From 36d1ec80ef264beb34604b3e2b9bb076fd78d52f Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Mon, 10 Feb 2014 15:12:32 +0100
Subject: Startup: don't configure anything if definitions are missing

---
 ROMFS/px4fmu_common/init.d/rcS | 28 ++++++++++++++++++----------
 1 file changed, 18 insertions(+), 10 deletions(-)

(limited to 'ROMFS')

diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 178bcaeba..ede835ab7 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -464,16 +464,20 @@ then
 
 		if [ $MIXER == none ]
 		then
-			# Set default mixer for multicopter if not defined
-			set MIXER quad_x
+			echo "Default mixer for multicopter not defined"
 		fi
 
 		if [ $MAV_TYPE == none ]
 		then
-			# Use MAV_TYPE = 2 (quadcopter) if not defined
-			set MAV_TYPE 2
-			
 			# Use mixer to detect vehicle type
+			if [ $MIXER == FMU_quad_x -o $MIXER == FMU_quad_+ ]
+			then
+				set MAV_TYPE 2
+			fi
+			if [ $MIXER == FMU_quad_w ]
+			then
+				set MAV_TYPE 2
+			fi
 			if [ $MIXER == FMU_hexa_x -o $MIXER == FMU_hexa_+ ]
 			then
 				set MAV_TYPE 13
@@ -487,8 +491,14 @@ then
 				set MAV_TYPE 14
 			fi
 		fi
-
-	    param set MAV_TYPE $MAV_TYPE
+		
+		# Still no MAV_TYPE found
+		if [ $MAV_TYPE == none ]
+		then
+			echo "Unknown MAV_TYPE"
+		else
+			param set MAV_TYPE $MAV_TYPE
+		fi
 		
 		# Load mixer and configure outputs
 		sh /etc/init.d/rc.interface
@@ -502,10 +512,8 @@ then
 	#
 	if [ $VEHICLE_TYPE == none ]
 	then
-		echo "[init] Vehicle type: GENERIC"
+		echo "[init] Vehicle type: No autostart ID found"
 
-		# Load mixer and configure outputs
-		sh /etc/init.d/rc.interface
 	fi
 
 	# Start any custom addons
-- 
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