30 files changed, 109 insertions, 581 deletions
diff --git a/Makefile b/Makefile
index 4d42831f4..b5a66e59a 100644
--- a/Makefile
+++ b/Makefile
@@ -103,8 +103,6 @@ $(NUTTX_ARCHIVES): $(ARCHIVE_DIR)/%.export: $(NUTTX_SRC) $(NUTTX_APPS)
 	$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
 	$(Q) make -C $(NUTTX_SRC) -r $(MQUIET) distclean
 	$(Q) (cd $(NUTTX_SRC)/tools && ./configure.sh $(platform)/$(configuration))
-	@echo Generating ROMFS for $(platform) XXX move this!
-	$(Q) make -C $(ROMFS_SRC) all
 	@echo %% Exporting NuttX for $(platform)
 	$(Q) make -C $(NUTTX_SRC) -r $(MQUIET) export
 	$(Q) mkdir -p $(dir $@)
diff --git a/ROMFS/.gitignore b/ROMFS/.gitignore
deleted file mode 100644
index 30d3d7fe5..000000000
--- a/ROMFS/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-/img
diff --git a/ROMFS/Makefile b/ROMFS/Makefile
deleted file mode 100644
index d827fa491..000000000
--- a/ROMFS/Makefile
+++ /dev/null
@@ -1,120 +0,0 @@
-#
-# Makefile to generate a PX4FMU ROMFS image.
-#
-# In normal use, 'make install' will generate a new ROMFS header and place it
-# into the px4fmu configuration in the appropriate location.
-#
-
-#
-# Directories of interest
-#
-SRCROOT		?= $(dir $(lastword $(MAKEFILE_LIST)))
-BUILDROOT	?= $(SRCROOT)/img
-ROMFS_HEADER	?= $(SRCROOT)/../nuttx/configs/px4fmu/include/nsh_romfsimg.h
-
-#
-# List of files to install in the ROMFS, specified as <source>~<destination>
-#
-ROMFS_FSSPEC	:= $(SRCROOT)/scripts/rcS~init.d/rcS \
-		   $(SRCROOT)/scripts/rc.sensors~init.d/rc.sensors \
-		   $(SRCROOT)/scripts/rc.logging~init.d/rc.logging \
-		   $(SRCROOT)/scripts/rc.standalone~init.d/rc.standalone \
-		   $(SRCROOT)/scripts/rc.PX4IO~init.d/rc.PX4IO \
-		   $(SRCROOT)/scripts/rc.PX4IOAR~init.d/rc.PX4IOAR \
-		   $(SRCROOT)/scripts/rc.FMU_quad_x~init.d/rc.FMU_quad_x \
-		   $(SRCROOT)/mixers/FMU_pass.mix~mixers/FMU_pass.mix \
-		   $(SRCROOT)/mixers/FMU_Q.mix~mixers/FMU_Q.mix \
-		   $(SRCROOT)/mixers/FMU_X5.mix~mixers/FMU_X5.mix \
-		   $(SRCROOT)/mixers/FMU_AERT.mix~mixers/FMU_AERT.mix \
-		   $(SRCROOT)/mixers/FMU_AET.mix~mixers/FMU_AET.mix \
-		   $(SRCROOT)/mixers/FMU_RET.mix~mixers/FMU_ERT.mix \
-		   $(SRCROOT)/mixers/FMU_quad_x.mix~mixers/FMU_quad_x.mix \
-		   $(SRCROOT)/mixers/FMU_quad_+.mix~mixers/FMU_quad_+.mix \
-		   $(SRCROOT)/mixers/FMU_hex_x.mix~mixers/FMU_hex_x.mix \
-		   $(SRCROOT)/mixers/FMU_hex_+.mix~mixers/FMU_hex_+.mix \
-		   $(SRCROOT)/mixers/FMU_octo_x.mix~mixers/FMU_octo_x.mix \
-		   $(SRCROOT)/mixers/FMU_octo_+.mix~mixers/FMU_octo_+.mix \
-		   $(SRCROOT)/logging/logconv.m~logging/logconv.m
-
-# the EXTERNAL_SCRIPTS variable is used to add out of tree scripts
-# to ROMFS. 
