Startup scripts: Corrected cases where commander was not started, updated several outdated scripts

15 files changed, 141 insertions, 168 deletions

diff --git a/ROMFS/px4fmu_common/init.d/100_mpx_easystar b/ROMFS/px4fmu_common/init.d/100_mpx_easystar
index 4f843e9aa..b797ceebc 100644
--- a/ROMFS/px4fmu_common/init.d/100_mpx_easystar
+++ b/ROMFS/px4fmu_common/init.d/100_mpx_easystar
@@ -52,8 +52,6 @@ then
 	# Start MAVLink (depends on orb)
 	mavlink start
 
-	commander start
-
 	sh /etc/init.d/rc.io
 	# Limit to 100 Hz updates and (implicit) 50 Hz PWM
 	px4io limit 100
@@ -61,46 +59,27 @@ else
 	# Start MAVLink (on UART1 / ttyS0)
 	mavlink start -d /dev/ttyS0
 
-	commander start
-
 	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 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)
 #
 if [ -f /fs/microsd/etc/mixers/FMU_RET.mix ]
 then
-	echo "Using FMU_RET mixer from sd card"
+	echo "Using /fs/microsd/etc/mixers/FMU_RET.mix"
 	mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_RET.mix
 else
-	echo "Using standard FMU_RET mixer"
+	echo "Using /etc/mixers/FMU_RET.mix"
 	mixer load /dev/pwm_output /etc/mixers/FMU_RET.mix
 fi
-fw_att_control start
-fw_pos_control_l1 start
+
+#
+Start common fixedwing apps
+#
+sh /etc/init.d/rc.fixedwing
 
 if [ $EXIT_ON_END == yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/101_hk_bixler b/ROMFS/px4fmu_common/init.d/101_hk_bixler
index cef86c34d..920a24e2f 100644
--- a/ROMFS/px4fmu_common/init.d/101_hk_bixler
+++ b/ROMFS/px4fmu_common/init.d/101_hk_bixler
@@ -52,8 +52,6 @@ then
 	# Start MAVLink (depends on orb)
 	mavlink start
 
-	commander start
-
 	sh /etc/init.d/rc.io
 	# Limit to 100 Hz updates and (implicit) 50 Hz PWM
 	px4io limit 100
@@ -61,39 +59,27 @@ else
 	# Start MAVLink (on UART1 / ttyS0)
 	mavlink start -d /dev/ttyS0
 
-	commander start
-
 	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)
+# Load mixer and start controllers (depends on px4io)
 #
-sh /etc/init.d/rc.logging
+if [ -f /fs/microsd/etc/mixers/FMU_AERT.mix ]
+then
+	echo "Using /fs/microsd/etc/mixers/FMU_AERT.mix"
+	mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_AERT.mix
+else
+	echo "Using /etc/mixers/FMU_Q.mix"
+	mixer load /dev/pwm_output /etc/mixers/FMU_AERT.mix
+fi
 
 #
-# 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)
+Start common fixedwing apps
 #
-mixer load /dev/pwm_output /etc/mixers/FMU_AERT.mix
-fw_att_control start
-fw_pos_control_l1 start
+sh /etc/init.d/rc.fixedwing
 
 if [ $EXIT_ON_END == yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/10_dji_f330 b/ROMFS/px4fmu_common/init.d/10_dji_f330
index 81ea292aa..467b56bbf 100644
--- a/ROMFS/px4fmu_common/init.d/10_dji_f330
+++ b/ROMFS/px4fmu_common/init.d/10_dji_f330
@@ -59,10 +59,7 @@ then
 	mavlink start
 	usleep 5000
 
-	commander start
-
 	sh /etc/init.d/rc.io
-	# Set PWM values for DJI ESCs
 else
 	# Start MAVLink (on UART1 / ttyS0)
 	mavlink start -d /dev/ttyS0
@@ -83,7 +80,7 @@ mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
 pwm rate -c 1234 -r 400
 
 #
-# Set disarmed, min and max PWM signals
+# Set disarmed, min and max PWM signals (for DJI ESCs)
 #
 pwm disarmed -c 1234 -p 900
 pwm min -c 1234 -p 1200
diff --git a/ROMFS/px4fmu_common/init.d/11_dji_f450 b/ROMFS/px4fmu_common/init.d/11_dji_f450
index 4dbf76cee..818f9375e 100644
--- a/ROMFS/px4fmu_common/init.d/11_dji_f450
+++ b/ROMFS/px4fmu_common/init.d/11_dji_f450
@@ -73,7 +73,7 @@ pwm min -c 1234 -p 1200
 pwm max -c 1234 -p 1800
 
