From ec5602e45d51e500327bd3aa08d4a3d678573936 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Thu, 8 May 2014 14:23:33 +0200
Subject: UAVCAN quad X autostart setup

---
 ROMFS/px4fmu_common/init.d/rcS | 12 +++++++++++-
 1 file changed, 11 insertions(+), 1 deletion(-)

(limited to 'ROMFS/px4fmu_common/init.d/rcS')

diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 756ee8ef8..5d76e4283 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -284,7 +284,17 @@ then
 	# If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output
 	if [ $OUTPUT_MODE != none ]
 	then
-		if [ $OUTPUT_MODE == io ]
+		if [ $OUTPUT_MODE == can ]
+		then
+			if uavcan start 1
+			then
+				echo "CAN UP"
+			else
+				echo "CAN ERR"
+			fi
+		fi
+
+		if [ $OUTPUT_MODE == io -o $OUTPUT_MODE == can ]
 		then
 			echo "[init] Use PX4IO PWM as primary output"
 			if px4io start
-- 
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