Merge working changes into export-build branch.

ROMFS/px4fmu_common/init.d/rc.FMU_quad_x

@@ -0,0 +1,67 @@
+#!nsh
+#
+# Flight startup script for PX4FMU with PWM outputs.
+#
+ 
+# Disable the USB interface
+set USB no
+ 
+# Disable autostarting other apps
+set MODE custom
+ 
+echo "[init] doing PX4FMU Quad startup..."
+ 
+#
+# Start the ORB
+#
+uorb start
+ 
+#
+# Load microSD params
+#
+echo "[init] loading microSD params"
+param select /fs/microsd/parameters
+if [ -f /fs/microsd/parameters ]
+then
+	param load /fs/microsd/parameters
+fi
+ 
+#
+# Force some key parameters to sane values
+# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
+#              see https://pixhawk.ethz.ch/mavlink/
+#
+param set MAV_TYPE 2
+ 
+#
+# Start MAVLink
+#
+mavlink start -d /dev/ttyS0 -b 57600
+usleep 5000
+ 
+#
+# Start the sensors and test them.
+#
+sh /etc/init.d/rc.sensors
+ 
+#
+# Start the commander.
+#
+commander start
+ 
+#
+# Start the attitude estimator
+#
+attitude_estimator_ekf start
+ 
+echo "[init] starting PWM output"
+fmu mode_pwm
+mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
+ 
+#
+# Start attitude control
+#
+multirotor_att_control start
+ 
+echo "[init] startup done, exiting"
+exit

ROMFS/px4fmu_common/init.d/rc.PX4IO

@@ -0,0 +1,80 @@
+#!nsh
+ 
+# Disable USB and autostart
+set USB no
+set MODE camflyer
+ 
+#
+# Start the ORB
+#
+uorb start
+ 
+#
+# Load microSD params
+#
+echo "[init] loading microSD params"
+param select /fs/microsd/parameters
+if [ -f /fs/microsd/parameters ]
+then
+	param load /fs/microsd/parameters
+fi
+ 
+#
+# Force some key parameters to sane values
+# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
+#              see https://pixhawk.ethz.ch/mavlink/
+#
+param set MAV_TYPE 1
+ 
+#
+# Start the sensors.
+#
+sh /etc/init.d/rc.sensors
+ 
+#
+# Start MAVLink
+#
+mavlink start -d /dev/ttyS1 -b 57600
+usleep 5000
+ 
+#
+# Start the commander.
+#
+commander start
+ 
+#
+# Start GPS interface
+#
+gps start
+ 
+#
+# Start the attitude estimator
+#
+kalman_demo start
+ 
+#
+# Start PX4IO interface
+#
+px4io start
+ 
+#
+# Load mixer and start controllers
+#
+mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
+control_demo start
+ 
+#
+# Start logging
+#
+sdlog start -s 10
+
+#
+# Start system state
+#
+if blinkm start
+then
+	echo "using BlinkM for state indication"
+	blinkm systemstate
+else
+	echo "no BlinkM found, OK."
+fi

ROMFS/px4fmu_common/init.d/rc.PX4IOAR

@@ -0,0 +1,98 @@
+#!nsh
+#
+# Flight startup script for PX4FMU on PX4IOAR carrier board.
+#
+ 
+# Disable the USB interface
+set USB no
+ 
+# Disable autostarting other apps
+set MODE ardrone
+ 
+echo "[init] doing PX4IOAR startup..."
+ 
+#
+# Start the ORB
+#
+uorb start
+ 
+#
+# Init the parameter storage
+#
+echo "[init] loading microSD params"
+param select /fs/microsd/parameters
+if [ -f /fs/microsd/parameters ]
+then
+	param load /fs/microsd/parameters
+fi
+ 
+#
+# Force some key parameters to sane values
+# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
+#              see https://pixhawk.ethz.ch/mavlink/
+#
+param set MAV_TYPE 2
+ 
+#
+# Start the sensors.
+#
+sh /etc/init.d/rc.sensors
+ 
+#
+# Start MAVLink
+#
+mavlink start -d /dev/ttyS0 -b 57600
+usleep 5000
+ 
+#
+# Start the commander.
+#
+commander start
+ 
+#
+# Start the attitude estimator
+#
+attitude_estimator_ekf start
+ 
+#
+# Configure PX4FMU for operation with PX4IOAR
+#
+fmu mode_gpio_serial
+ 
+#
+# Fire up the multi rotor attitude controller
+#
+multirotor_att_control start
+ 
+#
+# Fire up the AR.Drone interface.
+#
+ardrone_interface start -d /dev/ttyS1
+ 
+#
+# Start GPS capture
+#
+gps start
+
+#
+# Start logging
+#
+sdlog start -s 10
+
+#
+# Start system state
+#
+if blinkm start
+then
+	echo "using BlinkM for state indication"
+	blinkm systemstate
+else
+	echo "no BlinkM found, OK."
+fi
+ 
+#
+# startup is done; we don't want the shell because we
+# use the same UART for telemetry
+#
+echo "[init] startup done"
+exit

