From 557d3f22de25a392995f2803363f32fdbc6ce843 Mon Sep 17 00:00:00 2001
From: Anton Babushkin <anton.babushkin@me.com>
Date: Sun, 25 Aug 2013 19:27:11 +0200
Subject: Startup scripts major cleanup

---
 ROMFS/px4fmu_common/init.d/31_io_phantom | 93 ++++++--------------------------
 1 file changed, 17 insertions(+), 76 deletions(-)

(limited to 'ROMFS/px4fmu_common/init.d/31_io_phantom')

diff --git a/ROMFS/px4fmu_common/init.d/31_io_phantom b/ROMFS/px4fmu_common/init.d/31_io_phantom
index 5090b98a4..0deffe3f1 100644
--- a/ROMFS/px4fmu_common/init.d/31_io_phantom
+++ b/ROMFS/px4fmu_common/init.d/31_io_phantom
@@ -1,26 +1,6 @@
 #!nsh
-#
-# Flight startup script for PX4FMU+PX4IO
-#
- 
-# disable USB and autostart
-set USB no
-set MODE custom
- 
-#
-# Start the ORB (first app to start)
-#
-uorb start
- 
-#
-# Load microSD params
-#
-echo "[init] loading microSD params"
-param select /fs/microsd/params
-if [ -f /fs/microsd/params ]
-then
-	param load /fs/microsd/params
-fi
+
+echo "[init] 31_io_phantom: PX4FMU+PX4IO on Phantom"
 
 #
 # Load default params for this platform
@@ -28,76 +8,50 @@ fi
 if param compare SYS_AUTOCONFIG 1
 then
 	# Set all params here, then disable autoconfig
+	# TODO
+	
 	param set SYS_AUTOCONFIG 0
 	param save /fs/microsd/params
 fi
  
 #
 # Force some key parameters to sane values
-# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
-#              see https://pixhawk.ethz.ch/mavlink/
+# MAV_TYPE     1 = fixed wing
 #
 param set MAV_TYPE 1
- 
-#
-# 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
- 
+# Start and configure PX4IO interface
 #
-# Allow PX4IO to recover from midair restarts.
-# this is very unlikely, but quite safe and robust.
-px4io recovery
+sh /etc/init.d/rc.io
 
 #
 # Set actuator limit to 100 Hz update (50 Hz PWM)
 px4io limit 100
  
 #
-# Start the sensors (depends on orb, px4io)
+# Start the commander
+#
+commander start
+ 
+#
+# Start the sensors
 #
 sh /etc/init.d/rc.sensors
  
 #
-# Start GPS interface (depends on orb)
+# Start GPS interface
 #
 gps start
  
 #
-# Start the attitude estimator (depends on orb)
+# Start the attitude estimator
 #
 kalman_demo start
  
@@ -106,16 +60,3 @@ kalman_demo start
 #
 mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
 control_demo start
- 
-#
-# Start logging
-#
-sdlog2 start -r 50 -a -b 14
- 
-#
-# Start system state
-#
-if blinkm start
-then
-	blinkm systemstate
-fi
-- 
cgit v1.2.3