Merge branch 'master' into export-build

5 files changed, 886 insertions, 224 deletions

diff --git a/ROMFS/px4fmu_default/logging/logconv.m b/ROMFS/px4fmu_default/logging/logconv.m
index 92ee01413..3750ddae2 100755..100644
--- a/ROMFS/px4fmu_default/logging/logconv.m
+++ b/ROMFS/px4fmu_default/logging/logconv.m
@@ -1,224 +1,586 @@
-% This Matlab Script can be used to import the binary logged values of the
-% PX4FMU into data that can be plotted and analyzed.
-
-% Clear everything
-clc
-clear all
-close all
-
-% Set the path to your sysvector.bin file here
-filePath = 'sysvector.bin';
-
-% Work around a Matlab bug (not related to PX4)
-% where timestamps from 1.1.1970 do not allow to
-% read the file's size
-if ismac
-    system('touch -t 201212121212.12 sysvector.bin');
-end
-
-%%%%%%%%%%%%%%%%%%%%%%%
-% SYSTEM VECTOR
-%
-% //All measurements in NED frame
-%
-% uint64_t timestamp; //[us]
-% float gyro[3]; //[rad/s]
-% float accel[3]; //[m/s^2]
-% float mag[3]; //[gauss] 
-% float baro; //pressure [millibar]
-% float baro_alt; //altitude above MSL [meter]
-% float baro_temp; //[degree celcius]
-% float control[4]; //roll, pitch, yaw [-1..1], thrust [0..1]
-% float actuators[8]; //motor 1-8, in motor units (PWM: 1000-2000,AR.Drone: 0-512)
-% float vbat; //battery voltage in [volt]
-% float bat_current - current drawn from battery at this time instant
-% float bat_discharged - discharged energy in mAh
-% float adc[4]; //ADC ports [volt]
-% float local_position[3]; //tangent plane mapping into x,y,z [m]
-% int32_t gps_raw_position[3]; //latitude [degrees] north, longitude [degrees] east, altitude above MSL [millimeter]
-% float attitude[3]; //pitch, roll, yaw [rad]
-% float rotMatrix[9]; //unitvectors
-% float actuator_control[4]; //unitvector
-% float optical_flow[4]; //roll, pitch, yaw [-1..1], thrust [0..1]
-% float diff_pressure; - pressure difference in millibar
-% float ind_airspeed;
-% float true_airspeed;
-
-% Definition of the logged values
-logFormat{1} = struct('name', 'timestamp',             'bytes', 8, 'array', 1, 'precision', 'uint64',  'machineformat', 'ieee-le.l64');
-logFormat{2} = struct('name', 'gyro',                  'bytes', 4, 'array', 3, 'precision', 'float',   'machineformat', 'ieee-le');
-logFormat{3} = struct('name', 'accel',                 'bytes', 4, 'array', 3, 'precision', 'float',   'machineformat', 'ieee-le');
-logFormat{4} = struct('name', 'mag',                   'bytes', 4, 'array', 3, 'precision', 'float',   'machineformat', 'ieee-le');
-logFormat{5} = struct('name', 'baro',                  'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');
-logFormat{6} = struct('name', 'baro_alt',              'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');
-logFormat{7} = struct('name', 'baro_temp',             'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');
-logFormat{8} = struct('name', 'control',               'bytes', 4, 'array', 4, 'precision', 'float',   'machineformat', 'ieee-le');
-logFormat{9} = struct('name', 'actuators',             'bytes', 4, 'array', 8, 'precision', 'float',   'machineformat', 'ieee-le');
-logFormat{10} = struct('name', 'vbat',                 'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');
-logFormat{11} = struct('name', 'bat_current',          'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');
-logFormat{12} = struct('name', 'bat_discharged',       'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');
-logFormat{13} = struct('name', 'adc',                  'bytes', 4, 'array', 4, 'precision', 'float',   'machineformat', 'ieee-le');
-logFormat{14} = struct('name', 'local_position',       'bytes', 4, 'array', 3, 'precision', 'float',   'machineformat', 'ieee-le');
-logFormat{15} = struct('name', 'gps_raw_position',     'bytes', 4, 'array', 3, 'precision', 'uint32',  'machineformat', 'ieee-le');
-logFormat{16} = struct('name', 'attitude',             'bytes', 4, 'array', 3, 'precision', 'float',   'machineformat', 'ieee-le');
-logFormat{17} = struct('name', 'rot_matrix',           'bytes', 4, 'array', 9, 'precision', 'float',   'machineformat', 'ieee-le');
-logFormat{18} = struct('name', 'vicon_position',       'bytes', 4, 'array', 6, 'precision', 'float',   'machineformat', 'ieee-le');
-logFormat{19} = struct('name', 'actuator_control',     'bytes', 4, 'array', 4, 'precision', 'float',   'machineformat', 'ieee-le');
-logFormat{20} = struct('name', 'optical_flow',         'bytes', 4, 'array', 6, 'precision', 'float',   'machineformat', 'ieee-le');
-logFormat{21} = struct('name', 'diff_pressure',        'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');