-ROMFS_FSSPEC += $(EXTERNAL_SCRIPTS)
-
-#
-# Add the PX4IO firmware to the spec if someone has dropped it into the
-# source directory, or otherwise specified its location.
-#
-# Normally this is only something you'd do when working on PX4IO; most
-# users will upgrade with firmware off the microSD card.
-#
-PX4IO_FIRMWARE	?= $(SRCROOT)/px4io.bin
-ifneq ($(wildcard $(PX4IO_FIRMWARE)),)
-ROMFS_FSSPEC	+=  $(PX4IO_FIRMWARE)~px4io.bin
-endif
-
-################################################################################
-# No user-serviceable parts below
-################################################################################
-
-#
-# Just the source files from the ROMFS spec, so that we can fail cleanly if they don't
-# exist
-#
-ROMFS_SRCFILES	 = $(foreach spec,$(ROMFS_FSSPEC),$(firstword $(subst ~, ,$(spec))))
-
-#
-# Just the destination directories from the ROMFS spec
-#
-ROMFS_DIRS	 = $(sort $(dir $(foreach spec,$(ROMFS_FSSPEC),$(lastword $(subst ~, ,$(spec))))))
-
-
-#
-# Intermediate products
-#
-ROMFS_IMG	 = $(BUILDROOT)/romfs.img
-ROMFS_WORKDIR	 = $(BUILDROOT)/romfs
-
-#
-# Convenience target for rebuilding the ROMFS header
-#
-all:		$(ROMFS_HEADER)
-
-$(ROMFS_HEADER): $(ROMFS_IMG) $(dir $(ROMFS_HEADER))
-	@echo Generating the ROMFS header...
-	@(cd $(dir $(ROMFS_IMG)) && xxd -i $(notdir $(ROMFS_IMG))) > $@
-
-$(ROMFS_IMG):	$(ROMFS_WORKDIR)
-	@echo Generating the ROMFS image...
-	@genromfs -f $@ -d $(ROMFS_WORKDIR) -V "NSHInitVol"
-
-$(ROMFS_WORKDIR): $(ROMFS_SRCFILES)
-	@echo Rebuilding the ROMFS work area...
-	@rm -rf $(ROMFS_WORKDIR)
-	@mkdir -p $(ROMFS_WORKDIR)
-	@for dir in $(ROMFS_DIRS) ; do mkdir -p $(ROMFS_WORKDIR)/$$dir; done
-	@for spec in $(ROMFS_FSSPEC) ; do \
-		echo $$spec | sed -e 's%^.*~%  %' ;\
-		`echo "cp $$spec" | sed -e 's%~% $(ROMFS_WORKDIR)/%'` ;\
-	 done
-
-$(BUILDROOT):
-	@mkdir -p $(BUILDROOT)
-
-clean:
-	@rm -rf $(BUILDROOT)
-
-distclean:	clean
-	@rm -f $(PX4IO_FIRMWARE) $(ROMFS_HEADER)
-
-.PHONY:	all install clean distclean
-
-#
-# Hacks and fixups
-#
-SYSTYPE			 = $(shell uname)
-
-ifeq ($(SYSTYPE),Darwin)
-# PATH inherited by Eclipse may not include toolchain install location 
-export PATH			 := $(PATH):/usr/local/bin
-endif
-
diff --git a/ROMFS/logging/logconv.m b/ROMFS/px4fmu_default/logging/logconv.m
index 5ea2aeb95..5ea2aeb95 100755
--- a/ROMFS/logging/logconv.m
+++ b/ROMFS/px4fmu_default/logging/logconv.m
diff --git a/ROMFS/mixers/FMU_AERT.mix b/ROMFS/px4fmu_default/mixers/FMU_AERT.mix
index 75e82bb00..75e82bb00 100644
--- a/ROMFS/mixers/FMU_AERT.mix
+++ b/ROMFS/px4fmu_default/mixers/FMU_AERT.mix
diff --git a/ROMFS/mixers/FMU_AET.mix b/ROMFS/px4fmu_default/mixers/FMU_AET.mix
index 20cb88b91..20cb88b91 100644
--- a/ROMFS/mixers/FMU_AET.mix
+++ b/ROMFS/px4fmu_default/mixers/FMU_AET.mix
diff --git a/ROMFS/mixers/FMU_Q.mix b/ROMFS/px4fmu_default/mixers/FMU_Q.mix
index a35d299fd..a35d299fd 100644
--- a/ROMFS/mixers/FMU_Q.mix
+++ b/ROMFS/px4fmu_default/mixers/FMU_Q.mix
diff --git a/ROMFS/mixers/FMU_RET.mix b/ROMFS/px4fmu_default/mixers/FMU_RET.mix
index 95beb8927..95beb8927 100644
--- a/ROMFS/mixers/FMU_RET.mix
+++ b/ROMFS/px4fmu_default/mixers/FMU_RET.mix
diff --git a/ROMFS/mixers/FMU_X5.mix b/ROMFS/px4fmu_default/mixers/FMU_X5.mix
