Removed confusing non-error message, updated start scripts to match wiki and most recent SW revs

3 files changed, 129 insertions, 77 deletions

diff --git a/ROMFS/scripts/rc.FMU_quad_x b/ROMFS/scripts/rc.FMU_quad_x
index d9c9a8457..8787443ea 100644
--- a/ROMFS/scripts/rc.FMU_quad_x
+++ b/ROMFS/scripts/rc.FMU_quad_x
@@ -1,40 +1,67 @@
+#!nsh
+#
+# Flight startup script for PX4FMU with PWM outputs.
+#
+ 
+# Disable the USB interface
+set USB no
+ 
+# Disable autostarting other apps
+set MODE custom
+ 
+echo "[init] doing PX4FMU Quad startup..."
+ 
+#
+# Start the ORB
 #
-# Startup for X-quad on FMU1.5/1.6
-# 
-
-echo "[init] uORB"
 uorb start
-
-echo "[init] eeprom"
-eeprom start
-if [ -f /eeprom/parameters ]
+ 
+#
+# Load microSD params
+#
+echo "[init] loading microSD params"
+param select /fs/microsd/parameters
+if [ -f /fs/microsd/parameters ]
 then
-	param load
+	param load /fs/microsd/parameters
 fi
-
-echo "[init] sensors"
-#bma180 start
-#l3gd20 start
-mpu6000 start
-hmc5883 start
-ms5611 start
-
-sensors start
-
-echo "[init] mavlink"
+ 
+#
+# 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
+ 
+#
+# Start MAVLink
+#
 mavlink start -d /dev/ttyS0 -b 57600
 usleep 5000
-
-echo "[init] commander"
+ 
+#
+# Start the sensors and test them.
+#
+sh /etc/init.d/rc.sensors
+ 
+#
+# Start the commander.
+#
 commander start
-
-echo "[init] attitude control"
+ 
+#
+# Start the attitude estimator
+#
 attitude_estimator_ekf start
-multirotor_att_control start
-
+ 
 echo "[init] starting PWM output"
 fmu mode_pwm
 mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
-
+ 
+#
+# Start attitude control
+#
+multirotor_att_control start
+ 
 echo "[init] startup done, exiting"
-exit
+exit
\ No newline at end of file
diff --git a/ROMFS/scripts/rc.PX4IO b/ROMFS/scripts/rc.PX4IO
index 84e181a5a..1e3963b9a 100644
--- a/ROMFS/scripts/rc.PX4IO
+++ b/ROMFS/scripts/rc.PX4IO
@@ -1,73 +1,80 @@
 #!nsh
-
+ 
+# Disable USB and autostart
 set USB no
-
+set MODE camflyer
+ 
 #
-# Start the object request broker
+# Start the ORB
 #
 uorb start
-
+ 
 #
-# Init the EEPROM
+# Load microSD params
 #
-echo "[init] eeprom"
-eeprom start
-if [ -f /eeprom/parameters ]
+echo "[init] loading microSD params"
+param select /fs/microsd/parameters
+if [ -f /fs/microsd/parameters ]
 then
-	param load
+	param load /fs/microsd/parameters
 fi
-
-#
-# Enable / connect to PX4IO
-#
-px4io start
-
+ 
 #
-# Load an appropriate mixer. FMU_pass.mix is a passthru mixer
-# which is good for testing. See ROMFS/mixers for a full list of mixers.
+# Force some key parameters to sane values
+# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
+#              see https://pixhawk.ethz.ch/mavlink/
 #
-mixer load /dev/pwm_output /etc/mixers/FMU_pass.mix
-
+param set MAV_TYPE 1
+ 
 #
 # Start the sensors.
 #
 sh /etc/init.d/rc.sensors
-
+ 
 #
-# Start MAVLink on UART1 (dev/ttyS0) at 57600 baud (CLI is now unusable)
+# Start MAVLink
 #
-mavlink start -d /dev/ttyS0 -b 57600
+mavlink start -d /dev/ttyS1 -b 57600
 usleep 5000
-
+ 
 #
 # Start the commander.
 #
 commander start
-
+ 
+#
+# Start GPS interface
+#
+gps start
+ 
 #
 # Start the attitude estimator
 #
-attitude_estimator_ekf start
-
+kalman_demo start
+ 
 #
-# Start the attitude and position controller
+# Start PX4IO interface
 #
-fixedwing_att_control start
-fixedwing_pos_control start
-
+px4io start
+ 
 #
-# Start GPS capture. Comment this out if you do not have a GPS.
+# Load mixer and start controllers
 #
-gps start
-
+mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
+control_demo start
+ 
+#
+# Start logging
 #
-# Start logging to microSD if we can
-#	  	
-sh /etc/init.d/rc.logging
+sdlog start -s 10
 
 #
-# startup is done; we don't want the shell because we
-# use the same UART for telemetry
+# Start system state
 #
-echo "[init] startup done"
-exit
+if blinkm start
+then
+	echo "using BlinkM for state indication"
+	blinkm systemstate
+else
+	echo "no BlinkM found, OK."
+fi
diff --git a/ROMFS/scripts/rc.PX4IOAR b/ROMFS/scripts/rc.PX4IOAR
index 640cdf541..72df68e35 100644
--- a/ROMFS/scripts/rc.PX4IOAR
+++ b/ROMFS/scripts/rc.PX4IOAR
@@ -17,7 +17,7 @@ echo "[init] doing PX4IOAR startup..."
 uorb start
  
 #
-# Load microSD params
+# Init the parameter storage
 #
 echo "[init] loading microSD params"
 param select /fs/microsd/parameters
@@ -27,17 +27,24 @@ then
 fi
  
 #
-# Start MAVLink
+# Force some key parameters to sane values
+# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
+#              see https://pixhawk.ethz.ch/mavlink/
 #
-mavlink start -d /dev/ttyS0 -b 57600
-usleep 5000
+param set MAV_TYPE 2
  
 #
-# Start the sensors and test them.
+# 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
@@ -63,14 +70,25 @@ multirotor_att_control start
 ardrone_interface start -d /dev/ttyS1
  
 #
+# Start GPS capture
+#
+gps start
+
+#
 # Start logging
 #
-#sdlog start
- 
+sdlog start -s 10
+
 #
-# Start GPS capture
+# Start system state
 #
-gps start
+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