUTOSTART 31
-then
-	sh /etc/init.d/31_io_phantom
-fi
 
+	# Try to get an USB console
+	nshterm /dev/ttyACM0 &
+	
+	#
+	# 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
+		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
+			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
+	
+	#
+	# 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
+	
+	# Start any custom extensions that might be missing
+	if [ -f /fs/microsd/etc/rc.local ]
+	then
+		sh /fs/microsd/etc/rc.local
+	fi
+	
+	# 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 "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