Merge branch 'master' of github.com:jgoppert/Firmware into md25_dev

5 files changed, 62 insertions, 73 deletions

diff --git a/ROMFS/px4fmu_common/init.d/02_io_quad_x b/ROMFS/px4fmu_common/init.d/02_io_quad_x
index 131abf8c4..c63e92f6d 100644
--- a/ROMFS/px4fmu_common/init.d/02_io_quad_x
+++ b/ROMFS/px4fmu_common/init.d/02_io_quad_x
@@ -40,28 +40,6 @@ fi
 param set MAV_TYPE 2
  
 #
-# 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
diff --git a/ROMFS/px4fmu_common/init.d/10_io_f330 b/ROMFS/px4fmu_common/init.d/10_io_f330
index 4107fab4f..4450eb50d 100644
--- a/ROMFS/px4fmu_common/init.d/10_io_f330
+++ b/ROMFS/px4fmu_common/init.d/10_io_f330
@@ -15,20 +15,19 @@ then
 	# Set all params here, then disable autoconfig
 	param set SYS_AUTOCONFIG 0
 
-	param set MC_ATTRATE_D	         0.007
+	param set MC_ATTRATE_D	         0.005
 	param set MC_ATTRATE_I	         0.0
-	param set MC_ATTRATE_P	         0.13
+	param set MC_ATTRATE_P	         0.1
 	param set MC_ATT_D	         0.0
 	param set MC_ATT_I	         0.0
-	param set MC_ATT_P	         7.0
-	param set MC_POS_P	         0.1
+	param set MC_ATT_P	         4.5
 	param set MC_RCLOSS_THR	         0.0
 	param set MC_YAWPOS_D	         0.0
-	param set MC_YAWPOS_I	         0.5
-	param set MC_YAWPOS_P	         1.0
+	param set MC_YAWPOS_I	         0.3
+	param set MC_YAWPOS_P	         0.6
 	param set MC_YAWRATE_D	         0.0
 	param set MC_YAWRATE_I	         0.0
-	param set MC_YAWRATE_P	         0.2
+	param set MC_YAWRATE_P	         0.1
 
 	param save /fs/microsd/params
 fi
@@ -41,28 +40,6 @@ fi
 param set MAV_TYPE 2
  
 #
-# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
-#
-if [ -f /fs/microsd/px4io2.bin ]
-then
-	echo "PX4IO Firmware found. Checking Upgrade.."
-	if cmp /fs/microsd/px4io2.bin /fs/microsd/px4io2.cur
-	then
-		echo "No newer version, skipping upgrade."
-	else
-		echo "Loading /fs/microsd/px4io2.bin"
-		if px4io update /fs/microsd/px4io2.bin > /fs/microsd/px4io2.log
-		then
-			cp /fs/microsd/px4io2.bin /fs/microsd/px4io2.cur
-			echo "Flashed /fs/microsd/px4io2.bin OK" >> /fs/microsd/px4io2.log
-		else
-			echo "Failed flashing /fs/microsd/px4io2.bin" >> /fs/microsd/px4io2.log
-			echo "Failed to upgrade PX4IO2 firmware - check if PX4IO2 is in bootloader mode"
-		fi
-	fi
-fi
- 
-#
 # Start MAVLink (depends on orb)
 #
 mavlink start
@@ -128,7 +105,7 @@ multirotor_att_control start
 #
 # Start logging
 #
-sdlog2 start -r 20 -a -b 14
+sdlog2 start -r 20 -a -b 16
  
 #
 # Start system state
diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 73f40c503..5e80ddc2f 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -25,7 +25,7 @@ then
 else
 	echo "using L3GD20 and LSM303D"
 	l3gd20 start
-	lsm303 start
+	lsm303d start
 fi
 
 #
@@ -40,4 +40,4 @@ then
 	# Check sensors - run AFTER 'sensors start'
 	#
 	preflight_check &
-fi
\ No newline at end of file
+fi
diff --git a/ROMFS/px4fmu_common/init.d/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb
index c89932bb5..5b1bd272e 100644
--- a/ROMFS/px4fmu_common/init.d/rc.usb
+++ b/ROMFS/px4fmu_common/init.d/rc.usb
@@ -13,35 +13,46 @@ if mavlink stop
 then
 	echo "stopped other MAVLink instance"
 fi
+sleep 2
 mavlink start -b 230400 -d /dev/ttyACM0
 
-if [ $MODE == autostart ]
+# Start the commander
+if commander start
 then
+	echo "Commander started"
+fi
 
-	# Start the 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 sensors
+sh /etc/init.d/rc.sensors
 
-	# Start one of the estimators
-	if attitude_estimator_ekf status
+# Start one of the estimators
+if attitude_estimator_ekf status
+then
+	echo "multicopter att filter running"
+else
+	if att_pos_estimator_ekf status
 	then
-		echo "multicopter att filter running"
+		echo "fixedwing att filter running"
 	else
-		if att_pos_estimator_ekf status
-		then
-			echo "fixedwing att filter running"
-		else
-			attitude_estimator_ekf start
-		fi
+		attitude_estimator_ekf start
 	fi
+fi
 
-	# Start GPS
-	if gps start
-	then
-		echo "GPS started"
-	fi
+# Start GPS
+if gps start
+then
+	echo "GPS started"
 fi
 
 echo "MAVLink started, exiting shell.."
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index b22591f3c..f0ee1a0c6 100755
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -81,6 +81,26 @@ else
 	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
+	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
 
 #
@@ -121,3 +141,6 @@ if param compare SYS_AUTOSTART 31
 then
 	sh /etc/init.d/31_io_phantom
 fi
+
+# End of autostart
+fi