-logFormat{22} = struct('name', 'ind_airspeed',         'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');
-logFormat{23} = struct('name', 'true_airspeed',        'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');
-
-% First get length of one line
-columns = length(logFormat);
-lineLength = 0;
-
-for i=1:columns
-    lineLength = lineLength + logFormat{i}.bytes * logFormat{i}.array;
-end
-
-
-if exist(filePath, 'file')
-    
-    fileInfo = dir(filePath);
-    fileSize = fileInfo.bytes;
-    
-    elements = int64(fileSize./(lineLength));
-    
-    fid = fopen(filePath, 'r');
-    offset = 0;
-    for i=1:columns
-        % using fread with a skip speeds up the import drastically, do not
-        % import the values one after the other
-        sysvector.(genvarname(logFormat{i}.name)) = transpose(fread(...
-            fid, ...
-            [logFormat{i}.array, elements], [num2str(logFormat{i}.array),'*',logFormat{i}.precision,'=>',logFormat{i}.precision], ...
-            lineLength - logFormat{i}.bytes*logFormat{i}.array, ...
-            logFormat{i}.machineformat) ...
-        );
-        offset = offset + logFormat{i}.bytes*logFormat{i}.array;
-        fseek(fid, offset,'bof');
-    end
-    
-    % shot the flight time
-    time_us = sysvector.timestamp(end) - sysvector.timestamp(1);
-    time_s = time_us*1e-6;
-    time_m = time_s/60;
-    
-    % close the logfile
-    fclose(fid);
-    
-    disp(['end log2matlab conversion' char(10)]);
-else
-    disp(['file: ' filePath ' does not exist' char(10)]);
-end
-
-%% Plot GPS RAW measurements
-
-% Only plot GPS data if available
-if cumsum(double(sysvector.gps_raw_position(200:end,1))) > 0
-    figure('units','normalized','outerposition',[0 0 1 1])
-    plot3(sysvector.gps_raw_position(200:end,1), sysvector.gps_raw_position(200:end,2), sysvector.gps_raw_position(200:end,3));
-end
-
-
-%% Plot optical flow trajectory
-
-flow_sz = size(sysvector.timestamp);
-flow_elements = flow_sz(1);
-
-xt(1:flow_elements,1) = sysvector.timestamp(:,1); % time column [ms]
-
-
-%calc dt
-dt = zeros(flow_elements,1);
-for i = 1:flow_elements-1
-    dt(i+1,1) = double(xt(i+1,1)-xt(i,1)) * 10^(-6);   % timestep [s]
-end
-dt(1,1) = mean(dt);
-
-
-global_speed = zeros(flow_elements,3);
-
-%calc global speed (with rot matrix)
-for i = 1:flow_elements
-    rotM = [sysvector.rot_matrix(i,1:3);sysvector.rot_matrix(i,4:6);sysvector.rot_matrix(i,7:9)]';
-    speedX = sysvector.optical_flow(i,3);
-    speedY = sysvector.optical_flow(i,4);
-    
-    relSpeed = [-speedY,speedX,0];
-    global_speed(i,:) = relSpeed * rotM;
-end
-
-
-
-px = zeros(flow_elements,1);
-py = zeros(flow_elements,1);
-distance = 0;
-
-last_vx = 0;
-last_vy = 0;
-elem_cnt = 0;
-
-% Very basic accumulation, stops on bad flow quality
-for i = 1:flow_elements
-    if sysvector.optical_flow(i,6) > 5
-        px(i,1) = global_speed(i,1)*dt(i,1);
-        py(i,1) = global_speed(i,2)*dt(i,1);
-        distance = distance + norm([px(i,1) py(i,1)]);
-        last_vx = px(i,1);
-        last_vy = py(i,1);
-    else
-        px(i,1) = last_vx;
-        py(i,1) = last_vy;
-        last_vx = last_vx*0.95;
-        last_vy = last_vy*0.95;
-    end
-end
-
-px_sum = cumsum(px);
-py_sum = cumsum(py);
-time = cumsum(dt);
-
-figure()
-set(gca, 'Units','normal');
-
-plot(py_sum, px_sum, '-blue', 'LineWidth',2);
-axis equal;
-% set title and axis captions
-xlabel('X position (meters)','fontsize',14)
-ylabel('Y position (meters)','fontsize',14)
-% mark begin and end
-hold on
-plot(py_sum(1,1),px_sum(1,1),'ks','LineWidth',2,...
-'MarkerEdgeColor','k',...
-'MarkerFaceColor','g',...
-'MarkerSize',10)
-hold on
-plot(py_sum(end,1),px_sum(end,1),'kv','LineWidth',2,...
-'MarkerEdgeColor','k',...
-'MarkerFaceColor','b',...
-'MarkerSize',10)
-% add total length as annotation
-set(gca,'fontsize',13);
-legend('Trajectory', 'START', sprintf('END\n(%.2f m, %.0f:%.0f s)', distance, time_m, time_s - time_m*60));
-title('Optical Flow Position Integration', 'fontsize', 15);
-
-figure()
-plot(time, sysvector.optical_flow(:,5), 'blue');
-axis([time(1,1) time(end,1) 0 (max(sysvector.optical_flow(i,5))+0.2)]);
-xlabel('seconds','fontsize',14);
-ylabel('m','fontsize',14);
-set(gca,'fontsize',13);
-title('Ultrasound Altitude', 'fontsize', 15);
-
-
-figure()
-plot(time, global_speed(:,2), 'red');
-hold on;
-plot(time, global_speed(:,1), 'blue');
-legend('y velocity (m/s)', 'x velocity (m/s)');
-xlabel('seconds','fontsize',14);
-ylabel('m/s','fontsize',14);
-set(gca,'fontsize',13);
-title('Optical Flow Velocity', 'fontsize', 15);
+% This Matlab Script can be used to import the binary logged values of the

