From 255d91d8d49ce06f065b6a0269bdfabeaa40fae4 Mon Sep 17 00:00:00 2001
From: Anton Babushkin <anton.babushkin@me.com>
Date: Tue, 7 Jan 2014 21:56:35 +0100
Subject: hw_ver app added for hardware version checking

---
 ROMFS/px4fmu_common/init.d/1001_rc_quad.hil | 7 +++++--
 ROMFS/px4fmu_common/init.d/800_sdlogger     | 4 +++-
 ROMFS/px4fmu_common/init.d/rc.io            | 2 +-
 ROMFS/px4fmu_common/init.d/rc.logging       | 4 +++-
 ROMFS/px4fmu_common/init.d/rc.sensors       | 4 +---
 ROMFS/px4fmu_common/init.d/rcS              | 9 ++++++---
 6 files changed, 19 insertions(+), 11 deletions(-)

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

diff --git a/ROMFS/px4fmu_common/init.d/1001_rc_quad.hil b/ROMFS/px4fmu_common/init.d/1001_rc_quad.hil
index 9b664d63e..25ea25ae8 100644
--- a/ROMFS/px4fmu_common/init.d/1001_rc_quad.hil
+++ b/ROMFS/px4fmu_common/init.d/1001_rc_quad.hil
@@ -67,8 +67,11 @@ if px4io start
 then
 	echo "IO started"
 else
-	fmu mode_serial
-	echo "FMU started"
+	if hw_ver compare PX4FMU_V1
+	then
+		fmu mode_serial
+		echo "FMU started"
+	fi
 fi
 
 #
diff --git a/ROMFS/px4fmu_common/init.d/800_sdlogger b/ROMFS/px4fmu_common/init.d/800_sdlogger
index 9b90cbdd0..2d2c3737b 100644
--- a/ROMFS/px4fmu_common/init.d/800_sdlogger
+++ b/ROMFS/px4fmu_common/init.d/800_sdlogger
@@ -42,10 +42,12 @@ position_estimator_inav start
 
 if [ -d /fs/microsd ]
 then
-	if [ $BOARD == fmuv1 ]
+	if hw_ver compare PX4FMU_V1
 	then
+		echo "Start sdlog2 at 50Hz"
 		sdlog2 start -r 50 -e -b 16
 	else
+		echo "Start sdlog2 at 200Hz"
 		sdlog2 start -r 200 -e -b 16
 	fi
 fi
diff --git a/ROMFS/px4fmu_common/init.d/rc.io b/ROMFS/px4fmu_common/init.d/rc.io
index aaf91b316..24784610c 100644
--- a/ROMFS/px4fmu_common/init.d/rc.io
+++ b/ROMFS/px4fmu_common/init.d/rc.io
@@ -11,7 +11,7 @@ then
 	#
 	# Disable px4io topic limiting
 	#
-	if [ $BOARD == fmuv1 ]
+	if hw_ver compare PX4FMU_V1
 	then
 		px4io limit 200
 	else
diff --git a/ROMFS/px4fmu_common/init.d/rc.logging b/ROMFS/px4fmu_common/init.d/rc.logging
index dc4be8055..1791acbee 100644
--- a/ROMFS/px4fmu_common/init.d/rc.logging
+++ b/ROMFS/px4fmu_common/init.d/rc.logging
@@ -5,10 +5,12 @@
 
 if [ -d /fs/microsd ]
 then
-	if [ $BOARD == fmuv1 ]
+	if hw_ver compare PX4FMU_V1
 	then
+		echo "Start sdlog2 at 50Hz"
 		sdlog2 start -r 50 -a -b 16
 	else
+		echo "Start sdlog2 at 200Hz"
 		sdlog2 start -r 200 -a -b 16
 	fi
 fi
diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 070a4e7e3..a2517135f 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -28,9 +28,7 @@ fi
 
 if lsm303d start
 then
-	set BOARD fmuv2
-else
-	set BOARD fmuv1
+	echo "using LSM303D"
 fi
 
 # Start airspeed sensors
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 66cb3f237..8801d1126 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -185,9 +185,12 @@ then
 			else
 				echo "PX4IO restart failed"
 				echo "PX4IO restart failed" >> $logfile
-				tone_alarm MNGGG
-				sleep 10
-				reboot
+				if hw_ver compare PX4FMU_V2
+				then
+					tone_alarm MNGGG
+					sleep 10
+					reboot
+				fi
 			fi
 		else
 			echo "PX4IO update failed"
-- 
cgit v1.2.3