Merge branch 'master' of https://github.com/PX4/Firmware into fmuv2_bringup

3 files changed, 102 insertions, 19 deletions

diff --git a/ROMFS/px4fmu_common/init.d/rc.PX4IOAR_PX4FLOW_example b/ROMFS/px4fmu_common/init.d/rc.PX4IOAR_PX4FLOW_example
new file mode 100644
index 000000000..e7173f6e6
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/rc.PX4IOAR_PX4FLOW_example
@@ -0,0 +1,94 @@
+#!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
+ 
+#
+# Load microSD params
+#
+echo "[init] loading microSD params"
+param select /fs/microsd/params
+if [ -f /fs/microsd/params ]
+then
+	param load /fs/microsd/params
+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 and MAVLink Onboard (Flow Sensor)
+#
+mavlink start -d /dev/ttyS0 -b 57600
+mavlink_onboard start -d /dev/ttyS3 -b 115200
+usleep 5000
+
+#
+# Start the commander.
+#
+commander start
+
+#
+# Start the attitude estimator
+#
+attitude_estimator_ekf start
+
+#
+# Start the position estimator
+#
+flow_position_estimator start
+
+#
+# Fire up the multi rotor attitude controller
+#
+multirotor_att_control start
+
+#
+# Fire up the flow position controller
+#
+flow_position_control start
+
+#
+# Fire up the flow speed controller
+#
+flow_speed_control start
+
+#
+# Fire up the AR.Drone interface.
+#
+ardrone_interface start -d /dev/ttyS1
+ 
+#
+# startup is done; we don't want the shell because we
+# use the same UART for telemetry
+#
+echo "[init] startup done"
+
+exit
diff --git a/ROMFS/px4fmu_common/init.d/rc.hil b/ROMFS/px4fmu_common/init.d/rc.hil
index 7614ac0fe..3517a5bd8 100644
--- a/ROMFS/px4fmu_common/init.d/rc.hil
+++ b/ROMFS/px4fmu_common/init.d/rc.hil
@@ -54,13 +54,13 @@ sh /etc/init.d/rc.sensors
 #
 # Start the attitude estimator (depends on orb)
 #
-kalman_demo start
+att_pos_estimator_ekf start
  
 #
 # Load mixer and start controllers (depends on px4io)
 #
 mixer load /dev/pwm_output /etc/mixers/FMU_AET.mix
-control_demo start
+fixedwing_backside start
 
 echo "[HIL] setup done, running"
 
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index c0a70f7dd..22dec87cb 100755
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -1,17 +1,6 @@
 #!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
@@ -21,11 +10,6 @@ set MODE autostart
 set USB autoconnect
 
 #
-
-#
-
-
-#
 # Try to mount the microSD card.
 #
 echo "[init] looking for microSD..."
@@ -69,7 +53,12 @@ else
 	then
 		echo "[init] USB interface connected"
 	else
-		echo "[init] No USB connected"
+		if [ -f /dev/ttyACM0 ]
+			echo "[init] NSH via USB"
+		then
+		else
+			echo "[init] No USB connected"
+		fi
 	fi
 fi