Merged

7 files changed, 209 insertions, 80 deletions

diff --git a/ROMFS/px4fmu_common/init.d/100_mpx_easystar b/ROMFS/px4fmu_common/init.d/100_mpx_easystar
index e1cefdb99..4ed73909e 100644
--- a/ROMFS/px4fmu_common/init.d/100_mpx_easystar
+++ b/ROMFS/px4fmu_common/init.d/100_mpx_easystar
@@ -1,6 +1,6 @@
 #!nsh
 
-echo "[init] Multiplex Easystar"
+echo "[init] PX4FMU v1, v2 with or without IO on EasyStar"
 
 #
 # Load default params for this platform
@@ -20,28 +20,31 @@ fi
 #
 param set MAV_TYPE 1
 
-#
-# Start MAVLink (depends on orb)
-#
-mavlink start -d /dev/ttyS1 -b 57600
-usleep 5000
+set EXIT_ON_END no
 
 #
-# Start and configure PX4IO interface
+# Start and configure PX4IO or FMU interface
 #
-sh /etc/init.d/rc.io
+if px4io detect
+then
+	# Start MAVLink (depends on orb)
+	mavlink start
+	usleep 5000
 
-#
-# Set actuator limit to 100 Hz update (50 Hz PWM)
-px4io limit 100
- 
-#
-# Start the commander
-#
-commander start
+	sh /etc/init.d/rc.io
+	# Limit to 100 Hz updates and (implicit) 50 Hz PWM
+	px4io limit 100
+else
+	# Start MAVLink (on UART1 / ttyS0)
+	mavlink start -d /dev/ttyS0
+	usleep 5000
+	fmu mode_pwm
+	param set BAT_V_SCALING 0.004593
+	set EXIT_ON_END yes
+fi
  
 #
-# Start the sensors
+# Start the sensors and test them.
 #
 sh /etc/init.d/rc.sensors
 
@@ -49,9 +52,14 @@ sh /etc/init.d/rc.sensors
 # Start logging (depends on sensors)
 #
 sh /etc/init.d/rc.logging
- 
+
+#
+# Start the commander.
 #
-# Start GPS interface
+commander start
+
+#
+# Start GPS interface (depends on orb)
 #
 gps start
  
@@ -65,4 +73,10 @@ att_pos_estimator_ekf start
 #
 mixer load /dev/pwm_output /etc/mixers/FMU_RET.mix
 fw_att_control start
-fw_pos_control_l1 start
+# Not ready yet for prime-time
+#fw_pos_control_l1 start
+
+if [ $EXIT_ON_END == yes ]
+then
+	exit
+fi
diff --git a/ROMFS/px4fmu_common/init.d/101_hk_bixler b/ROMFS/px4fmu_common/init.d/101_hk_bixler
new file mode 100644
index 000000000..b4daa8f5a
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/101_hk_bixler
@@ -0,0 +1,82 @@
+#!nsh
+
+echo "[init] PX4FMU v1, v2 with or without IO on HK Bixler"
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+	# Set all params here, then disable autoconfig
+	# TODO
+	
+	param set SYS_AUTOCONFIG 0
+	param save
+fi
+ 
+#
+# Force some key parameters to sane values
+# MAV_TYPE     1 = fixed wing
+#
+param set MAV_TYPE 1
+
+set EXIT_ON_END no
+
+#
+# Start and configure PX4IO or FMU interface
+#
+if px4io detect
+then
+	# Start MAVLink (depends on orb)
+	mavlink start
+	usleep 5000
+
+	sh /etc/init.d/rc.io
+	# Limit to 100 Hz updates and (implicit) 50 Hz PWM
+	px4io limit 100
+else
+	# Start MAVLink (on UART1 / ttyS0)
+	mavlink start -d /dev/ttyS0
+	usleep 5000
+	fmu mode_pwm
+	param set BAT_V_SCALING 0.004593
+	set EXIT_ON_END yes
+fi
+ 
+#
+# Start the sensors and test them.
+#
+sh /etc/init.d/rc.sensors
+
+#
+# Start logging (depends on sensors)
+#
+sh /etc/init.d/rc.logging
+
+#
+# Start the commander.
+#
+commander start
+
+#
+# Start GPS interface (depends on orb)
+#
+gps start
+ 
+#
+# Start the attitude and position estimator
+#
+att_pos_estimator_ekf start
+ 
+#
+# Load mixer and start controllers (depends on px4io)
+#
+mixer load /dev/pwm_output /etc/mixers/FMU_AERT.mix
+fw_att_control start
+# Not ready yet for prime-time
+#fw_pos_control_l1 start
+
+if [ $EXIT_ON_END == yes ]
+then
+	exit
+fi
diff --git a/ROMFS/px4fmu_common/init.d/30_io_camflyer b/ROMFS/px4fmu_common/init.d/30_io_camflyer
index f7e653362..c4c4ea3da 100644
--- a/ROMFS/px4fmu_common/init.d/30_io_camflyer
+++ b/ROMFS/px4fmu_common/init.d/30_io_camflyer
@@ -1,6 +1,6 @@
 #!nsh
 
