Merge remote-tracking branch 'upstream/control_groups' into fw_autoland_att_tecs_navigator_termination_controlgroups

Conflicts:
	src/systemcmds/tests/module.mk
	src/systemcmds/tests/tests.h

4 files changed, 143 insertions, 16 deletions

diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index f17b650bc..070a4e7e3 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -19,12 +19,18 @@ fi
 if mpu6000 start
 then
 	echo "using MPU6000"
-	set BOARD fmuv1
-else
-	echo "using L3GD20 and LSM303D"
-	l3gd20 start
-	lsm303d start
+fi
+
+if l3gd20 start
+then
+	echo "using L3GD20(H)"
+fi
+
+if lsm303d start
+then
 	set BOARD fmuv2
+else
+	set BOARD fmuv1
 fi
 
 # Start airspeed sensors
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index fc05d0b84..57e243292 100755..100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -8,6 +8,8 @@
 #
 set MODE autostart
 
+set logfile /fs/microsd/bootlog.txt
+
 #
 # Try to mount the microSD card.
 #
@@ -152,26 +154,49 @@ then
 		nshterm /dev/ttyACM0 &
 	fi
 
-	
 	#
 	# Upgrade PX4IO firmware
 	#
-	if px4io detect
+
+	if [ -f /etc/extras/px4io-v2_default.bin ]
+	then
+		set io_file /etc/extras/px4io-v2_default.bin
+	else
+		set io_file /etc/extras/px4io-v1_default.bin
+	fi
+
+	if px4io start
 	then
-		echo "PX4IO running, not upgrading"
+		echo "PX4IO OK"
+		echo "PX4IO OK" >> $logfile
+	fi
+	
+	if px4io checkcrc $io_file
+	then
+		echo "PX4IO CRC OK"
+		echo "PX4IO CRC OK" >> $logfile
 	else
-		echo "Attempting to upgrade PX4IO"
-		if px4io update
+		echo "PX4IO CRC failure"
+		echo "PX4IO CRC failure" >> $logfile
+		tone_alarm MBABGP
+		if px4io forceupdate 14662 $io_file
 		then
-			if [ -d /fs/microsd ]
+			usleep 200000
+			if px4io start
 			then
-				echo "Flashed PX4IO Firmware OK" > /fs/microsd/px4io.log
+				echo "PX4IO restart OK"
+				echo "PX4IO restart OK" >> $logfile
+				tone_alarm MSPAA
+			else
+				echo "PX4IO restart failed"
+				echo "PX4IO restart failed" >> $logfile
+				tone_alarm MNGGG
+				sh /etc/init.d/rc.error
 			fi
-
-			# Allow IO to safely kick back to app
-			usleep 200000
 		else
-			echo "No PX4IO to upgrade here"
+			echo "PX4IO update failed"
+			echo "PX4IO update failed" >> $logfile
+			tone_alarm MNGGG
 		fi
 	fi
 	
diff --git a/ROMFS/px4fmu_logging/init.d/rcS b/ROMFS/px4fmu_logging/init.d/rcS
new file mode 100644
index 000000000..7b8856719
--- /dev/null
+++ b/ROMFS/px4fmu_logging/init.d/rcS
@@ -0,0 +1,88 @@
+#!nsh
+#
+# PX4FMU startup script for logging purposes
+#
+
+#
+# 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 error
+fi
+
+uorb start
+
+#
+# Start sensor drivers here.
+#
+
+ms5611 start
+adc start
+
+# mag might be external
+if hmc5883 start
+then
+	echo "using HMC5883"
+fi
+
+if mpu6000 start
+then
+	echo "using MPU6000"
+fi
+
+if l3gd20 start
+then
+	echo "using L3GD20(H)"
+fi
+
+if lsm303d start
+then
+	set BOARD fmuv2
+else
+	set BOARD fmuv1
+fi
+
+# Start airspeed sensors
+if meas_airspeed start
+then
+	echo "using MEAS airspeed sensor"
+else
+	if ets_airspeed start
+	then
+		echo "using ETS airspeed sensor (bus 3)"
+	else
+		if ets_airspeed start -b 1
+		then
+			echo "Using ETS airspeed sensor (bus 1)"
+		fi
+	fi
+fi
+
+#
+# Start the sensor collection task.
+# IMPORTANT: this also loads param offsets
+# ALWAYS start this task before the
+# preflight_check.
+#
+if sensors start
+then
+	echo "SENSORS STARTED"
+fi
+
+sdlog2 start -r 250 -e -b 16
+
+if sercon
+then
+	echo "[init] USB interface connected"
+
+	# Try to get an USB console
+	nshterm /dev/ttyACM0 &
+fi
\ No newline at end of file
diff --git a/ROMFS/px4fmu_test/init.d/rcS b/ROMFS/px4fmu_test/init.d/rcS
index 7f161b053..6aa1d3d46 100755..100644
--- a/ROMFS/px4fmu_test/init.d/rcS
+++ b/ROMFS/px4fmu_test/init.d/rcS
@@ -2,3 +2,11 @@
 #
 # PX4FMU startup script for test hackery.
 #
+
+if sercon
+then
+	echo "[init] USB interface connected"
+
+	# Try to get an USB console
+	nshterm /dev/ttyACM0 &
+fi
\ No newline at end of file