From 44fea268d92b718ab0473ecf96f003b04ce9e2aa Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sun, 8 Feb 2015 16:44:10 +0100
Subject: ROMFS startup cleanup

---
 ROMFS/px4fmu_test/init.d/rcS | 53 ++++++++++++++++++++++++++------------------
 1 file changed, 32 insertions(+), 21 deletions(-)

(limited to 'ROMFS/px4fmu_test')

diff --git a/ROMFS/px4fmu_test/init.d/rcS b/ROMFS/px4fmu_test/init.d/rcS
index 3d1c4a907..1c66552f9 100644
--- a/ROMFS/px4fmu_test/init.d/rcS
+++ b/ROMFS/px4fmu_test/init.d/rcS
@@ -17,8 +17,8 @@ fi
 #
 # Try to mount the microSD card.
 #
-echo "[i] looking for microSD..."
-if mount -t vfat /dev/mmcsd0 /fs/microsd
+mount -t vfat /dev/mmcsd0 /fs/microsd
+if [ $? == 0 ]
 then
 	echo "[i] card mounted at /fs/microsd"
 	# Start playing the startup tune
@@ -40,7 +40,8 @@ else
 	set io_file /etc/extras/px4io-v1_default.bin
 fi
 
-if px4io start
+px4io start
+if [ $? == 0 ]
 then
 	echo "PX4IO OK"
 else
@@ -48,7 +49,8 @@ else
 	set unit_test_failure_list "${unit_test_failure_list} px4io_start"
 fi
 
-if px4io checkcrc $io_file
+px4io checkcrc $io_file
+if [ $? == 0 ]
 then
 	echo "PX4IO CRC OK"
 else
@@ -87,45 +89,52 @@ fi
 # Add new unit tests using the same pattern as below.
 #
 
-if mavlink_tests
+mavlink_tests
+if [ $? != 0 ]
 then
-else
 	set unit_test_failure 1
 	set unit_test_failure_list "${unit_test_failure_list} mavlink_tests"
 fi
 
-if commander_tests
+commander_tests
+if [ $? != 0 ]
 then
-else
 	set unit_test_failure 1
 	set unit_test_failure_list "${unit_test_failure_list} commander_tests"
 fi
 
-if uorb test
+uorb test
+if [ $? != 0 ]
 then
-else
 	set unit_test_failure 1
 	set unit_test_failure_list "${unit_test_failure_list} uorb_tests"
 fi
 
-if hmc5883 -I start
+adc start
+hmc5883 -I -S start
+if [ $? != 0 ]
 then
-	# This is an FMUv3
-	echo "FMUv3"
+	# This is an FMUv1 or FMUv2
+	echo "FMUv2 (or FMUv3 where 'hmc5883 -I -S start' failed)"
 	ms5611 start
+	mpu6000 start
+	lsm303d start
+	l3gd20 start
+else
+	# This is a FMUv3
+	echo "FMUv3"
 	mpu6000 -X start
 	mpu6000 start
 	lsm303d -X start
 	l3gd20 -X start
-	echo "EVALUATION ONLY SENSORS (not used in production)"
-	ms5611 -X start
-else
-	# This is an FMUv1 or FMUv2
-	echo "FMUv2 (or FMUv3 where 'hmc5883 -I start' failed)"
 	ms5611 start
-	mpu6000 start
-	lsm303d start
-	l3gd20 start
+fi
+
+tests all
+if [ $? != 0 ]
+then
+	set unit_test_failure 1
+	set unit_test_failure_list "${unit_test_failure_list} system_tests"
 fi
 
 if [ $unit_test_failure == 0 ]
@@ -136,3 +145,5 @@ else
 	echo
 	echo "Some Unit Tests FAILED:${unit_test_failure_list}"
 fi
+
+ver all
-- 
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