 #
-# Start common for all multirotors apps
+# Start common multirotor apps
 #
 sh /etc/init.d/rc.multirotor
 
diff --git a/ROMFS/px4fmu_common/init.d/12-13_hex b/ROMFS/px4fmu_common/init.d/12-13_hex
index 0f0bb05ce..f83f6cfd0 100644
--- a/ROMFS/px4fmu_common/init.d/12-13_hex
+++ b/ROMFS/px4fmu_common/init.d/12-13_hex
@@ -61,10 +61,6 @@ then
 	usleep 5000
 
 	sh /etc/init.d/rc.io
-	# Set PWM values for DJI ESCs
-	px4io idle 900 900 900 900 900 900
-	px4io min 1200 1200 1200 1200 1200 1200
-	px4io max 1900 1900 1900 1900 1900 1900
 else
 	# Start MAVLink (on UART1 / ttyS0)
 	mavlink start -d /dev/ttyS0
@@ -77,12 +73,19 @@ fi
 #
 # Load mixer
 #
-mixer load /dev/pwm_output $MIXER
+mixer load /dev/pwm_output /etc/mixers/FMU_hex_x.mix
 
 #
 # Set PWM output frequency to 400 Hz
 #
-pwm -u 400 -m 0xff
+pwm rate -c 123456 -r 400
+
+#
+# Set disarmed, min and max PWM signals
+#
+pwm disarmed -c 123456 -p 900
+pwm min -c 123456 -p 1100
+pwm max -c 123456 -p 1900
 
 #
 # Start common for all multirotors apps
diff --git a/ROMFS/px4fmu_common/init.d/15_tbs_discovery b/ROMFS/px4fmu_common/init.d/15_tbs_discovery
index bd6189a6d..c79e9d283 100644
--- a/ROMFS/px4fmu_common/init.d/15_tbs_discovery
+++ b/ROMFS/px4fmu_common/init.d/15_tbs_discovery
@@ -31,7 +31,7 @@ fi
 # MAV_TYPE     2 = quadrotor
 #
 param set MAV_TYPE 2
- 
+
 set EXIT_ON_END no
 
 #
@@ -43,8 +43,6 @@ then
 	mavlink start
 	usleep 5000
 
-	commander start
-
 	sh /etc/init.d/rc.io
 else
 	# Start MAVLink (on UART1 / ttyS0)
@@ -66,11 +64,11 @@ mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix
 pwm rate -c 1234 -r 400
 
 #
-# Set disarmed, min and max PWM signals (for DJI ESCs)
+# Set disarmed, min and max PWM signals
 #
 pwm disarmed -c 1234 -p 900
-pwm min -c 1234 -p 1200
-pwm max -c 1234 -p 1800
+pwm min -c 1234 -p 1100
+pwm max -c 1234 -p 1900
 
 #
 # Start common for all multirotors apps
diff --git a/ROMFS/px4fmu_common/init.d/16_3dr_iris b/ROMFS/px4fmu_common/init.d/16_3dr_iris
index d8cc0e913..6be917878 100644
--- a/ROMFS/px4fmu_common/init.d/16_3dr_iris
+++ b/ROMFS/px4fmu_common/init.d/16_3dr_iris
@@ -31,7 +31,7 @@ fi
 # MAV_TYPE     2 = quadrotor
 #
 param set MAV_TYPE 2
- 
+
 set EXIT_ON_END no
 
 #
@@ -43,8 +43,6 @@ then
 	mavlink start
 	usleep 5000
 
-	commander start
-
 	sh /etc/init.d/rc.io
 else
 	# Start MAVLink (on UART1 / ttyS0)
diff --git a/ROMFS/px4fmu_common/init.d/30_io_camflyer b/ROMFS/px4fmu_common/init.d/30_io_camflyer
index 191d8cd95..ffab26c38 100644
--- a/ROMFS/px4fmu_common/init.d/30_io_camflyer
+++ b/ROMFS/px4fmu_common/init.d/30_io_camflyer
@@ -30,8 +30,6 @@ then
 	# Start MAVLink (depends on orb)
 	mavlink start
 