index 981466704..981466704 100644
--- a/ROMFS/mixers/FMU_X5.mix
+++ b/ROMFS/px4fmu_default/mixers/FMU_X5.mix
diff --git a/ROMFS/px4fmu_default/mixers/FMU_delta.mix b/ROMFS/px4fmu_default/mixers/FMU_delta.mix
new file mode 100644
index 000000000..981466704
--- /dev/null
+++ b/ROMFS/px4fmu_default/mixers/FMU_delta.mix
@@ -0,0 +1,50 @@
+Delta-wing mixer for PX4FMU
+===========================
+
+This file defines mixers suitable for controlling a delta wing aircraft using
+PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
+servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
+assumed to be unused.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+See the README for more information on the scaler format.
+
+Elevon mixers
+-------------
+Three scalers total (output, roll, pitch).
+
+On the assumption that the two elevon servos are physically reversed, the pitch
+input is inverted between the two servos.
+
+The scaling factor for roll inputs is adjusted to implement differential travel
+for the elevons.
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 0   3000   5000      0 -10000  10000
+S: 0 1   5000   5000      0 -10000  10000
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 0   5000   3000      0 -10000  10000
+S: 0 1  -5000  -5000      0 -10000  10000
+
+Output 2
+--------
+This mixer is empty.
+
+Z:
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
+
diff --git a/ROMFS/mixers/FMU_hex_+.mix b/ROMFS/px4fmu_default/mixers/FMU_hex_+.mix
index b5e38ce9e..b5e38ce9e 100644
--- a/ROMFS/mixers/FMU_hex_+.mix
+++ b/ROMFS/px4fmu_default/mixers/FMU_hex_+.mix
diff --git a/ROMFS/mixers/FMU_hex_x.mix b/ROMFS/px4fmu_default/mixers/FMU_hex_x.mix
index 8e8d122ad..8e8d122ad 100644
--- a/ROMFS/mixers/FMU_hex_x.mix
+++ b/ROMFS/px4fmu_default/mixers/FMU_hex_x.mix
diff --git a/ROMFS/mixers/FMU_octo_+.mix b/ROMFS/px4fmu_default/mixers/FMU_octo_+.mix
index 2cb70e814..2cb70e814 100644
--- a/ROMFS/mixers/FMU_octo_+.mix
+++ b/ROMFS/px4fmu_default/mixers/FMU_octo_+.mix
diff --git a/ROMFS/mixers/FMU_octo_x.mix b/ROMFS/px4fmu_default/mixers/FMU_octo_x.mix
index edc71f013..edc71f013 100644
--- a/ROMFS/mixers/FMU_octo_x.mix
+++ b/ROMFS/px4fmu_default/mixers/FMU_octo_x.mix
diff --git a/ROMFS/mixers/FMU_pass.mix b/ROMFS/px4fmu_default/mixers/FMU_pass.mix
index e9a81f2bb..e9a81f2bb 100644
--- a/ROMFS/mixers/FMU_pass.mix
+++ b/ROMFS/px4fmu_default/mixers/FMU_pass.mix
diff --git a/ROMFS/mixers/FMU_quad_+.mix b/ROMFS/px4fmu_default/mixers/FMU_quad_+.mix
index dfdf1d58e..dfdf1d58e 100644
--- a/ROMFS/mixers/FMU_quad_+.mix
+++ b/ROMFS/px4fmu_default/mixers/FMU_quad_+.mix
diff --git a/ROMFS/mixers/FMU_quad_x.mix b/ROMFS/px4fmu_default/mixers/FMU_quad_x.mix
index 12a3bee20..12a3bee20 100644
--- a/ROMFS/mixers/FMU_quad_x.mix
+++ b/ROMFS/px4fmu_default/mixers/FMU_quad_x.mix
diff --git a/ROMFS/mixers/README b/ROMFS/px4fmu_default/mixers/README
index 6649c53c2..6649c53c2 100644
--- a/ROMFS/mixers/README
+++ b/ROMFS/px4fmu_default/mixers/README
diff --git a/ROMFS/scripts/rc.FMU_quad_x b/ROMFS/scripts/rc.FMU_quad_x
deleted file mode 100644
index 8787443ea..000000000
--- a/ROMFS/scripts/rc.FMU_quad_x
+++ /dev/null
@@ -1,67 +0,0 @@
-#!nsh
-#
-# Flight startup script for PX4FMU with PWM outputs.
