Merge branch 'master' into autostart

3 files changed, 65 insertions, 27 deletions

diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 62c7184b8..5cf1ff383 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -34,9 +34,10 @@ fi
 # ALWAYS start this task before the
 # preflight_check.
 #
-sensors start
-
-#
-# Check sensors - run AFTER 'sensors start'
-#
-preflight_check
\ No newline at end of file
+if sensors start
+then
+	#
+	# Check sensors - run AFTER 'sensors start'
+	#
+	preflight_check
+fi
\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb
index 31af3991a..986821994 100644
--- a/ROMFS/px4fmu_common/init.d/rc.usb
+++ b/ROMFS/px4fmu_common/init.d/rc.usb
@@ -5,8 +5,33 @@
 
 echo "Starting MAVLink on this USB console"
 
+# Stop tone alarm
+tone_alarm stop
+
 # Tell MAVLink that this link is "fast"
-mavlink start -b 230400 -d /dev/console
+if mavlink stop
+then
+	echo "stopped other MAVLink instance"
+fi
+mavlink start -b 230400 -d /dev/ttyACM0
+
+# Start the commander
+commander start
+
+# Start sensors
+sh /etc/init.d/rc.sensors
+
+# Start one of the estimators
+if attitude_estimator_ekf start
+then
+	echo "estimating attitude"
+fi
+
+# Start GPS
+if gps start
+then
+	echo "GPS started"
+fi
 
 echo "MAVLink started, exiting shell.."
 
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 06c1c2492..ee7e84050 100755
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -7,7 +7,6 @@
 # can change this to prevent automatic startup of the flight script.
 #
 set MODE autostart
-set USB autoconnect
 
 #
 # Try to mount the microSD card.
@@ -66,31 +65,44 @@ then
 	sh /fs/microsd/etc/rc.txt
 fi
 
-#
-# Check for USB host
-#
-if [ $USB != autoconnect ]
+# if this is an APM build then there will be a rc.APM script
+# from an EXTERNAL_SCRIPTS build option
+if [ -f /etc/init.d/rc.APM ]
 then
-	echo "[init] not connecting USB"
-else
 	if sercon
 	then
 		echo "[init] USB interface connected"
-	else
-		if [ -f /dev/ttyACM0 ]
-			echo "[init] NSH via USB"
-		then
-		else
-			echo "[init] No USB connected"
-		fi
 	fi
-fi
 
-# if this is an APM build then there will be a rc.APM script
-# from an EXTERNAL_SCRIPTS build option
-if [ -f /etc/init.d/rc.APM ]
-then
-	echo Running rc.APM
+	echo "Running rc.APM"
 	# if APM startup is successful then nsh will exit
 	sh /etc/init.d/rc.APM
 fi
+
+if [ $MODE == autostart ]
+then
+
+#
+# Start the ORB (first app to start)
+#
+uorb start
+
+#
+# Load microSD params
+#
+if ramtron start
+then
+	param select /ramtron/params
+	if [ -f /ramtron/params ]
+	then
+		param load /ramtron/params
+	fi
+else
+	param select /fs/microsd/params
+	if [ -f /fs/microsd/params ]
+	then
+		param load /fs/microsd/params
+	fi
+fi
+
+fi