From a897c97d955de4873aea1f01f65cab11faab2d3a Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Thu, 6 Mar 2014 12:45:10 +0100
Subject: Changed ARDRONE to an OUTPUT_MODE setting and added a skip option to
 mixer. Fewer beeps than before.

---
 ROMFS/px4fmu_common/init.d/4008_ardrone |  5 ++---
 ROMFS/px4fmu_common/init.d/rc.interface |  9 ++++++---
 ROMFS/px4fmu_common/init.d/rcS          | 13 +++++++++----
 3 files changed, 17 insertions(+), 10 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/4008_ardrone b/ROMFS/px4fmu_common/init.d/4008_ardrone
index 512c4cb73..39fe66234 100644
--- a/ROMFS/px4fmu_common/init.d/4008_ardrone
+++ b/ROMFS/px4fmu_common/init.d/4008_ardrone
@@ -30,7 +30,6 @@ then
     param set MC_YAW_FF 0.15
 fi
 
-set FMU_MODE gpio_serial
-set OUTPUT_MODE fmu
-set ARDRONE yes
+set OUTPUT_MODE ardrone
 set USE_IO no
+set MIXER skip
\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface
index d25f01dde..afe71460d 100644
--- a/ROMFS/px4fmu_common/init.d/rc.interface
+++ b/ROMFS/px4fmu_common/init.d/rc.interface
@@ -3,7 +3,7 @@
 # Script to configure control interface
 #
 
-if [ $MIXER != none ]
+if [ $MIXER != none -a $MIXER != skip]
 then
 	#
 	# Load mixer
@@ -33,8 +33,11 @@ then
 		tone_alarm $TUNE_OUT_ERROR
 	fi
 else
-	echo "[init] Mixer not defined"
-	tone_alarm $TUNE_OUT_ERROR
+	if [ $MIXER != skip ]
+	then
+		echo "[init] Mixer not defined"
+		tone_alarm $TUNE_OUT_ERROR
+	fi
 fi
 
 if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == io ]
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 9983aa0e7..7b9ae0995 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -240,6 +240,11 @@ then
 		fi
 	fi
 
+	if [ $OUTPUT_MODE == ardrone ]
+	then
+		set FMU_MODE gpio_serial
+	fi
+
 	if [ $HIL == yes ]
 	then
 		set OUTPUT_MODE hil
@@ -277,7 +282,7 @@ then
 				tone_alarm $TUNE_OUT_ERROR
 			fi
 		fi
-		if [ $OUTPUT_MODE == fmu ]
+		if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE = ardrone ]
 		then
 			echo "[init] Use FMU PWM as primary output"
 			if fmu mode_$FMU_MODE
@@ -351,7 +356,7 @@ then
 				fi
 			fi
 		else
-			if [ $OUTPUT_MODE != fmu ]
+			if [ $OUTPUT_MODE != fmu -a $OUTPUT_MODE != ardrone ]
 			then
 				if fmu mode_$FMU_MODE
 				then
@@ -387,7 +392,7 @@ then
 		mavlink start -b 230400 -d /dev/ttyACM0 
 		usleep 5000
 	else
-		if [ $TTYS1_BUSY == yes -o $ARDRONE == yes ]
+		if [ $TTYS1_BUSY == yes -o $OUTPUT_MODE == ardrone ]
 		then
 			# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else
 			mavlink start -d /dev/ttyS0
@@ -430,7 +435,7 @@ then
 	#
 	# Start up ARDrone Motor interface
 	#
-	if [ $ARDRONE == yes ]
+	if [ $OUTPUT_MODE == ardrone ]
 	then
 		ardrone_interface start -d /dev/ttyS1
 	fi
-- 
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