+% PX4FMU into data that can be plotted and analyzed.

+

+%% ************************************************************************

+% PX4LOG_PLOTSCRIPT: Main function

+% ************************************************************************

+function PX4Log_Plotscript

+

+% Clear everything

+clc

+clear all

+close all

+

+% ************************************************************************

+% SETTINGS

+% ************************************************************************

+

+% Set the path to your sysvector.bin file here

+filePath = 'sysvector.bin';

+

+% Set the minimum and maximum times to plot here [in seconds]

+mintime=0;        %The minimum time/timestamp to display, as set by the user [0 for first element / start]

+maxtime=0;        %The maximum time/timestamp to display, as set by the user [0 for last element / end]

+

+%Determine which data to plot. Not completely implemented yet.

+bDisplayGPS=true;

+

+%conversion factors

+fconv_gpsalt=1E-3; %[mm] to [m]

+fconv_gpslatlong=1E-7; %[gps_raw_position_unit] to [deg]

+fconv_timestamp=1E-6; % [microseconds] to [seconds]

+

+% ************************************************************************

+% Import the PX4 logs

+% ************************************************************************

+ImportPX4LogData();

+

+%Translate min and max plot times to indices

+time=double(sysvector.timestamp) .*fconv_timestamp;

+mintime_log=time(1);        %The minimum time/timestamp found in the log

+maxtime_log=time(end);      %The maximum time/timestamp found in the log

+CurTime=mintime_log;        %The current time at which to draw the aircraft position

+

+[imintime,imaxtime]=FindMinMaxTimeIndices();

+

+% ************************************************************************

+% PLOT & GUI SETUP

+% ************************************************************************

+NrFigures=5;

+NrAxes=10;

+h.figures(1:NrFigures)=0.0;  % Temporary initialization of figure handle array - these are numbered consecutively

+h.axes(1:NrAxes)=0.0;        % Temporary initialization of axes handle array - these are numbered consecutively

+h.pathpoints=[];             % Temporary initiliazation of path points

+

+% Setup the GUI to control the plots

+InitControlGUI();

+% Setup the plotting-GUI (figures, axes) itself.

+InitPlotGUI();

+

+% ************************************************************************

+% DRAW EVERYTHING

+% ************************************************************************

+DrawRawData();

+DrawCurrentAircraftState();

+

+%% ************************************************************************

+%  *** END OF MAIN SCRIPT ***

+%  NESTED FUNCTION DEFINTIONS FROM HERE ON

+%  ************************************************************************

+

+

+%% ************************************************************************

+%  IMPORTPX4LOGDATA (nested function)

+%  ************************************************************************

+%  Attention:  This is the import routine for firmware from ca. 03/2013.

+%              Other firmware versions might require different import 

+%              routines.

+

+function ImportPX4LogData()

+    % Work around a Matlab bug (not related to PX4)

+    % where timestamps from 1.1.1970 do not allow to

+    % read the file's size

+    if ismac

+        system('touch -t 201212121212.12 sysvector.bin');

+    end

+

+    % ************************************************************************

+    % RETRIEVE SYSTEM VECTOR

+    % *************************************************************************

+    % //All measurements in NED frame

+    %

+    % uint64_t timestamp; //[us]

+    % float gyro[3]; //[rad/s]

+    % float accel[3]; //[m/s^2]

+    % float mag[3]; //[gauss] 

+    % float baro; //pressure [millibar]

+    % float baro_alt; //altitude above MSL [meter]

+    % float baro_temp; //[degree celcius]

+    % float control[4]; //roll, pitch, yaw [-1..1], thrust [0..1]

+    % float actuators[8]; //motor 1-8, in motor units (PWM: 1000-2000,AR.Drone: 0-512)

+    % float vbat; //battery voltage in [volt]

+    % float bat_current - current drawn from battery at this time instant

+    % float bat_discharged - discharged energy in mAh

+    % float adc[4]; //remaining auxiliary ADC ports [volt]

+    % float local_position[3]; //tangent plane mapping into x,y,z [m]

+    % int32_t gps_raw_position[3]; //latitude [degrees] north, longitude [degrees] east, altitude above MSL [millimeter]

+    % float attitude[3]; //pitch, roll, yaw [rad]

+    % float rotMatrix[9]; //unitvectors

+    % float actuator_control[4]; //unitvector

+    % float optical_flow[4]; //roll, pitch, yaw [-1..1], thrust [0..1]

+    % float diff_pressure; - pressure difference in millibar

+    % float ind_airspeed;

+    % float true_airspeed;

+

+    % Definition of the logged values

+    logFormat{1} = struct('name', 'timestamp',             'bytes', 8, 'array', 1, 'precision', 'uint64',  'machineformat', 'ieee-le.l64');

+    logFormat{2} = struct('name', 'gyro',                  'bytes', 4, 'array', 3, 'precision', 'float',   'machineformat', 'ieee-le');

+    logFormat{3} = struct('name', 'accel',                 'bytes', 4, 'array', 3, 'precision', 'float',   'machineformat', 'ieee-le');

+    logFormat{4} = struct('name', 'mag',                   'bytes', 4, 'array', 3, 'precision', 'float',   'machineformat', 'ieee-le');

+    logFormat{5} = struct('name', 'baro',                  'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');

+    logFormat{6} = struct('name', 'baro_alt',              'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');

+    logFormat{7} = struct('name', 'baro_temp',             'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');

+    logFormat{8} = struct('name', 'control',               'bytes', 4, 'array', 4, 'precision', 'float',   'machineformat', 'ieee-le');

+    logFormat{9} = struct('name', 'actuators',             'bytes', 4, 'array', 8, 'precision', 'float',   'machineformat', 'ieee-le');

+    logFormat{10} = struct('name', 'vbat',                 'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');

+    logFormat{11} = struct('name', 'bat_current',          'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');

+    logFormat{12} = struct('name', 'bat_discharged',       'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');

+    logFormat{13} = struct('name', 'adc',                  'bytes', 4, 'array', 4, 'precision', 'float',   'machineformat', 'ieee-le');

+    logFormat{14} = struct('name', 'local_position',       'bytes', 4, 'array', 3, 'precision', 'float',   'machineformat', 'ieee-le');

+    logFormat{15} = struct('name', 'gps_raw_position',     'bytes', 4, 'array', 3, 'precision', 'uint32',  'machineformat', 'ieee-le');

+    logFormat{16} = struct('name', 'attitude',             'bytes', 4, 'array', 3, 'precision', 'float',   'machineformat', 'ieee-le');

