From 8d1abf4aa441e1c6c886e8af6ecaab2c3ca6e255 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Thu, 18 Jul 2013 13:16:34 +0200
Subject: Lunchtime HOTFIX: Bring back USB console to operational, allow
 single-USB connection operation via QGC

---
 ROMFS/px4fmu_common/init.d/rc.sensors | 13 +++++++------
 ROMFS/px4fmu_common/init.d/rc.usb     | 27 ++++++++++++++++++++++++++-
 2 files changed, 33 insertions(+), 7 deletions(-)

(limited to 'ROMFS')

diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 62c7184b8..5cf1ff383 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -34,9 +34,10 @@ fi
 # ALWAYS start this task before the
 # preflight_check.
 #
-sensors start
-
-#
-# Check sensors - run AFTER 'sensors start'
-#
-preflight_check
\ No newline at end of file
+if sensors start
+then
+	#
+	# Check sensors - run AFTER 'sensors start'
+	#
+	preflight_check
+fi
\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb
index 31af3991a..986821994 100644
--- a/ROMFS/px4fmu_common/init.d/rc.usb
+++ b/ROMFS/px4fmu_common/init.d/rc.usb
@@ -5,8 +5,33 @@
 
 echo "Starting MAVLink on this USB console"
 
+# Stop tone alarm
+tone_alarm stop
+
 # Tell MAVLink that this link is "fast"
-mavlink start -b 230400 -d /dev/console
+if mavlink stop
+then
+	echo "stopped other MAVLink instance"
+fi
+mavlink start -b 230400 -d /dev/ttyACM0
+
+# Start the commander
+commander start
+
+# Start sensors
+sh /etc/init.d/rc.sensors
+
+# Start one of the estimators
+if attitude_estimator_ekf start
+then
+	echo "estimating attitude"
+fi
+
+# Start GPS
+if gps start
+then
+	echo "GPS started"
+fi
 
 echo "MAVLink started, exiting shell.."
 
-- 
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