From e19d2e94ec5c38c2800a7001a2a04102734012d4 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Thu, 18 Jul 2013 15:20:36 +0200
Subject: Hotfix: Ensured there are never two filters running at the same time
 if auto-magic happens via USB link

---
 ROMFS/px4fmu_common/init.d/rc.usb | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

(limited to 'ROMFS/px4fmu_common/init.d/rc.usb')

diff --git a/ROMFS/px4fmu_common/init.d/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb
index 986821994..147521fd1 100644
--- a/ROMFS/px4fmu_common/init.d/rc.usb
+++ b/ROMFS/px4fmu_common/init.d/rc.usb
@@ -22,9 +22,16 @@ commander start
 sh /etc/init.d/rc.sensors
 
 # Start one of the estimators
-if attitude_estimator_ekf start
+if attitude_estimator_ekf status
 then
-	echo "estimating attitude"
+	echo "multicopter att filter running"
+else
+	if att_pos_estimator_ekf status
+	then
+		echo "fixedwing att filter running"
+	else
+		attitude_estimator_ekf start
+	fi
 fi
 
 # Start GPS
-- 
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