+    logFormat{17} = struct('name', 'rot_matrix',           'bytes', 4, 'array', 9, 'precision', 'float',   'machineformat', 'ieee-le');

+    logFormat{18} = struct('name', 'vicon_position',       'bytes', 4, 'array', 6, 'precision', 'float',   'machineformat', 'ieee-le');

+    logFormat{19} = struct('name', 'actuator_control',     'bytes', 4, 'array', 4, 'precision', 'float',   'machineformat', 'ieee-le');

+    logFormat{20} = struct('name', 'optical_flow',         'bytes', 4, 'array', 6, 'precision', 'float',   'machineformat', 'ieee-le');

+    logFormat{21} = struct('name', 'diff_pressure',        'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');

+    logFormat{22} = struct('name', 'ind_airspeed',         'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');

+    logFormat{23} = struct('name', 'true_airspeed',        'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');

+

+    % First get length of one line

+    columns = length(logFormat);

+    lineLength = 0;

+

+    for i=1:columns

+        lineLength = lineLength + logFormat{i}.bytes * logFormat{i}.array;

+    end

+

+

+    if exist(filePath, 'file')

+

+        fileInfo = dir(filePath);

+        fileSize = fileInfo.bytes;

+

+        elements = int64(fileSize./(lineLength));

+

+        fid = fopen(filePath, 'r');

+        offset = 0;

+        for i=1:columns

+            % using fread with a skip speeds up the import drastically, do not

+            % import the values one after the other

+            sysvector.(genvarname(logFormat{i}.name)) = transpose(fread(...

+                fid, ...

+                [logFormat{i}.array, elements], [num2str(logFormat{i}.array),'*',logFormat{i}.precision,'=>',logFormat{i}.precision], ...

+                lineLength - logFormat{i}.bytes*logFormat{i}.array, ...

+                logFormat{i}.machineformat) ...

+            );

+            offset = offset + logFormat{i}.bytes*logFormat{i}.array;

+            fseek(fid, offset,'bof');

+        end

+

+        % shot the flight time

+        time_us = sysvector.timestamp(end) - sysvector.timestamp(1);

+        time_s = time_us*1e-6;

+        time_m = time_s/60;

+

+        % close the logfile

+        fclose(fid);

+

+        disp(['end log2matlab conversion' char(10)]);

+    else

+        disp(['file: ' filePath ' does not exist' char(10)]);

+    end

+end

+

+%% ************************************************************************

+%  INITCONTROLGUI (nested function)

+%  ************************************************************************

+%Setup central control GUI components to control current time where data is shown

+function InitControlGUI()

+    %**********************************************************************

+    % GUI size definitions

+    %**********************************************************************

+    dxy=5; %margins

+    %Panel: Plotctrl

+    dlabels=120;

+    dsliders=200;

+    dedits=80;

+    hslider=20;

+        

+    hpanel1=40; %panel1

+    hpanel2=220;%panel2

+    hpanel3=3*hslider+4*dxy+3*dxy;%panel3.

+    

+    width=dlabels+dsliders+dedits+4*dxy+2*dxy;  %figure width

+    height=hpanel1+hpanel2+hpanel3+4*dxy;       %figure height

+        

+    %**********************************************************************

+    % Create GUI

+    %**********************************************************************

+    h.figures(1)=figure('Units','pixels','position',[200 200 width height],'Name','Control GUI');

+    h.guistatepanel=uipanel('Title','Current GUI state','Units','pixels','Position',[dxy dxy width-2*dxy hpanel1],'parent',h.figures(1));

+    h.aircraftstatepanel=uipanel('Title','Current aircraft state','Units','pixels','Position',[dxy hpanel1+2*dxy width-2*dxy hpanel2],'parent',h.figures(1));

+    h.plotctrlpanel=uipanel('Title','Plot Control','Units','pixels','Position',[dxy hpanel1+hpanel2+3*dxy width-2*dxy hpanel3],'parent',h.figures(1));

+    

+    %%Control GUI-elements

+    %Slider: Current time

+    h.labels.CurTime=uicontrol(gcf,'style','text','Position',[dxy dxy dlabels hslider],'String','Current time t[s]:','parent',h.plotctrlpanel,'HorizontalAlignment','left');

+    h.sliders.CurTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels dxy dsliders hslider],...

+        'min',mintime,'max',maxtime,'value',mintime,'callback',@curtime_callback,'parent',h.plotctrlpanel);

+    temp=get(h.sliders.CurTime,'Max')-get(h.sliders.CurTime,'Min');

+    set(h.sliders.CurTime,'SliderStep',[1.0/temp 5.0/temp]);

+    h.edits.CurTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders dxy dedits hslider],'String',get(h.sliders.CurTime,'value'),...

+        'BackgroundColor','white','callback',@curtime_callback,'parent',h.plotctrlpanel);

+

+    %Slider: MaxTime

+    h.labels.MaxTime=uicontrol(gcf,'style','text','position',[dxy 2*dxy+hslider dlabels hslider],'String','Max. time t[s] to display:','parent',h.plotctrlpanel,'HorizontalAlignment','left');

+    h.sliders.MaxTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels 2*dxy+hslider dsliders hslider],...

+        'min',mintime_log,'max',maxtime_log,'value',maxtime,'callback',@minmaxtime_callback,'parent',h.plotctrlpanel);

+    h.edits.MaxTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders 2*dxy+hslider dedits hslider],'String',get(h.sliders.MaxTime,'value'),...

+        'BackgroundColor','white','callback',@minmaxtime_callback,'parent',h.plotctrlpanel);

+    

+    %Slider: MinTime

+    h.labels.MinTime=uicontrol(gcf,'style','text','position',[dxy 3*dxy+2*hslider dlabels hslider],'String','Min. time t[s] to dispay :','parent',h.plotctrlpanel,'HorizontalAlignment','left');

+    h.sliders.MinTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels 3*dxy+2*hslider dsliders hslider],...