-#
- 
-# Disable the USB interface
-set USB no
- 
-# Disable autostarting other apps
-set MODE custom
- 
-echo "[init] doing PX4FMU Quad startup..."
- 
-#
-# Start the ORB
-#
-uorb start
- 
-#
-# Load microSD params
-#
-echo "[init] loading microSD params"
-param select /fs/microsd/parameters
-if [ -f /fs/microsd/parameters ]
-then
-	param load /fs/microsd/parameters
-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
- 
-#
-# Start MAVLink
-#
-mavlink start -d /dev/ttyS0 -b 57600
-usleep 5000
- 
-#
-# Start the sensors and test them.
-#
-sh /etc/init.d/rc.sensors
- 
-#
-# Start the commander.
-#
-commander start
- 
-#
-# Start the attitude estimator
-#
-attitude_estimator_ekf start
- 
-echo "[init] starting PWM output"
-fmu mode_pwm
-mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
- 
-#
-# Start attitude control
-#
-multirotor_att_control start
- 
-echo "[init] startup done, exiting"
-exit
-\ No newline at end of file
diff --git a/ROMFS/scripts/rc.PX4IO b/ROMFS/scripts/rc.PX4IO
deleted file mode 100644
index 1e3963b9a..000000000
--- a/ROMFS/scripts/rc.PX4IO
+++ /dev/null
@@ -1,80 +0,0 @@
-#!nsh
- 
-# Disable USB and autostart
-set USB no
-set MODE camflyer
- 
-#
-# Start the ORB
-#
-uorb start
- 
-#
-# Load microSD params
-#
-echo "[init] loading microSD params"
-param select /fs/microsd/parameters
-if [ -f /fs/microsd/parameters ]
-then
-	param load /fs/microsd/parameters
-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 1
- 
-#
-# Start the sensors.
-#
-sh /etc/init.d/rc.sensors
- 
-#
-# Start MAVLink
-#
-mavlink start -d /dev/ttyS1 -b 57600
-usleep 5000
- 
-#
-# Start the commander.
-#
-commander start
- 
-#
-# Start GPS interface
-#
-gps start
- 
-#
-# Start the attitude estimator
-#
-kalman_demo start
- 
-#
-# Start PX4IO interface
-#
-px4io start
- 
-#
-# Load mixer and start controllers
-#
-mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
-control_demo start
- 
-#
-# Start logging
-#
-sdlog start -s 10
-
-#
-# Start system state
-#
-if blinkm start
-then
-	echo "using BlinkM for state indication"
-	blinkm systemstate
-else
-	echo "no BlinkM found, OK."
-fi
diff --git a/ROMFS/scripts/rc.PX4IOAR b/ROMFS/scripts/rc.PX4IOAR
deleted file mode 100644
index 72df68e35..000000000
--- a/ROMFS/scripts/rc.PX4IOAR
+++ /dev/null
@@ -1,98 +0,0 @@
-#!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
- 
-#
-# Init the parameter storage
-#
-echo "[init] loading microSD params"
-param select /fs/microsd/parameters
-if [ -f /fs/microsd/parameters ]
-then
-	param load /fs/microsd/parameters
-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
- 
-#
-# Start the sensors.
