Reworked how start scripts work, relying on io detect now

11 files changed, 35 insertions, 100 deletions

diff --git a/ROMFS/px4fmu_common/init.d/01_fmu_quad_x b/ROMFS/px4fmu_common/init.d/01_fmu_quad_x
index f57e4bd68..b106a974f 100644
--- a/ROMFS/px4fmu_common/init.d/01_fmu_quad_x
+++ b/ROMFS/px4fmu_common/init.d/01_fmu_quad_x
@@ -25,7 +25,7 @@ then
 	param set RC_SCALE_YAW                3
 
 	param set SYS_AUTOCONFIG 0
-	param save /fs/microsd/params
+	param save
 fi
 
 #
diff --git a/ROMFS/px4fmu_common/init.d/08_ardrone b/ROMFS/px4fmu_common/init.d/08_ardrone
index eb9f82f77..f6d82a5ec 100644
--- a/ROMFS/px4fmu_common/init.d/08_ardrone
+++ b/ROMFS/px4fmu_common/init.d/08_ardrone
@@ -11,7 +11,7 @@ then
 	# TODO
 
 	param set SYS_AUTOCONFIG 0
-	param save /fs/microsd/params
+	param save
 fi
 
 #
diff --git a/ROMFS/px4fmu_common/init.d/09_ardrone_flow b/ROMFS/px4fmu_common/init.d/09_ardrone_flow
index 44fbb79b7..794342a0b 100644
--- a/ROMFS/px4fmu_common/init.d/09_ardrone_flow
+++ b/ROMFS/px4fmu_common/init.d/09_ardrone_flow
@@ -11,7 +11,7 @@ then
 	# TODO
 
 	param set SYS_AUTOCONFIG 0
-	param save /fs/microsd/params
+	param save
 fi
 
 #
diff --git a/ROMFS/px4fmu_common/init.d/10_io_f330 b/ROMFS/px4fmu_common/init.d/10_io_f330
index 7b6509bf8..5af4f97b5 100644
--- a/ROMFS/px4fmu_common/init.d/10_io_f330
+++ b/ROMFS/px4fmu_common/init.d/10_io_f330
@@ -1,6 +1,6 @@
 #!nsh
 
-echo "[init] 10_io_f330: PX4FMU+PX4IO on a DJI F330 quad frame"
+echo "[init] PX4FMU v1, v2 with or without IO on DJI F330"
 
 #
 # Load default params for this platform
@@ -24,7 +24,7 @@ then
 	param set MC_YAWRATE_I	         0.2
 	param set MC_YAWRATE_P	         0.3
 
-	param save /fs/microsd/params
+	param save
 fi
  
 #
@@ -32,24 +32,30 @@ fi
 # MAV_TYPE     2 = quadrotor
 #
 param set MAV_TYPE 2
- 
-#
-# Start MAVLink (depends on orb)
-#
-mavlink start
-usleep 5000
 
-#
-# Start and configure PX4IO interface
-#
-sh /etc/init.d/rc.io
+set EXIT_ON_END no
 
 #
-# Set PWM values for DJI ESCs
+# Start and configure PX4IO or FMU interface
 #
-px4io idle 900 900 900 900
-px4io min 1200 1200 1200 1200
-px4io max 1800 1800 1800 1800
+if px4io detect
+then
+	# Start MAVLink (depends on orb)
+	mavlink start
+	usleep 5000
+
+	sh /etc/init.d/rc.io
+	# Set PWM values for DJI ESCs
+	px4io idle 900 900 900 900
+	px4io min 1200 1200 1200 1200
+	px4io max 1800 1800 1800 1800
+else
+	# Start MAVLink (on UART1 / ttyS0)
+	mavlink start -d /dev/ttyS0
+	usleep 5000
+	fmu mode_pwm
+	set EXIT_ON_END yes
+fi
 
 #
 # Load mixer
@@ -65,3 +71,8 @@ pwm -u 400 -m 0xff
 # Start common for all multirotors apps
 #
 sh /etc/init.d/rc.multirotor
+
+if [ $EXIT_ON_END == yes ]
+then
+	exit
+fi
diff --git a/ROMFS/px4fmu_common/init.d/15_io_tbs b/ROMFS/px4fmu_common/init.d/15_io_tbs
index b4f063e52..3fce39403 100644
--- a/ROMFS/px4fmu_common/init.d/15_io_tbs
+++ b/ROMFS/px4fmu_common/init.d/15_io_tbs
@@ -24,7 +24,7 @@ then
 	param set MC_YAWRATE_I	         0.0
 	param set MC_YAWRATE_P	         0.2
 