+        'min',mintime_log,'max',maxtime_log,'value',mintime,'callback',@minmaxtime_callback,'parent',h.plotctrlpanel);

+    h.edits.MinTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders 3*dxy+2*hslider dedits hslider],'String',get(h.sliders.MinTime,'value'),...

+        'BackgroundColor','white','callback',@minmaxtime_callback,'parent',h.plotctrlpanel);

+

+    %%Current data/state GUI-elements (Multiline-edit-box)

+    h.edits.AircraftState=uicontrol(gcf,'style','edit','Units','normalized','position',[.02 .02 0.96 0.96],'Min',1,'Max',10,'String','This shows the current aircraft state',...

+                                    'HorizontalAlignment','left','parent',h.aircraftstatepanel);

+    

+    h.labels.GUIState=uicontrol(gcf,'style','text','Units','pixels','position',[dxy dxy width-4*dxy hslider],'String','Current state of this GUI',...

+                                'HorizontalAlignment','left','parent',h.guistatepanel);

+    

+end

+

+%% ************************************************************************

+%  INITPLOTGUI (nested function)

+%  ************************************************************************

+function InitPlotGUI()

+    

+    % Setup handles to lines and text

+    h.markertext=[];

+    templinehandle=0.0;%line([0 1],[0 5]);   % Just a temporary handle to init array

+    h.markerline(1:NrAxes)=templinehandle;   % the actual handle-array to the lines  - these are numbered consecutively

+    h.markerline(1:NrAxes)=0.0;

+        

+    % Setup all other figures and axes for plotting

+    %  PLOT WINDOW 1: GPS POSITION

+    h.figures(2)=figure('units','normalized','Toolbar','figure', 'Name', 'GPS Position');

+    h.axes(1)=axes();

+    set(h.axes(1),'Parent',h.figures(2));

+

+    %  PLOT WINDOW 2: IMU, baro altitude

+    h.figures(3)=figure('Name', 'IMU / Baro Altitude');

+    h.axes(2)=subplot(4,1,1);

+    h.axes(3)=subplot(4,1,2);

+    h.axes(4)=subplot(4,1,3);

+    h.axes(5)=subplot(4,1,4);

+    set(h.axes(2:5),'Parent',h.figures(3));

+    

+    %  PLOT WINDOW 3: ATTITUDE ESTIMATE, ACTUATORS/CONTROLS, AIRSPEEDS,...

+    h.figures(4)=figure('Name', 'Attitude Estimate / Actuators / Airspeeds');

+    h.axes(6)=subplot(4,1,1);

+    h.axes(7)=subplot(4,1,2);

+    h.axes(8)=subplot(4,1,3);

+    h.axes(9)=subplot(4,1,4);

+    set(h.axes(6:9),'Parent',h.figures(4));

+    

+    %  PLOT WINDOW 4: LOG STATS

+    h.figures(5) = figure('Name', 'Log Statistics');

+    h.axes(10)=subplot(1,1,1);

+    set(h.axes(10:10),'Parent',h.figures(5));

+    

+end

+

+%% ************************************************************************

+%  DRAWRAWDATA (nested function)

+%  ************************************************************************

+%Draws the raw data from the sysvector, but does not add any

+%marker-lines or so

+function DrawRawData() 

+    % ************************************************************************

+    %  PLOT WINDOW 1: GPS POSITION & GUI

+    %  ************************************************************************

+    figure(h.figures(2));

+    % Only plot GPS data if available

+    if (sum(double(sysvector.gps_raw_position(imintime:imaxtime,1)))>0) && (bDisplayGPS)

+        %Draw data

+        plot3(h.axes(1),double(sysvector.gps_raw_position(imintime:imaxtime,1))*fconv_gpslatlong, ...

+                        double(sysvector.gps_raw_position(imintime:imaxtime,2))*fconv_gpslatlong, ...

+                        double(sysvector.gps_raw_position(imintime:imaxtime,3))*fconv_gpsalt,'r.');

+        title(h.axes(1),'GPS Position Data(if available)');

+        xlabel(h.axes(1),'Latitude [deg]');

+        ylabel(h.axes(1),'Longitude [deg]');

+        zlabel(h.axes(1),'Altitude above MSL [m]');

+        grid on

+        

+        %Reset path

+        h.pathpoints=0;

+    end

+

+    % ************************************************************************

+    %  PLOT WINDOW 2: IMU, baro altitude

+    %  ************************************************************************

+    figure(h.figures(3));

+    plot(h.axes(2),time(imintime:imaxtime),sysvector.mag(imintime:imaxtime,:));

+    title(h.axes(2),'Magnetometers [Gauss]');

+    legend(h.axes(2),'x','y','z');

+    plot(h.axes(3),time(imintime:imaxtime),sysvector.accel(imintime:imaxtime,:));

+    title(h.axes(3),'Accelerometers [m/s²]');

+    legend(h.axes(3),'x','y','z');

+    plot(h.axes(4),time(imintime:imaxtime),sysvector.gyro(imintime:imaxtime,:));

+    title(h.axes(4),'Gyroscopes [rad/s]');

+    legend(h.axes(4),'x','y','z');

+    plot(h.axes(5),time(imintime:imaxtime),sysvector.baro_alt(imintime:imaxtime),'color','blue');

+    if(bDisplayGPS)

+        hold on;

+        plot(h.axes(5),time(imintime:imaxtime),double(sysvector.gps_raw_position(imintime:imaxtime,3)).*fconv_gpsalt,'color','red');

+        hold off

+        legend('Barometric Altitude [m]','GPS Altitude [m]');

+    else

+        legend('Barometric Altitude [m]');

+    end

+    title(h.axes(5),'Altitude above MSL [m]');

+

+    % ************************************************************************

+    %  PLOT WINDOW 3: ATTITUDE ESTIMATE, ACTUATORS/CONTROLS, AIRSPEEDS,...