-#
-sh /etc/init.d/rc.sensors
- 
-#
-# Start MAVLink
-#
-mavlink start -d /dev/ttyS0 -b 57600
-usleep 5000
- 
-#
-# Start the commander.
-#
-commander start
- 
-#
-# Start the attitude estimator
-#
-attitude_estimator_ekf start
- 
-#
-# Configure PX4FMU for operation with PX4IOAR
-#
-fmu mode_gpio_serial
- 
-#
-# Fire up the multi rotor attitude controller
-#
-multirotor_att_control start
- 
-#
-# Fire up the AR.Drone interface.
-#
-ardrone_interface start -d /dev/ttyS1
- 
-#
-# Start GPS capture
-#
-gps start
-
-#
-# Start logging
-#
-sdlog start -s 10
-
-#
-# Start system state
-#
-if blinkm start
-then
-	echo "using BlinkM for state indication"
-	blinkm systemstate
-else
-	echo "no BlinkM found, OK."
-fi
- 
-#
-# startup is done; we don't want the shell because we
-# use the same UART for telemetry
-#
-echo "[init] startup done"
-exit
-\ No newline at end of file
diff --git a/ROMFS/scripts/rc.boarddetect b/ROMFS/scripts/rc.boarddetect
deleted file mode 100644
index f233e51df..000000000
--- a/ROMFS/scripts/rc.boarddetect
+++ /dev/null
@@ -1,66 +0,0 @@
-#!nsh
-#
-# If we are still in flight mode, work out what airframe 
-# configuration we have and start up accordingly.
-#
-if [ $MODE != autostart ]
-then
-	echo "[init] automatic startup cancelled by user script"
-else
-	echo "[init] detecting attached hardware..."
-
-	#
-	# Assume that we are PX4FMU in standalone mode
-	#
-	set BOARD PX4FMU
-
-	#
-	# Are we attached to a PX4IOAR (AR.Drone carrier board)?
-	#
-	if boardinfo test name PX4IOAR
-	then
-		set BOARD PX4IOAR
-		if [ -f /etc/init.d/rc.PX4IOAR ]
-		then
-			echo "[init] reading /etc/init.d/rc.PX4IOAR"
-			usleep 500
-			sh /etc/init.d/rc.PX4IOAR
-		fi
-	else
-		echo "[init] PX4IOAR not detected"
-	fi
-
-	#
-	# Are we attached to a PX4IO?
-	#
-	if boardinfo test name PX4IO
-	then
-		set BOARD PX4IO
-		if [ -f /etc/init.d/rc.PX4IO ]
-		then
-			echo "[init] reading /etc/init.d/rc.PX4IO"
-			usleep 500
-			sh /etc/init.d/rc.PX4IO
-		fi
-	else
-		echo "[init] PX4IO not detected"
-	fi
-
-	#
-	# Looks like we are stand-alone
-	#
-	if [ $BOARD == PX4FMU ]
-	then
-		echo "[init] no expansion board detected"
-		if [ -f /etc/init.d/rc.standalone ]
-		then
-			echo "[init] reading /etc/init.d/rc.standalone"
-			sh /etc/init.d/rc.standalone
-		fi
-	fi
-
-	#
-	# We may not reach here if the airframe-specific script exits the shell.
-	#
-	echo "[init] startup done."
-fi
-\ No newline at end of file
diff --git a/ROMFS/scripts/rc.jig b/ROMFS/scripts/rc.jig
deleted file mode 100644
index e2b5d8f30..000000000
--- a/ROMFS/scripts/rc.jig
+++ /dev/null
@@ -1,10 +0,0 @@
-#!nsh
-#
-# Test jig startup script
-#
-
-echo "[testing] doing production test.."
-
-tests jig
-
-echo "[testing] testing done"
diff --git a/ROMFS/scripts/rc.logging b/ROMFS/scripts/rc.logging
deleted file mode 100644
index 09c2d00d1..000000000
--- a/ROMFS/scripts/rc.logging
+++ /dev/null
@@ -1,9 +0,0 @@
-#!nsh
-#
-# Initialise logging services.