-	commander start
-
 	sh /etc/init.d/rc.io
 	# Limit to 100 Hz updates and (implicit) 50 Hz PWM
 	px4io limit 100
@@ -39,41 +37,29 @@ else
 	# Start MAVLink (on UART1 / ttyS0)
 	mavlink start -d /dev/ttyS0
 
-	commander start
-
 	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)
+# Load mixer and start controllers (depends on px4io)
 #
-sh /etc/init.d/rc.logging
+if [ -f /fs/microsd/etc/mixers/FMU_Q.mix ]
+then
+	echo "Using /fs/microsd/etc/mixers/FMU_Q.mix"
+	mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_Q.mix
+else
+	echo "Using /etc/mixers/FMU_Q.mix"
+	mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
+fi
 
 #
-# Start GPS interface (depends on orb)
+Start common fixedwing apps
 #
-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_Q.mix
-fw_att_control start
-fw_pos_control_l1 start
+sh /etc/init.d/rc.fixedwing
 
 if [ $EXIT_ON_END == yes ]
 then
 	exit
-fi
+fi
\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/31_io_phantom b/ROMFS/px4fmu_common/init.d/31_io_phantom
index 652833745..14607e2df 100644
--- a/ROMFS/px4fmu_common/init.d/31_io_phantom
+++ b/ROMFS/px4fmu_common/init.d/31_io_phantom
@@ -52,8 +52,6 @@ then
 	# Start MAVLink (depends on orb)
 	mavlink start
 
-	commander start
-
 	sh /etc/init.d/rc.io
 	# Limit to 100 Hz updates and (implicit) 50 Hz PWM
 	px4io limit 100
@@ -61,41 +59,29 @@ else
 	# Start MAVLink (on UART1 / ttyS0)
 	mavlink start -d /dev/ttyS0
 
-	commander start
-
 	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)
+# Load mixer and start controllers (depends on px4io)
 #
-sh /etc/init.d/rc.logging
+if [ -f /fs/microsd/etc/mixers/FMU_Q.mix ]
+then
+	echo "Using /fs/microsd/etc/mixers/FMU_Q.mix"
+	mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_Q.mix
+else
+	echo "Using /etc/mixers/FMU_Q.mix"
+	mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
+fi
 
 #
-# Start GPS interface (depends on orb)
+Start common fixedwing apps
 #
-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_Q.mix
-fw_att_control start
-fw_pos_control_l1 start
+sh /etc/init.d/rc.fixedwing
 
 if [ $EXIT_ON_END == yes ]
 then
 	exit
-fi
+fi
\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/32_skywalker_x5 b/ROMFS/px4fmu_common/init.d/32_skywalker_x5
index cd7677112..11071613c 100644
--- a/ROMFS/px4fmu_common/init.d/32_skywalker_x5
+++ b/ROMFS/px4fmu_common/init.d/32_skywalker_x5
@@ -30,8 +30,6 @@ then
 	# Start MAVLink (depends on orb)
 	mavlink start
 
-	commander start
-
 	sh /etc/init.d/rc.io
 	# Limit to 100 Hz updates and (implicit) 50 Hz PWM
 	px4io limit 100
@@ -39,32 +37,10 @@ else
 	# Start MAVLink (on UART1 / ttyS0)
 	mavlink start -d /dev/ttyS0
 
-	commander start
-
 	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 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)
@@ -77,8 +53,11 @@ else
 	echo "Using /etc/mixers/FMU_Q.mix"
 	mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
 fi
-fw_att_control start
-fw_pos_control_l1 start
+
+#
+Start common fixedwing apps
+#
+sh /etc/init.d/rc.fixedwing
 
 if [ $EXIT_ON_END == yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/666_fmu_q_x550 b/ROMFS/px4fmu_common/init.d/666_fmu_q_x550
index eae37098b..1ee84b9b0 100644
--- a/ROMFS/px4fmu_common/init.d/666_fmu_q_x550
+++ b/ROMFS/px4fmu_common/init.d/666_fmu_q_x550
@@ -1,6 +1,6 @@
 #!nsh
 