+    % ************************************************************************

+    figure(h.figures(4));

+    %Attitude Estimate

+    plot(h.axes(6),time(imintime:imaxtime), sysvector.attitude(imintime:imaxtime,:).*180./3.14159);

+    title(h.axes(6),'Estimated attitude [deg]');

+    legend(h.axes(6),'roll','pitch','yaw');

+    %Actuator Controls

+    plot(h.axes(7),time(imintime:imaxtime), sysvector.actuator_control(imintime:imaxtime,:));

+    title(h.axes(7),'Actuator control [-]');

+    legend(h.axes(7),'0','1','2','3');

+    %Actuator Controls

+    plot(h.axes(8),time(imintime:imaxtime), sysvector.actuators(imintime:imaxtime,1:8));

+    title(h.axes(8),'Actuator PWM (raw-)outputs [µs]');

+    legend(h.axes(8),'CH1','CH2','CH3','CH4','CH5','CH6','CH7','CH8');

+    set(h.axes(8), 'YLim',[800 2200]);

+    %Airspeeds

+    plot(h.axes(9),time(imintime:imaxtime), sysvector.ind_airspeed(imintime:imaxtime));

+    hold on

+    plot(h.axes(9),time(imintime:imaxtime), sysvector.true_airspeed(imintime:imaxtime));

+    hold off

+    %add GPS total airspeed here

+    title(h.axes(9),'Airspeed [m/s]');

+    legend(h.axes(9),'Indicated Airspeed (IAS)','True Airspeed (TAS)','GPS Airspeed');

+    %calculate time differences and plot them

+    intervals = zeros(0,imaxtime - imintime);

+    for k = imintime+1:imaxtime

+        intervals(k) = time(k) - time(k-1);

+    end

+    plot(h.axes(10), time(imintime:imaxtime), intervals);

+

+    %Set same timescale for all plots

+    for i=2:NrAxes

+        set(h.axes(i),'XLim',[mintime maxtime]);

+    end

+    

+    set(h.labels.GUIState,'String','OK','BackgroundColor',[240/255 240/255 240/255]);

+end

+

+%% ************************************************************************

+%  DRAWCURRENTAIRCRAFTSTATE(nested function)

+%  ************************************************************************

+function DrawCurrentAircraftState()

+    %find current data index        

+    i=find(time>=CurTime,1,'first');

+

+    %**********************************************************************

+    % Current aircraft state label update

+    %**********************************************************************

+    acstate{1,:}=[sprintf('%s \t\t','GPS Pos:'),'[lat=',num2str(double(sysvector.gps_raw_position(i,1))*fconv_gpslatlong),'°, ',...

+                        'lon=',num2str(double(sysvector.gps_raw_position(i,2))*fconv_gpslatlong),'°, ',...

+                        'alt=',num2str(double(sysvector.gps_raw_position(i,3))*fconv_gpsalt),'m]'];

+    acstate{2,:}=[sprintf('%s \t\t','Mags[gauss]'),'[x=',num2str(sysvector.mag(i,1)),...

+                               ', y=',num2str(sysvector.mag(i,2)),...

+                               ', z=',num2str(sysvector.mag(i,3)),']'];

+    acstate{3,:}=[sprintf('%s \t\t','Accels[m/s²]'),'[x=',num2str(sysvector.accel(i,1)),...

+                               ', y=',num2str(sysvector.accel(i,2)),...

+                               ', z=',num2str(sysvector.accel(i,3)),']'];

+    acstate{4,:}=[sprintf('%s \t\t','Gyros[rad/s]'),'[x=',num2str(sysvector.gyro(i,1)),...

+                               ', y=',num2str(sysvector.gyro(i,2)),...

+                               ', z=',num2str(sysvector.gyro(i,3)),']'];

+    acstate{5,:}=[sprintf('%s \t\t','Altitude[m]'),'[Barometric: ',num2str(sysvector.baro_alt(i)),'m, GPS: ',num2str(double(sysvector.gps_raw_position(i,3))*fconv_gpsalt),'m]'];

+    acstate{6,:}=[sprintf('%s \t','Est. attitude[deg]:'),'[Roll=',num2str(sysvector.attitude(i,1).*180./3.14159),...

+                               ', Pitch=',num2str(sysvector.attitude(i,2).*180./3.14159),...

+                               ', Yaw=',num2str(sysvector.attitude(i,3).*180./3.14159),']'];

+    acstate{7,:}=sprintf('%s \t[','Actuator Ctrls [-]:');

+    for j=1:4

+        acstate{7,:}=[acstate{7,:},num2str(sysvector.actuator_control(i,j)),','];

+    end

+    acstate{7,:}=[acstate{7,:},']'];

+    acstate{8,:}=sprintf('%s \t[','Actuator Outputs [PWM/µs]:');

+    for j=1:8

+        acstate{8,:}=[acstate{8,:},num2str(sysvector.actuators(i,j)),','];

+    end

+    acstate{8,:}=[acstate{8,:},']'];

+    acstate{9,:}=[sprintf('%s \t','Airspeed[m/s]:'),'[IAS: ',num2str(sysvector.ind_airspeed(i)),', TAS: ',num2str(sysvector.true_airspeed(i)),']'];

+    

+    set(h.edits.AircraftState,'String',acstate);

+    

+    %**********************************************************************

+    % GPS Plot Update

+    %**********************************************************************

+    %Plot traveled path, and  and time.

+    figure(h.figures(2));

+    hold on;

+    if(CurTime>mintime+1) %the +1 is only a small bugfix

+        h.pathline=plot3(h.axes(1),double(sysvector.gps_raw_position(imintime:i,1))*fconv_gpslatlong, ...