-echo "[init] 30_io_camflyer: PX4FMU+PX4IO on Camflyer"
+echo "[init] PX4FMU v1, v2 with or without IO on Camflyer"
 
 #
 # Load default params for this platform
@@ -19,34 +19,32 @@ fi
 # MAV_TYPE     1 = fixed wing
 #
 param set MAV_TYPE 1
- 
-#
-# 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)
+
+set EXIT_ON_END no
+
 #
-px4io start
- 
+# Start and configure PX4IO or FMU interface
 #
-# Allow PX4IO to recover from midair restarts.
-# this is very unlikely, but quite safe and robust.
-px4io recovery
+if px4io detect
+then
+	# Start MAVLink (depends on orb)
+	mavlink start
+	usleep 5000
 
-#
-# Set actuator limit to 100 Hz update (50 Hz PWM)
-px4io limit 100
+	sh /etc/init.d/rc.io
+	# Limit to 100 Hz updates and (implicit) 50 Hz PWM
+	px4io limit 100
+else
+	# Start MAVLink (on UART1 / ttyS0)
+	mavlink start -d /dev/ttyS0
+	usleep 5000
+	fmu mode_pwm
+	param set BAT_V_SCALING 0.004593
+	set EXIT_ON_END yes
+fi
  
 #
-# Start the sensors (depends on orb, px4io)
+# Start the sensors and test them.
 #
 sh /etc/init.d/rc.sensors
 
@@ -54,7 +52,12 @@ sh /etc/init.d/rc.sensors
 # Start logging (depends on sensors)
 #
 sh /etc/init.d/rc.logging
- 
+
+#
+# Start the commander.
+#
+commander start
+
 #
 # Start GPS interface (depends on orb)
 #
@@ -70,4 +73,10 @@ att_pos_estimator_ekf start
 #
 mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
 fw_att_control start
-fw_pos_control_l1 start
+# Not ready yet for prime-time
+#fw_pos_control_l1 start
+
+if [ $EXIT_ON_END == yes ]
+then
+	exit
+fi
diff --git a/ROMFS/px4fmu_common/init.d/31_io_phantom b/ROMFS/px4fmu_common/init.d/31_io_phantom
index e1e609927..8d4158a18 100644
--- a/ROMFS/px4fmu_common/init.d/31_io_phantom
+++ b/ROMFS/px4fmu_common/init.d/31_io_phantom
@@ -1,6 +1,6 @@
 #!nsh
 
-echo "[init] 31_io_phantom: PX4FMU+PX4IO on Phantom"
+echo "[init] PX4FMU v1, v2 with or without IO on Phantom FPV"
 
 #
 # Load default params for this platform
@@ -20,28 +20,31 @@ fi
 #
 param set MAV_TYPE 1
 
-#
-# Start MAVLink (depends on orb)
-#
-mavlink start -d /dev/ttyS1 -b 57600
-usleep 5000
+set EXIT_ON_END no
 
 #
-# Start and configure PX4IO interface
+# Start and configure PX4IO or FMU interface
 #
-sh /etc/init.d/rc.io
+if px4io detect
+then
+	# Start MAVLink (depends on orb)
+	mavlink start
+	usleep 5000
 