-echo "[init] 666_fmu_q_x550: PX4FMU Quad X550 with PWM outputs"
+echo "[init] 666_fmu_q_x550: PX4FMU Quad X550 with or without IO"
 
 #
 # Load default params for this platform
@@ -33,17 +33,27 @@ fi
 # MAV_TYPE     2 = quadrotor
 #
 param set MAV_TYPE 2
- 
-#
-# Start MAVLink
-#
-mavlink start -d /dev/ttyS0 -b 57600
-usleep 5000
+
+set EXIT_ON_END no
 
 #
-# Start PWM output
+# Start and configure PX4IO or FMU interface
 #
-fmu mode_pwm
+if px4io detect
+then
+	# Start MAVLink (depends on orb)
+	mavlink start
+	usleep 5000
+
+	sh /etc/init.d/rc.io
+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
 
 #
 # Load mixer
@@ -56,9 +66,18 @@ mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
 pwm rate -c 1234 -r 400
 
 #
+# Set disarmed, min and max PWM signals
+#
+pwm disarmed -c 1234 -p 900
+pwm min -c 1234 -p 1100
+pwm max -c 1234 -p 1900
+
+#
 # Start common for all multirotors apps
 #
 sh /etc/init.d/rc.multirotor
- 
-# Exit, because /dev/ttyS0 is needed for MAVLink
-exit
+
+if [ $EXIT_ON_END == yes ]
+then
+	exit
+fi
diff --git a/ROMFS/px4fmu_common/init.d/rc.custom_dji_f330_mkblctrl b/ROMFS/px4fmu_common/init.d/rc.custom_dji_f330_mkblctrl
index a63d0e5f1..4686382ca 100644
--- a/ROMFS/px4fmu_common/init.d/rc.custom_dji_f330_mkblctrl
+++ b/ROMFS/px4fmu_common/init.d/rc.custom_dji_f330_mkblctrl
@@ -84,10 +84,10 @@ then
 
 	sh /etc/init.d/rc.io
 else
-	fmu mode_pwm
 	# 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
diff --git a/ROMFS/px4fmu_common/init.d/rc.custom_io_esc b/ROMFS/px4fmu_common/init.d/rc.custom_io_esc
index 0c0cfa53d..045e41e52 100644
--- a/ROMFS/px4fmu_common/init.d/rc.custom_io_esc
+++ b/ROMFS/px4fmu_common/init.d/rc.custom_io_esc
@@ -60,9 +60,7 @@ then
 	# Start MAVLink (depends on orb)
 	mavlink start -d /dev/ttyS1 -b 57600
 	usleep 5000
-
-	commander start
-
+	
 	sh /etc/init.d/rc.io
 else
 	fmu mode_pwm
diff --git a/ROMFS/px4fmu_common/init.d/rc.fixedwing b/ROMFS/px4fmu_common/init.d/rc.fixedwing
new file mode 100644
index 000000000..79e34a3b9
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/rc.fixedwing
@@ -0,0 +1,39 @@
+#!nsh
+#
+# Standard everything needed for fixedwing except mixer, actuator output and mavlink
+#
+
+#
+# Start the Commander
+#
+commander start
+
+#
+# Start the sensors and test them.
+#
+sh /etc/init.d/rc.sensors
+
+#
+# Start logging (depends on sensors)
+#
+sh /etc/init.d/rc.logging
+
+#
+# Start GPS interface (depends on orb)
+#
+gps start
+
+#
+# Start the attitude and position estimator
+#
+att_pos_estimator_ekf start
+
+#
+# Start attitude controller
+#
+fw_att_control start
+
+#
+# Start the position controller
+#
+fw_pos_control_l1 start
diff --git a/ROMFS/px4fmu_common/init.d/rc.multirotor b/ROMFS/px4fmu_common/init.d/rc.multirotor
index dfff07198..6bae99175 100644
--- a/ROMFS/px4fmu_common/init.d/rc.multirotor
+++ b/ROMFS/px4fmu_common/init.d/rc.multirotor
@@ -1,9 +1,14 @@
 #!nsh
 #
-# Standard everything needed for multirotors except mixer, output and mavlink
+# Standard everything needed for multirotors except mixer, actuator output and mavlink
 #
 
 #
+# Start the Commander
+#
+commander start
+
+#
 # Start the sensors and test them.
 #
 sh /etc/init.d/rc.sensors