-#
-
-if [ -d /fs/microsd ]
-then
-	sdlog start
-fi
diff --git a/ROMFS/scripts/rc.sensors b/ROMFS/scripts/rc.sensors
deleted file mode 100644
index 42c2f52e9..000000000
--- a/ROMFS/scripts/rc.sensors
+++ /dev/null
@@ -1,34 +0,0 @@
-#!nsh
-#
-# Standard startup script for PX4FMU onboard sensor drivers.
-#
-
-#
-# Start sensor drivers here.
-#
-
-ms5611 start
-adc start
-
-if mpu6000 start
-then
-	echo "using MPU6000 and HMC5883L"
-	hmc5883 start
-else
-	echo "using L3GD20 and LSM303D"
-	l3gd20 start
-	lsm303 start
-fi
-
-#
-# Start the sensor collection task.
-# IMPORTANT: this also loads param offsets
-# ALWAYS start this task before the
-# preflight_check.
-#
-sensors start
-
-#
-# Check sensors - run AFTER 'sensors start'
-#
-preflight_check
-\ No newline at end of file
diff --git a/ROMFS/scripts/rc.standalone b/ROMFS/scripts/rc.standalone
deleted file mode 100644
index 67e95215b..000000000
--- a/ROMFS/scripts/rc.standalone
+++ /dev/null
@@ -1,13 +0,0 @@
-#!nsh
-#
-# Flight startup script for PX4FMU standalone configuration.
-#
-
-echo "[init] doing standalone PX4FMU startup..."
-
-#
-# Start the ORB
-#
-uorb start
-
-echo "[init] startup done"
diff --git a/ROMFS/scripts/rcS b/ROMFS/scripts/rcS
deleted file mode 100755
index 89a767879..000000000
--- a/ROMFS/scripts/rcS
+++ /dev/null
@@ -1,79 +0,0 @@
-#!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
-# can change this to prevent automatic startup of the flight script.
-#
-set MODE autostart
-set USB autoconnect
-
-#
-# Start playing the startup tune
-#
-tone_alarm start
-
-#
-# 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"
-else
-	echo "[init] no microSD card found"
-fi
-
-#
-# Look for an init script on the microSD card.
-#
-# To prevent automatic startup in the current flight mode,
-# the script should set MODE to some other value.
-#
-if [ -f /fs/microsd/etc/rc ]
-then
-	echo "[init] reading /fs/microsd/etc/rc"
-	sh /fs/microsd/etc/rc
-fi
-# Also consider rc.txt files
-if [ -f /fs/microsd/etc/rc.txt ]
-then
-	echo "[init] reading /fs/microsd/etc/rc.txt"
-	sh /fs/microsd/etc/rc.txt
-fi
-
-#
-# Check for USB host
-#
-if [ $USB != autoconnect ]
-then
-	echo "[init] not connecting USB"
-else
-	if sercon
-	then
-		echo "[init] USB interface connected"
-	else
-		echo "[init] No USB connected"
-	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
-	# if APM startup is successful then nsh will exit
-	sh /etc/init.d/rc.APM
-fi
diff --git a/makefiles/config_px4fmu_default.mk b/makefiles/config_px4fmu_default.mk
index 45b1170ff..e0c1aff9d 100644
--- a/makefiles/config_px4fmu_default.mk
+++ b/makefiles/config_px4fmu_default.mk
@@ -4,5 +4,6 @@
 
 CONFIG		 = px4fmu_default
 SRCS		 = $(PX4_BASE)/platforms/empty.c
+ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/$(CONFIG)
 
 include $(PX4_BASE)/makefiles/firmware.mk
diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk
index 338bda8d3..d64d39ea4 100644
--- a/makefiles/firmware.mk
+++ b/makefiles/firmware.mk
@@ -23,6 +23,11 @@
 #	to the directory 'build' under the directory containing the
 #	parent Makefile.
 #
+# ROMFS_ROOT:
+#	If set to the path to a directory, a ROMFS image will be generated
+#	containing the files under the directory and linked into the final
+#	image.
