From 6a8971e28f492073a951d96065df30034853bea7 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Sat, 23 Aug 2014 17:23:59 +0400
Subject: New UAVCAN initialization logic

---
 ROMFS/px4fmu_common/init.d/rc.uavcan | 16 ++++++++++++++++
 ROMFS/px4fmu_common/init.d/rcS       | 12 ++++++++----
 2 files changed, 24 insertions(+), 4 deletions(-)
 create mode 100644 ROMFS/px4fmu_common/init.d/rc.uavcan

(limited to 'ROMFS')

diff --git a/ROMFS/px4fmu_common/init.d/rc.uavcan b/ROMFS/px4fmu_common/init.d/rc.uavcan
new file mode 100644
index 000000000..abb76b400
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/rc.uavcan
@@ -0,0 +1,16 @@
+#!nsh
+#
+# UAVCAN initialization script.
+#
+
+if param compare UAVCAN_ENABLE 1
+then
+	if uavcan start
+	then
+		sleep 1                      # Sensor autodetection delay
+		echo "[init] UAVCAN started"
+	else
+		echo "[init] ERROR: Could not start UAVCAN"
+		tone_alarm $TUNE_OUT_ERROR
+	fi
+fi
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index c9e6a27ca..195771905 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -304,11 +304,10 @@ then
 	then
 		if [ $OUTPUT_MODE == uavcan_esc ]
 		then
-			if uavcan start 1
+			if param compare UAVCAN_ENABLE 0
 			then
-				echo "CAN UP"
-			else
-				echo "CAN ERR"
+				echo "[init] OVERRIDING UAVCAN_ENABLE = 1"
+				param set UAVCAN_ENABLE 1
 			fi
 		fi
 
@@ -447,6 +446,11 @@ then
 
 	mavlink start $MAVLINK_FLAGS
 
+	#
+	# UAVCAN
+	#
+	sh /etc/init.d/rc.uavcan
+
 	#
 	# Sensors, Logging, GPS
 	#
-- 
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