3 files changed, 30 insertions, 15 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_interface b/ROMFS/px4fmu_common/init.d/rc.fw_interface
index c864e7c61..69f3ed7f7 100644
--- a/ROMFS/px4fmu_common/init.d/rc.fw_interface
+++ b/ROMFS/px4fmu_common/init.d/rc.fw_interface
@@ -14,5 +14,11 @@ param set MAV_TYPE 1
 #
 echo "[init] Frame geometry: $FRAME_GEOMETRY"
 set MIXER /etc/mixers/FMU_$FRAME_GEOMETRY.mix
-echo "[init] Loading mixer: $MIXER"
-mixer load /dev/pwm_output $MIXER
+
+if mixer load /dev/pwm_output $MIXER
+then
+	echo "[init] Mixer loaded: $MIXER"
+else
+	echo "[init] Error loading mixer: $MIXER"
+	tone_alarm $TUNE_OUT_ERROR
+fi
diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_interface b/ROMFS/px4fmu_common/init.d/rc.mc_interface
index 12be3a931..6e4e4ed31 100644
--- a/ROMFS/px4fmu_common/init.d/rc.mc_interface
+++ b/ROMFS/px4fmu_common/init.d/rc.mc_interface
@@ -29,14 +29,21 @@ fi
 #
 echo "[init] Frame geometry: $FRAME_GEOMETRY"
 set MIXER /etc/mixers/FMU_$FRAME_GEOMETRY.mix
-echo "[init] Loading mixer: $MIXER"
+
 if [ $OUTPUT_MODE == mkblctrl ]
 then
 	set OUTPUT_DEV /dev/mkblctrl
 else
 	set OUTPUT_DEV /dev/pwm_output
 fi
-mixer load $OUTPUT_DEV $MIXER
+
+if mixer load $OUTPUT_DEV $MIXER
+then
+	echo "[init] Mixer loaded: $MIXER"
+else
+	echo "[init] Error loading mixer: $MIXER"
+	tone_alarm $TUNE_OUT_ERROR
+fi
 
 if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == io ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 5e13e4fa2..a809f2870 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -13,6 +13,7 @@ set RC_FILE /fs/microsd/etc/rc.txt
 set CONFIG_FILE /fs/microsd/etc/config.txt
 set EXTRAS_FILE /fs/microsd/etc/extras.txt
 
+set TUNE_OUT_ERROR ML<<CP4CP4CP4CP4CP4
 #
 # Try to mount the microSD card.
 #
@@ -174,7 +175,9 @@ then
 		else
 			echo "[init] PX4IO CRC failure"
 			echo "PX4IO CRC failure" >> $LOG_FILE
-			tone_alarm MBABGP
+			
+			tone_alarm MLL32CP8MB
+			
 			if px4io forceupdate 14662 $IO_FILE
 			then
 				usleep 500000
@@ -182,7 +185,7 @@ then
 				then
 					echo "[init] PX4IO CRC OK after updating"
 					echo "PX4IO CRC OK after updating" >> $LOG_FILE
-					tone_alarm MSPAA
+					tone_alarm MLL8CDE
 	
 					set IO_PRESENT yes
 				else
@@ -197,9 +200,8 @@ then
 		
 		if [ $IO_PRESENT == no ]
 		then
-			echo "[init] ERROR: PX4IO not found, set vehicle type to NONE"
-			tone_alarm MNGGG
-			set VEHICLE_TYPE none
+			echo "[init] ERROR: PX4IO not found"
+			tone_alarm $TUNE_OUT_ERROR
 		fi
 	fi
 	
@@ -245,7 +247,7 @@ then
 			sh /etc/init.d/rc.io
 		else
 			echo "[init] PX4IO start error"
-			tone_alarm MNGGG
+			tone_alarm $TUNE_OUT_ERROR
 		fi
 	fi
 	if [ $OUTPUT_MODE == fmu ]
@@ -256,7 +258,7 @@ then
 			echo "[init] FMU mode_$FMU_MODE started"
 		else
 			echo "[init] FMU mode_$FMU_MODE start error"
-			tone_alarm MNGGG
+			tone_alarm $TUNE_OUT_ERROR
 		fi
 		
 		if hw_ver compare PX4FMU_V1
@@ -289,7 +291,7 @@ then
 			echo "[init] MKBLCTRL started"
 		else
 			echo "[init] MKBLCTRL start error"
-			tone_alarm MNGGG
+			tone_alarm $TUNE_OUT_ERROR
 		fi
 		
 	fi		
@@ -301,7 +303,7 @@ then
 			echo "[init] HIL output started"
 		else
 			echo "[init] HIL output error"
-			tone_alarm MNGGG
+			tone_alarm $TUNE_OUT_ERROR
 		fi
 	fi
 	
@@ -318,7 +320,7 @@ then
 				sh /etc/init.d/rc.io
 			else
 				echo "[init] PX4IO start error"
-				tone_alarm MNGGG
+				tone_alarm $TUNE_OUT_ERROR
 			fi
 		fi
 	else
@@ -329,7 +331,7 @@ then
 				echo "[init] FMU mode_$FMU_MODE started"
 			else
 				echo "[init] FMU mode_$FMU_MODE start error"
-				tone_alarm MNGGG
+				tone_alarm $TUNE_OUT_ERROR
 			fi
 
 			if hw_ver compare PX4FMU_V1