-	param save /fs/microsd/params
+	param save
 fi
 
 #
diff --git a/ROMFS/px4fmu_common/init.d/30_io_camflyer b/ROMFS/px4fmu_common/init.d/30_io_camflyer
index 6a0bd4da8..390649f89 100644
--- a/ROMFS/px4fmu_common/init.d/30_io_camflyer
+++ b/ROMFS/px4fmu_common/init.d/30_io_camflyer
@@ -11,7 +11,7 @@ then
 	# TODO
 	
 	param set SYS_AUTOCONFIG 0
-	param save /fs/microsd/params
+	param save
 fi
  
 #
diff --git a/ROMFS/px4fmu_common/init.d/31_io_phantom b/ROMFS/px4fmu_common/init.d/31_io_phantom
index 718313862..45563310c 100644
--- a/ROMFS/px4fmu_common/init.d/31_io_phantom
+++ b/ROMFS/px4fmu_common/init.d/31_io_phantom
@@ -11,7 +11,7 @@ then
 	# TODO
 	
 	param set SYS_AUTOCONFIG 0
-	param save /fs/microsd/params
+	param save
 fi
  
 #
diff --git a/ROMFS/px4fmu_common/init.d/40_io_segway b/ROMFS/px4fmu_common/init.d/40_io_segway
index 2890f43be..4b7ed5286 100644
--- a/ROMFS/px4fmu_common/init.d/40_io_segway
+++ b/ROMFS/px4fmu_common/init.d/40_io_segway
@@ -9,7 +9,7 @@ then
 	# TODO
 	
 	param set SYS_AUTOCONFIG 0
-	param save /fs/microsd/params
+	param save
 fi
  
 #
diff --git a/ROMFS/px4fmu_common/init.d/666_fmu_q_x550 b/ROMFS/px4fmu_common/init.d/666_fmu_q_x550
index 2c8218013..938663f0c 100644
--- a/ROMFS/px4fmu_common/init.d/666_fmu_q_x550
+++ b/ROMFS/px4fmu_common/init.d/666_fmu_q_x550
@@ -25,7 +25,7 @@ then
 	param set RC_SCALE_YAW                3
 
 	param set SYS_AUTOCONFIG 0
-	param save /fs/microsd/params
+	param save
 fi
 
 #
diff --git a/ROMFS/px4fmu_common/init.d/rc.boarddetect b/ROMFS/px4fmu_common/init.d/rc.boarddetect
deleted file mode 100644
index f233e51df..000000000
--- a/ROMFS/px4fmu_common/init.d/rc.boarddetect
+++ /dev/null
@@ -1,66 +0,0 @@
-#!nsh
-#
-# If we are still in flight mode, work out what airframe 
-# configuration we have and start up accordingly.
-#
-if [ $MODE != autostart ]
-then
-	echo "[init] automatic startup cancelled by user script"
-else
-	echo "[init] detecting attached hardware..."
-
-	#
-	# Assume that we are PX4FMU in standalone mode
-	#
-	set BOARD PX4FMU
-
-	#
-	# Are we attached to a PX4IOAR (AR.Drone carrier board)?
-	#
-	if boardinfo test name PX4IOAR
-	then
-		set BOARD PX4IOAR
-		if [ -f /etc/init.d/rc.PX4IOAR ]
-		then
-			echo "[init] reading /etc/init.d/rc.PX4IOAR"
-			usleep 500
-			sh /etc/init.d/rc.PX4IOAR
-		fi
-	else
-		echo "[init] PX4IOAR not detected"
-	fi
-
-	#
-	# Are we attached to a PX4IO?
-	#
-	if boardinfo test name PX4IO
-	then
-		set BOARD PX4IO
-		if [ -f /etc/init.d/rc.PX4IO ]
-		then
-			echo "[init] reading /etc/init.d/rc.PX4IO"
-			usleep 500
-			sh /etc/init.d/rc.PX4IO
-		fi
-	else
-		echo "[init] PX4IO not detected"
-	fi
-
-	#
-	# Looks like we are stand-alone
-	#
-	if [ $BOARD == PX4FMU ]
-	then
-		echo "[init] no expansion board detected"
-		if [ -f /etc/init.d/rc.standalone ]
-		then
-			echo "[init] reading /etc/init.d/rc.standalone"
-			sh /etc/init.d/rc.standalone
-		fi
-	fi
-
-	#
-	# We may not reach here if the airframe-specific script exits the shell.
-	#
-	echo "[init] startup done."
-fi
\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/rc.hil b/ROMFS/px4fmu_common/init.d/rc.hil
index a843b7ffb..eccb2b767 100644
--- a/ROMFS/px4fmu_common/init.d/rc.hil
+++ b/ROMFS/px4fmu_common/init.d/rc.hil
@@ -14,16 +14,6 @@ mavlink start -b 230400 -d /dev/ttyS1
 hil mode_pwm
 
 #
-# 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
-
-#
 # Force some key parameters to sane values
 # MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
 #              see https://pixhawk.ethz.ch/mavlink/