2 files changed, 54 insertions, 28 deletions

diff --git a/ROMFS/px4fmu_common/init.d/01_fmu_quad_x b/ROMFS/px4fmu_common/init.d/01_fmu_quad_x
index c1f3187f9..8223b3ea5 100644
--- a/ROMFS/px4fmu_common/init.d/01_fmu_quad_x
+++ b/ROMFS/px4fmu_common/init.d/01_fmu_quad_x
@@ -62,44 +62,21 @@ param set MAV_TYPE 2
 #
 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 GPS interface (depends on orb)
+# Start common for all multirotors apps
 #
-gps start
- 
+sh /etc/init.d/rc.multirotor
+
 #
-# Start the attitude estimator
+# Start PWM output
 #
-attitude_estimator_ekf start
- 
-echo "[init] starting PWM output"
 fmu mode_pwm
 mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
 pwm -u 400 -m 0xff
  
-#
-# Start attitude control
-#
-multirotor_att_control start
-
-#
-# Start logging
-#
-sdlog2 start -r 50 -a -b 14
-
 # Try to get an USB console
 nshterm /dev/ttyACM0 &
 
 # Exit, because /dev/ttyS0 is needed for MAVLink
-exit
+#exit
diff --git a/ROMFS/px4fmu_common/init.d/rc.multirotor b/ROMFS/px4fmu_common/init.d/rc.multirotor
new file mode 100644
index 000000000..81184f363
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/rc.multirotor
@@ -0,0 +1,49 @@
+#!nsh
+#
+# Standard everything needed for multirotors except mixer, output and mavlink
+#
+
+#
+# Start the sensors and test them.
+#
+sh /etc/init.d/rc.sensors
+
+#
+# Start the commander.
+#
+commander start
+
+#
+# Start GPS interface (depends on orb)
+#
+gps start
+
+#
+# Start the attitude estimator
+#
+attitude_estimator_ekf start
+ 
+#
+# Start position estimator
+#
+position_estimator_inav start
+
+#
+# Start attitude control
+#
+multirotor_att_control start
+
+#
+# Start position control
+#
+multirotor_pos_control start
+
+#
+# Start logging
+#
+if [ $BOARD == fmuv1 ]
+then
+	sdlog2 start -r 50 -a -b 16
+else
+	sdlog2 start -r 200 -a -b 16
+fi