-#
-# Set actuator limit to 100 Hz update (50 Hz PWM)
-px4io limit 100
- 
-#
-# Start the commander
-#
-commander start
+	sh /etc/init.d/rc.io
+	# Limit to 100 Hz updates and (implicit) 50 Hz PWM
+	px4io limit 100
+else
+	# Start MAVLink (on UART1 / ttyS0)
+	mavlink start -d /dev/ttyS0
+	usleep 5000
+	fmu mode_pwm
+	param set BAT_V_SCALING 0.004593
+	set EXIT_ON_END yes
+fi
  
 #
-# Start the sensors
+# Start the sensors and test them.
 #
 sh /etc/init.d/rc.sensors
 
@@ -49,9 +52,14 @@ sh /etc/init.d/rc.sensors
 # Start logging (depends on sensors)
 #
 sh /etc/init.d/rc.logging
- 
+
+#
+# Start the commander.
 #
-# Start GPS interface
+commander start
+
+#
+# Start GPS interface (depends on orb)
 #
 gps start
  
@@ -65,4 +73,10 @@ att_pos_estimator_ekf start
 #
 mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
 fw_att_control start
-fw_pos_control_l1 start
+# Not ready yet for prime-time
+#fw_pos_control_l1 start
+
+if [ $EXIT_ON_END == yes ]
+then
+	exit
+fi
diff --git a/ROMFS/px4fmu_common/init.d/rc.hil b/ROMFS/px4fmu_common/init.d/rc.hil
index eccb2b767..b924d62bc 100644
--- a/ROMFS/px4fmu_common/init.d/rc.hil
+++ b/ROMFS/px4fmu_common/init.d/rc.hil
@@ -5,10 +5,9 @@
 
 echo "[HIL] starting.."
 
-uorb start
-
 # Tell MAVLink that this link is "fast"
-mavlink start -b 230400 -d /dev/ttyS1
+sleep 2
+mavlink start -b 230400 -d /dev/ttyACM0
 
 # Create a fake HIL /dev/pwm_output interface
 hil mode_pwm
@@ -50,7 +49,8 @@ att_pos_estimator_ekf start
 # Load mixer and start controllers (depends on px4io)
 #
 mixer load /dev/pwm_output /etc/mixers/FMU_AET.mix
-fw_pos_control_l1 start
+#fw_pos_control_l1 start
 fw_att_control start
 
 echo "[HIL] setup done, running"
+
diff --git a/ROMFS/px4fmu_common/init.d/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb
index 9264985d6..ccf2cd47e 100644
--- a/ROMFS/px4fmu_common/init.d/rc.usb
+++ b/ROMFS/px4fmu_common/init.d/rc.usb
@@ -21,7 +21,6 @@ if mavlink stop
 then
 	echo "stopped other MAVLink instance"
 fi
-sleep 2
 mavlink start -b 230400 -d /dev/ttyACM0
 
 # Stop commander
@@ -37,13 +36,6 @@ then
 	echo "Commander started"
 fi
 
-# Stop px4io
-if px4io stop
-then
-	echo "PX4IO stopped"
-fi
-sleep 1
-
 # Start px4io if present
 if px4io start
 then
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index c8590425e..4c4b0129e 100755
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -101,8 +101,14 @@ then
 		fi
 	fi
 
-	# Try to get an USB console
-	nshterm /dev/ttyACM0 &
+	if param compare SYS_AUTOSTART 1000
+	then
+		sh /etc/init.d/rc.hil
+		set MODE custom
+	else
+		# Try to get an USB console
+		nshterm /dev/ttyACM0 &
+	fi
 	
 	#
 	# Upgrade PX4IO firmware
@@ -178,6 +184,18 @@ then
 		sh /etc/init.d/31_io_phantom
 		set MODE custom
 	fi
+
+	if param compare SYS_AUTOSTART 100
+	then
+		sh /etc/init.d/100_mpx_easystar
+		set MODE custom
+	fi
+
+	if param compare SYS_AUTOSTART 101
+	then
+		sh /etc/init.d/101_hk_bixler
+		set MODE custom
+	fi
 	
 	# Start any custom extensions that might be missing
 	if [ -f /fs/microsd/etc/rc.local ]