From b9b75a24045da332644ce397d2777d9d554ff39f Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Thu, 2 May 2013 22:35:16 +0200
Subject: Hotfix: Provide a FMU + IO on quad start script

---
 ROMFS/Makefile           |   3 +-
 ROMFS/scripts/rc.IO_QUAD | 107 +++++++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 109 insertions(+), 1 deletion(-)
 create mode 100644 ROMFS/scripts/rc.IO_QUAD

diff --git a/ROMFS/Makefile b/ROMFS/Makefile
index 11a4650fa..5ff079a93 100644
--- a/ROMFS/Makefile
+++ b/ROMFS/Makefile
@@ -24,6 +24,7 @@ ROMFS_FSSPEC	:= $(SRCROOT)/scripts/rcS~init.d/rcS \
 		   $(SRCROOT)/scripts/rc.FMU_quad_x~init.d/rc.FMU_quad_x \
 		   $(SRCROOT)/scripts/rc.usb~init.d/rc.usb \
 		   $(SRCROOT)/scripts/rc.hil~init.d/rc.hil \
+		   $(SRCROOT)/scripts/rc.IO_QUAD~scripts/rc.IO_QUAD \
 		   $(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 \
@@ -32,7 +33,7 @@ ROMFS_FSSPEC	:= $(SRCROOT)/scripts/rcS~init.d/rcS \
 		   $(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_quad_v.mix~mixers/FMU_quad_v.mix \
+		   $(SRCROOT)/mixers/FMU_quad_v.mix~mixers/FMU_quad_v.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 \
diff --git a/ROMFS/scripts/rc.IO_QUAD b/ROMFS/scripts/rc.IO_QUAD
new file mode 100644
index 000000000..287cb0483
--- /dev/null
+++ b/ROMFS/scripts/rc.IO_QUAD
@@ -0,0 +1,107 @@
+#!nsh
+ 
+# Disable USB and autostart
+set USB no
+set MODE quad
+ 
+#
+# Start the ORB (first app to start)
+#
+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
+ 
+#
+# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
+#
+if [ -f /fs/microsd/px4io.bin ]
+then
+	echo "PX4IO Firmware found. Checking Upgrade.."
+	if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
+	then
+		echo "No newer version, skipping upgrade."
+	else
+		echo "Loading /fs/microsd/px4io.bin"
+		if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
+		then
+			cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
+			echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
+		else
+			echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
+			echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
+		fi
+	fi
+fi
+ 
+#
+# Start MAVLink (depends on orb)
+#
+mavlink start -d /dev/ttyS1 -b 57600
+usleep 5000
+ 
+#
+# Start the commander (depends on orb, mavlink)
+#
+commander start
+ 
+#
+# Start PX4IO interface (depends on orb, commander)
+#
+px4io start
+ 
+#
+# Allow PX4IO to recover from midair restarts.
+# this is very unlikely, but quite safe and robust.
+px4io recovery
+ 
+#
+# Start the sensors (depends on orb, px4io)
+#
+sh /etc/init.d/rc.sensors
+ 
+#
+# Start GPS interface (depends on orb)
+#
+gps start
+ 
+#
+# Start the attitude estimator (depends on orb)
+#
+attitude_estimator_ekf start
+ 
+#
+# Load mixer and start controllers (depends on px4io)
+#
+mixer load /dev/pwm_output /etc/mixers/FMU_quad_+.mix
+multirotor_att_control start
+ 
+#
+# Start logging
+#
+#sdlog start -s 4
+ 
+#
+# Start system state
+#
+if blinkm start
+then
+	echo "using BlinkM for state indication"
+	blinkm systemstate
+else
+	echo "no BlinkM found, OK."
+fi
\ No newline at end of file
-- 
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