From cbb5ce8f59a34615fe0d702041c497efe40edb56 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sun, 11 Aug 2013 16:54:00 +0200
Subject: Fixed startup behavior for PX4 autostart

---
 ROMFS/px4fmu_common/init.d/10_io_f330 | 10 ++++------
 ROMFS/px4fmu_common/init.d/rc.sensors |  3 ---
 ROMFS/px4fmu_common/init.d/rc.usb     | 14 ++++++++++++++
 3 files changed, 18 insertions(+), 9 deletions(-)

(limited to 'ROMFS')

diff --git a/ROMFS/px4fmu_common/init.d/10_io_f330 b/ROMFS/px4fmu_common/init.d/10_io_f330
index 4450eb50d..4083bb905 100644
--- a/ROMFS/px4fmu_common/init.d/10_io_f330
+++ b/ROMFS/px4fmu_common/init.d/10_io_f330
@@ -75,6 +75,8 @@ px4io min 1200 1200 1200 1200
 # Upper limits could be higher, this is on the safe side
 #
 px4io max 1800 1800 1800 1800
+
+mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
  
 #
 # Start the sensors (depends on orb, px4io)
@@ -95,17 +97,13 @@ gps start
 # Start the attitude estimator (depends on orb)
 #
 attitude_estimator_ekf start
- 
-#
-# Load mixer and start controllers (depends on px4io)
-#
-mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
+
 multirotor_att_control start
  
 #
 # Start logging
 #
-sdlog2 start -r 20 -a -b 16
+sdlog2 start -r 50 -a -b 16
  
 #
 # Start system state
diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 5e80ddc2f..26b561571 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -36,8 +36,5 @@ fi
 #
 if sensors start
 then
-	#
-	# Check sensors - run AFTER 'sensors start'
-	#
 	preflight_check &
 fi
diff --git a/ROMFS/px4fmu_common/init.d/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb
index 5b1bd272e..abeed0ca3 100644
--- a/ROMFS/px4fmu_common/init.d/rc.usb
+++ b/ROMFS/px4fmu_common/init.d/rc.usb
@@ -16,12 +16,26 @@ fi
 sleep 2
 mavlink start -b 230400 -d /dev/ttyACM0
 
+# Stop commander
+if commander stop
+then
+	echo "Commander stopped"
+fi
+sleep 1
+
 # Start the commander
 if commander start
 then
 	echo "Commander started"
 fi
 
+# Stop px4io
+if px4io stop
+then
+	echo "PX4IO stopped"
+fi
+sleep 1
+
 # Start px4io if present
 if px4io start
 then
-- 
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