+                                    double(sysvector.gps_raw_position(imintime:i,2))*fconv_gpslatlong, ...

+                                    double(sysvector.gps_raw_position(imintime:i,3))*fconv_gpsalt,'b','LineWidth',2); 

+    end;

+    hold off

+    %Plot current position

+    newpoint=[double(sysvector.gps_raw_position(i,1))*fconv_gpslatlong double(sysvector.gps_raw_position(i,2))*fconv_gpslatlong double(sysvector.gps_raw_position(i,3))*fconv_gpsalt];

+    if(numel(h.pathpoints)<=3) %empty path

+        h.pathpoints(1,1:3)=newpoint;

+    else %Not empty, append new point 

+        h.pathpoints(size(h.pathpoints,1)+1,:)=newpoint;

+    end

+    axes(h.axes(1));    

+    line(h.pathpoints(:,1),h.pathpoints(:,2),h.pathpoints(:,3),'LineStyle','none','Marker','.','MarkerEdge','black','MarkerSize',20);

+    

+    

+    % Plot current time (small label next to current gps position) 

+    textdesc=strcat('  t=',num2str(time(i)),'s');

+    if(isvalidhandle(h.markertext))

+            delete(h.markertext); %delete old text

+    end 

+    h.markertext=text(double(sysvector.gps_raw_position(i,1))*fconv_gpslatlong,double(sysvector.gps_raw_position(i,2))*fconv_gpslatlong,...

+                        double(sysvector.gps_raw_position(i,3))*fconv_gpsalt,textdesc);

+    set(h.edits.CurTime,'String',CurTime);

+        

+    %**********************************************************************

+    % Plot the lines showing the current time in the 2-d plots

+    %**********************************************************************

+    for i=2:NrAxes

+        if(isvalidhandle(h.markerline(i))) delete(h.markerline(i)); end

+        ylims=get(h.axes(i),'YLim');

+        h.markerline(i)=line([CurTime CurTime] ,get(h.axes(i),'YLim'),'Color','black');

+        set(h.markerline(i),'parent',h.axes(i));

+    end

+    

+    set(h.labels.GUIState,'String','OK','BackgroundColor',[240/255 240/255 240/255]);

+end

+

+%% ************************************************************************

+%  MINMAXTIME CALLBACK (nested function)

+%  ************************************************************************

+function minmaxtime_callback(hObj,event) %#ok<INUSL>

+    new_mintime=get(h.sliders.MinTime,'Value');

+    new_maxtime=get(h.sliders.MaxTime,'Value');

+

+    %Safety checks:

+    bErr=false;

+    %1: mintime must be < maxtime

+    if((new_mintime>maxtime) || (new_maxtime<mintime))

+        set(h.labels.GUIState,'String','Error: Mintime cannot be bigger than maxtime! Values were not changed.','BackgroundColor','red');

+        bErr=true;

+    else

+        %2: MinTime must be <=CurTime

+        if(new_mintime>CurTime)

+            set(h.labels.GUIState,'String','Error: Mintime cannot be bigger than CurTime! CurTime set to new mintime.','BackgroundColor','red');

+            mintime=new_mintime;

+            CurTime=mintime;

+            bErr=true;

+        end

+        %3: MaxTime must be >CurTime

+        if(new_maxtime<CurTime)

+            set(h.labels.GUIState,'String','Error: Maxtime cannot be smaller than CurTime! CurTime set to new maxtime.','BackgroundColor','red');

+            maxtime=new_maxtime;

+            CurTime=maxtime;

+            bErr=true;

+        end

+    end

+

+    if(bErr==false)

+        maxtime=new_maxtime;

+        mintime=new_mintime;

+    end

+

+    %Needs to be done in case values were reset above

+    set(h.sliders.MinTime,'Value',mintime);

+    set(h.sliders.MaxTime,'Value',maxtime);

+

+    %Update curtime-slider

+    set(h.sliders.CurTime,'Value',CurTime);

+    set(h.sliders.CurTime,'Max',maxtime);

+    set(h.sliders.CurTime,'Min',mintime);

+    temp=get(h.sliders.CurTime,'Max')-get(h.sliders.CurTime,'Min'); 

+    set(h.sliders.CurTime,'SliderStep',[1.0/temp 5.0/temp]);  %Set Stepsize to constant [in seconds]

+

+    %update edit fields

+    set(h.edits.CurTime,'String',get(h.sliders.CurTime,'Value'));

+    set(h.edits.MinTime,'String',get(h.sliders.MinTime,'Value'));

+    set(h.edits.MaxTime,'String',get(h.sliders.MaxTime,'Value'));

+

+    %Finally, we have to redraw. Update time indices first.

+    [imintime,imaxtime]=FindMinMaxTimeIndices();

+    DrawRawData();                  %Rawdata only

+    DrawCurrentAircraftState();     %path info & markers

+end

+

+

+%% ************************************************************************

+%  CURTIME CALLBACK (nested function)

+%  ************************************************************************

+function curtime_callback(hObj,event) %#ok<INUSL>

+    %find current time

+    if(hObj==h.sliders.CurTime)

+        CurTime=get(h.sliders.CurTime,'Value');

+    elseif (hObj==h.edits.CurTime)

+        temp=str2num(get(h.edits.CurTime,'String'));

+        if(temp<maxtime && temp>mintime)

+            CurTime=temp;

+        else

+            %Error

+            set(h.labels.GUIState,'String','Error: You tried to set an invalid current time! Previous value restored.','BackgroundColor','red');

+        end

+    else

+        %Error

+        set(h.labels.GUIState,'String','Error: curtime_callback','BackgroundColor','red');        

+    end

+    

+    set(h.sliders.CurTime,'Value',CurTime);