+#
 
 ################################################################################
 # Paths and configuration
@@ -71,6 +76,7 @@ MKFW			 = $(PX4_BASE)/Tools/px_mkfw.py
 COPY			 = cp
 REMOVE			 = rm -f
 RMDIR			 = rm -rf
+GENROMFS		 = genromfs
 
 #
 # Sanity-check the PLATFORM variable and then get the platform config.
@@ -135,6 +141,29 @@ LIBS			+= -lapps -lnuttx
 LINK_DEPS		+= $(wildcard $(addsuffix /*.a,$(LIB_DIRS)))
 
 ################################################################################
+# ROMFS generation
+################################################################################
+
+#
+# Note that we can't just put romfs.c in SRCS, as it's depended on by the
+# NuttX export library. Instead, we have to treat it like a library.
+#
+ifneq ($(ROMFS_ROOT),)
+ROMFS_DEPS		+= $(wildcard \
+			     (ROMFS_ROOT)/* \
+			     (ROMFS_ROOT)/*/* \
+			     (ROMFS_ROOT)/*/*/* \
+			     (ROMFS_ROOT)/*/*/*/* \
+			     (ROMFS_ROOT)/*/*/*/*/* \
+			     (ROMFS_ROOT)/*/*/*/*/*/*)
+ROMFS_IMG		 = $(WORK_DIR)/romfs.img
+ROMFS_CSRC		 = $(ROMFS_IMG:.img=.c)
+ROMFS_OBJ		 = $(ROMFS_CSRC:.c=.o)
+LIBS			+= $(ROMFS_OBJ)
+LINK_DEPS		+= $(ROMFS_OBJ)
+endif
+
+################################################################################
 # Build rules
 ################################################################################
 
@@ -159,7 +188,7 @@ all:			$(PRODUCT_BUNDLE)
 OBJS			 = $(foreach src,$(SRCS),$(WORK_DIR)/$(src).o)
 
 #
-# Rules
+# SRCS -> OBJS rules
 #
 
 $(filter %.c.o,$(OBJS)): $(WORK_DIR)/%.c.o: %.c $(GLOBAL_DEPS)
@@ -174,11 +203,19 @@ $(filter %.S.o,$(OBJS)): $(WORK_DIR)/%.S.o: %.S $(GLOBAL_DEPS)
 	@mkdir -p $(dir $@)
 	$(call ASSEMBLE,$<,$@)
 
+#
+# Build directory setup rules
+#
+
 $(NUTTX_CONFIG_HEADER):	$(NUTTX_ARCHIVE)
 	@echo %% Unpacking $(NUTTX_ARCHIVE)
 	$(Q) unzip -q -o -d $(WORK_DIR) $(NUTTX_ARCHIVE)
 	$(Q) touch $@
 
+#
+# Built product rules
+#
+
 $(PRODUCT_BUNDLE):	$(PRODUCT_BIN)
 	@echo %% Generating $@
 	$(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(PLATFORM).prototype \
@@ -191,6 +228,25 @@ $(PRODUCT_BIN):		$(PRODUCT_SYM)
 $(PRODUCT_SYM):		$(OBJS) $(GLOBAL_DEPS) $(LINK_DEPS)
 	$(call LINK,$@,$(OBJS))
 
+#
+# ROMFS rules
+#
+
+$(ROMFS_OBJ): $(ROMFS_CSRC)
+	$(call COMPILE,$<,$@)
+
+$(ROMFS_CSRC): $(ROMFS_IMG)
+	@echo %% generating $@
+	$(Q) (cd $(dir $<) && xxd -i $(notdir $<)) > $@
+
+$(ROMFS_IMG): $(ROMFS_DEPS)
+	@echo %% generating $@
+	$(Q) $(GENROMFS) -f $@ -d $(ROMFS_ROOT) -V "NSHInitVol"
+
+#
+# Utility rules
+#
+
 upload:	$(PRODUCT_BUNDLE) $(PRODUCT_BIN)
 	$(Q) make -f $(PX4_MK_INCLUDE)/upload.mk \
 		METHOD=serial \
diff --git a/makefiles/upload.mk b/makefiles/upload.mk
index 15e0e240a..5308aaa3e 100644
--- a/makefiles/upload.mk
+++ b/makefiles/upload.mk
@@ -1,5 +1,5 @@
 #
-# Rules and tools for uploading firmware.
+# Rules and tools for uploading firmware to various PX4 boards.
 #
 
 UPLOADER		 = $(PX4_BASE)/Tools/px_uploader.py