Merge branch 'master' into export-build

Clean up some script trash and update scripts.

5 files changed, 144 insertions, 30 deletions

diff --git a/ROMFS/px4fmu_common/init.d/rc.PX4IO b/ROMFS/px4fmu_common/init.d/rc.PX4IO
index 1e3963b9a..7ae4a5586 100644
--- a/ROMFS/px4fmu_common/init.d/rc.PX4IO
+++ b/ROMFS/px4fmu_common/init.d/rc.PX4IO
@@ -5,7 +5,7 @@ set USB no
 set MODE camflyer
  
 #
-# Start the ORB
+# Start the ORB (first app to start)
 #
 uorb start
  
@@ -27,38 +27,65 @@ fi
 param set MAV_TYPE 1
  
 #
-# Start the sensors.
+# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
 #
-sh /etc/init.d/rc.sensors
+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
+# Start MAVLink (depends on orb)
 #
 mavlink start -d /dev/ttyS1 -b 57600
 usleep 5000
  
 #
-# Start the commander.
+# Start the commander (depends on orb, mavlink)
 #
 commander start
  
 #
-# Start GPS interface
+# Start PX4IO interface (depends on orb, commander)
 #
-gps start
+px4io start
+ 
+#
+# Allow PX4IO to recover from midair restarts.
+# this is very unlikely, but quite safe and robust.
+px4io recovery
  
 #
-# Start the attitude estimator
+# Start the sensors (depends on orb, px4io)
 #
-kalman_demo start
+sh /etc/init.d/rc.sensors
  
 #
-# Start PX4IO interface
+# Start GPS interface (depends on orb)
 #
-px4io start
+gps start
+ 
+#
+# Start the attitude estimator (depends on orb)
+#
+kalman_demo start
  
 #
-# Load mixer and start controllers
+# Load mixer and start controllers (depends on px4io)
 #
 mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
 control_demo start
@@ -66,8 +93,8 @@ control_demo start
 #
 # Start logging
 #
-sdlog start -s 10
-
+#sdlog start -s 4
+ 
 #
 # Start system state
 #
diff --git a/ROMFS/px4fmu_common/init.d/rc.PX4IOAR b/ROMFS/px4fmu_common/init.d/rc.PX4IOAR
index 72df68e35..ab29e21c7 100644
--- a/ROMFS/px4fmu_common/init.d/rc.PX4IOAR
+++ b/ROMFS/px4fmu_common/init.d/rc.PX4IOAR
@@ -2,10 +2,10 @@
 #
 # Flight startup script for PX4FMU on PX4IOAR carrier board.
 #
- 
+
 # Disable the USB interface
 set USB no
- 
+
 # Disable autostarting other apps
 set MODE ardrone
  
@@ -25,13 +25,18 @@ if [ -f /fs/microsd/parameters ]
 then
 	param load /fs/microsd/parameters
 fi
- 
+
 #
 # Force some key parameters to sane values
 # MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
 #              see https://pixhawk.ethz.ch/mavlink/
 #
 param set MAV_TYPE 2
+
+#
+# Configure PX4FMU for operation with PX4IOAR
+#
+fmu mode_gpio_serial
  
 #
 # Start the sensors.
@@ -55,11 +60,6 @@ commander start
 attitude_estimator_ekf start
  
 #
-# Configure PX4FMU for operation with PX4IOAR
-#
-fmu mode_gpio_serial
- 
-#
 # Fire up the multi rotor attitude controller
 #
 multirotor_att_control start
@@ -68,11 +68,6 @@ multirotor_att_control start
 # Fire up the AR.Drone interface.
 #
 ardrone_interface start -d /dev/ttyS1
- 
-#
-# Start GPS capture
-#
-gps start
 
 #
 # Start logging
@@ -80,6 +75,11 @@ gps start
 sdlog start -s 10
 
 #
+# Start GPS capture
+#
+gps start
+
+#
 # Start system state
 #
 if blinkm start
@@ -95,4 +95,5 @@ fi
 # use the same UART for telemetry
 #
 echo "[init] startup done"
-exit
\ No newline at end of file
+
+exit
diff --git a/ROMFS/px4fmu_common/init.d/rc.hil b/ROMFS/px4fmu_common/init.d/rc.hil
new file mode 100644
index 000000000..980b78edd
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/rc.hil
@@ -0,0 +1,68 @@
+#!nsh
+#
+# USB HIL start
+#
+
+echo "[HIL] starting.."
+
+uorb start
+
+# Tell MAVLink that this link is "fast"
+mavlink start -b 230400 -d /dev/console
+
+# Create a fake HIL /dev/pwm_output interface
+hil mode_pwm
+
+#
+# Load microSD params
+#
+echo "[init] loading microSD params"
+param select /fs/microsd/parameters
+if [ -f /fs/microsd/parameters ]
+then
+	param load /fs/microsd/parameters
+fi
+
+#
+# Force some key parameters to sane values
+# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
+#              see https://pixhawk.ethz.ch/mavlink/
+#
+param set MAV_TYPE 1
+
+#
+# Start the commander (depends on orb, mavlink)
+#
+commander start
+
+#
+# Check if we got an IO
+#
+if [ px4io start ]
+then
+	echo "IO started"
+else
+	fmu mode_serial
+	echo "FMU started"
+end
+
+#
+# Start the sensors (depends on orb, px4io)
+#
+sh /etc/init.d/rc.sensors
+
+#
+# Start the attitude estimator (depends on orb)
+#
+kalman_demo start
+ 
+#
+# Load mixer and start controllers (depends on px4io)
+#
+mixer load /dev/pwm_output /etc/mixers/FMU_AET.mix
+control_demo start
+
+echo "[HIL] setup done, running"
+
+# Exit shell to make it available to MAVLink
+exit 
diff --git a/ROMFS/px4fmu_common/init.d/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb
new file mode 100644
index 000000000..31af3991a
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/rc.usb
@@ -0,0 +1,14 @@
+#!nsh
+#
+# USB MAVLink start
+#
+
+echo "Starting MAVLink on this USB console"
+
+# Tell MAVLink that this link is "fast"
+mavlink start -b 230400 -d /dev/console
+
+echo "MAVLink started, exiting shell.."
+
+# Exit shell to make it available to MAVLink
+exit 
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 89a767879..c0a70f7dd 100755
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -21,9 +21,9 @@ set MODE autostart
 set USB autoconnect
 
 #
-# Start playing the startup tune
+
 #
-tone_alarm start
+
 
 #
 # Try to mount the microSD card.
@@ -32,8 +32,12 @@ echo "[init] looking for microSD..."
 if mount -t vfat /dev/mmcsd0 /fs/microsd
 then
 	echo "[init] card mounted at /fs/microsd"
+	# Start playing the startup tune
+	tone_alarm start
 else
 	echo "[init] no microSD card found"
+	# Play SOS
+	tone_alarm 2
 fi
 
 #