+    set(h.edits.CurTime,'String',num2str(CurTime));

+    

+    %Redraw time markers, but don't have to redraw the whole raw data

+    DrawCurrentAircraftState();

+end

+

+%% ************************************************************************

+%  FINDMINMAXINDICES (nested function)

+%  ************************************************************************

+function [idxmin,idxmax] = FindMinMaxTimeIndices()

+    for i=1:size(sysvector.timestamp,1)

+        if time(i)>=mintime; idxmin=i; break; end

+    end

+    for i=1:size(sysvector.timestamp,1)

+        if maxtime==0; idxmax=size(sysvector.timestamp,1); break; end

+        if time(i)>=maxtime; idxmax=i; break; end

+    end

+    mintime=time(idxmin); 

+    maxtime=time(idxmax);

+end

+

+%% ************************************************************************

+%  ISVALIDHANDLE (nested function)

+%  ************************************************************************

+function isvalid = isvalidhandle(handle)

+   if(exist(varname(handle))>0 && length(ishandle(handle))>0) 

+        if(ishandle(handle)>0)

+            if(handle>0.0)

+                isvalid=true;

+                return;

+            end

+        end

+   end

+   isvalid=false;

+end

+

+%% ************************************************************************

+%  JUST SOME SMALL HELPER FUNCTIONS (nested function)

+%  ************************************************************************

+function out = varname(var)

+   out = inputname(1);

+end

+

+%This is the end of the matlab file / the main function

+end

diff --git a/ROMFS/scripts/rc.PX4IO b/ROMFS/scripts/rc.PX4IO
new file mode 100644
index 000000000..625f23bdd
--- /dev/null
+++ b/ROMFS/scripts/rc.PX4IO
@@ -0,0 +1,107 @@
+#!nsh
+ 
+# Disable USB and autostart
+set USB no
+set MODE camflyer
+ 
+#
+# Start the ORB (first app to start)
+#
+uorb start
+ 
+#
+# 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
+ 
+#
+# 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
+ 
+#
+# Allow PX4IO to recover from midair restarts.
+# this is very unlikely, but quite safe and robust.
+px4io recovery
+ 
+#
+# 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)
+#
+kalman_demo start
+ 
+#
+# Load mixer and start controllers (depends on px4io)
+#
+mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
+control_demo start
+ 
+#
+# Start logging
+#
+#sdlog start -s 4
+ 
+#
+# Start system state
+#
+if blinkm start
+then
+	echo "using BlinkM for state indication"
+	blinkm systemstate
+else
+	echo "no BlinkM found, OK."
+fi
\ No newline at end of file
diff --git a/ROMFS/scripts/rc.PX4IOAR b/ROMFS/scripts/rc.PX4IOAR
new file mode 100644
index 000000000..6af91992e
--- /dev/null
+++ b/ROMFS/scripts/rc.PX4IOAR
@@ -0,0 +1,99 @@
+#!nsh
+#
+# 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..."
+ 
+#
+# Start the ORB
+#
+uorb start
+ 
+#
+# Init the parameter storage
+#
+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 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
+#
+multirotor_att_control start
+ 
+#
+# Fire up the AR.Drone interface.
+#
+ardrone_interface start -d /dev/ttyS1
+
+#
+# Start logging
+#
+sdlog start -s 10
+
+#
+# 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
+# use the same UART for telemetry
+#
+echo "[init] startup done"
+
+exit
\ No newline at end of file
diff --git a/ROMFS/scripts/rc.hil b/ROMFS/scripts/rc.hil
index 3b37ac26b..980b78edd 100644
--- a/ROMFS/scripts/rc.hil
+++ b/ROMFS/scripts/rc.hil
@@ -36,6 +36,17 @@ param set MAV_TYPE 1
 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
diff --git a/ROMFS/scripts/rcS b/ROMFS/scripts/rcS
new file mode 100755
index 000000000..c0a70f7dd
--- /dev/null
+++ b/ROMFS/scripts/rcS
@@ -0,0 +1,83 @@
+#!nsh
+#
+# PX4FMU startup script.
+#
+# This script is responsible for:
+#
+# - mounting the microSD card (if present)
+# - running the user startup script from the microSD card (if present)
+# - detecting the configuration of the system and picking a suitable
+#   startup script to continue with
+#
+# Note: DO NOT add configuration-specific commands to this script;
+#       add them to the per-configuration scripts instead.
+#
+
+#
+# Default to auto-start mode.  An init script on the microSD card
+# can change this to prevent automatic startup of the flight script.
+#
+set MODE autostart
+set USB autoconnect
+
+#
+
+#
+
+
+#
+# Try to mount the microSD card.
+#
+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
+
+#
+# Look for an init script on the microSD card.
+#
+# To prevent automatic startup in the current flight mode,
+# the script should set MODE to some other value.
+#
+if [ -f /fs/microsd/etc/rc ]
+then
+	echo "[init] reading /fs/microsd/etc/rc"
+	sh /fs/microsd/etc/rc
+fi
+# Also consider rc.txt files
+if [ -f /fs/microsd/etc/rc.txt ]
+then
+	echo "[init] reading /fs/microsd/etc/rc.txt"
+	sh /fs/microsd/etc/rc.txt
+fi
+
+#
+# Check for USB host
+#
+if [ $USB != autoconnect ]
+then
+	echo "[init] not connecting USB"
+else
+	if sercon
+	then
+		echo "[init] USB interface connected"
+	else
+		echo "[init] No USB connected"
+	fi
+fi
+
+# if this is an APM build then there will be a rc.APM script
+# from an EXTERNAL_SCRIPTS build option
+if [ -f /etc/init.d/rc.APM ]
+then
+	echo Running rc.APM
+	# if APM startup is successful then nsh will exit
+	sh /etc/init.d/rc.APM
+fi