ROMFS/px4fmu_common/init.d/rc.boarddetect

@@ -0,0 +1,66 @@
+#!nsh
+#
+# If we are still in flight mode, work out what airframe 
+# configuration we have and start up accordingly.
+#
+if [ $MODE != autostart ]
+then
+	echo "[init] automatic startup cancelled by user script"
+else
+	echo "[init] detecting attached hardware..."
+
+	#
+	# Assume that we are PX4FMU in standalone mode
+	#
+	set BOARD PX4FMU
+
+	#
+	# Are we attached to a PX4IOAR (AR.Drone carrier board)?
+	#
+	if boardinfo test name PX4IOAR
+	then
+		set BOARD PX4IOAR
+		if [ -f /etc/init.d/rc.PX4IOAR ]
+		then
+			echo "[init] reading /etc/init.d/rc.PX4IOAR"
+			usleep 500
+			sh /etc/init.d/rc.PX4IOAR
+		fi
+	else
+		echo "[init] PX4IOAR not detected"
+	fi
+
+	#
+	# Are we attached to a PX4IO?
+	#
+	if boardinfo test name PX4IO
+	then
+		set BOARD PX4IO
+		if [ -f /etc/init.d/rc.PX4IO ]
+		then
+			echo "[init] reading /etc/init.d/rc.PX4IO"
+			usleep 500
+			sh /etc/init.d/rc.PX4IO
+		fi
+	else
+		echo "[init] PX4IO not detected"
+	fi
+
+	#
+	# Looks like we are stand-alone
+	#
+	if [ $BOARD == PX4FMU ]
+	then
+		echo "[init] no expansion board detected"
+		if [ -f /etc/init.d/rc.standalone ]
+		then
+			echo "[init] reading /etc/init.d/rc.standalone"
+			sh /etc/init.d/rc.standalone
+		fi
+	fi
+
+	#
+	# We may not reach here if the airframe-specific script exits the shell.
+	#
+	echo "[init] startup done."
+fi

ROMFS/px4fmu_common/init.d/rc.jig

@@ -0,0 +1,10 @@
+#!nsh
+#
+# Test jig startup script
+#
+
+echo "[testing] doing production test.."
+
+tests jig
+
+echo "[testing] testing done"

ROMFS/px4fmu_common/init.d/rc.logging

@@ -0,0 +1,9 @@
+#!nsh
+#
+# Initialise logging services.
+#
+
+if [ -d /fs/microsd ]
+then
+	sdlog start
+fi

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -0,0 +1,34 @@
+#!nsh
+#
+# Standard startup script for PX4FMU onboard sensor drivers.
+#
+
+#
+# Start sensor drivers here.
+#
+
+ms5611 start
+adc start
+
+if mpu6000 start
+then
+	echo "using MPU6000 and HMC5883L"
+	hmc5883 start
+else
+	echo "using L3GD20 and LSM303D"
+	l3gd20 start
+	lsm303 start
+fi
+
+#
+# Start the sensor collection task.
+# IMPORTANT: this also loads param offsets
+# ALWAYS start this task before the
+# preflight_check.
+#
+sensors start
+
+#
+# Check sensors - run AFTER 'sensors start'
+#
+preflight_check

ROMFS/px4fmu_common/init.d/rc.standalone

@@ -0,0 +1,13 @@
+#!nsh
+#
+# Flight startup script for PX4FMU standalone configuration.
+#
+
+echo "[init] doing standalone PX4FMU startup..."
+
+#
+# Start the ORB
+#
+uorb start
+
+echo "[init] startup done"

ROMFS/px4fmu_common/init.d/rcS

@@ -0,0 +1,79 @@
+#!nsh
+#
+# PX4FMU startup script.
+#
+# This script is responsible for:
+#
+# - mounting the microSD card (if present)
+# - running the user startup script from the microSD card (if present)
+# - detecting the configuration of the system and picking a suitable
+#   startup script to continue with
+#
+# Note: DO NOT add configuration-specific commands to this script;
+#       add them to the per-configuration scripts instead.
+#
+
+#
+# Default to auto-start mode.  An init script on the microSD card
+# can change this to prevent automatic startup of the flight script.
+#
+set MODE autostart
+set USB autoconnect
+
+#
+# Start playing the startup tune
+#
+tone_alarm start
+
+#
+# Try to mount the microSD card.
+#
+echo "[init] looking for microSD..."
+if mount -t vfat /dev/mmcsd0 /fs/microsd
+then
+	echo "[init] card mounted at /fs/microsd"
+else
+	echo "[init] no microSD card found"
+fi
+
+#
+# Look for an init script on the microSD card.
+#
+# To prevent automatic startup in the current flight mode,
+# the script should set MODE to some other value.
+#
+if [ -f /fs/microsd/etc/rc ]
+then
+	echo "[init] reading /fs/microsd/etc/rc"
+	sh /fs/microsd/etc/rc
+fi
+# Also consider rc.txt files
+if [ -f /fs/microsd/etc/rc.txt ]
+then
+	echo "[init] reading /fs/microsd/etc/rc.txt"
+	sh /fs/microsd/etc/rc.txt
+fi
+
+#
+# Check for USB host
+#
+if [ $USB != autoconnect ]
+then
+	echo "[init] not connecting USB"
+else
+	if sercon
+	then
+		echo "[init] USB interface connected"
+	else
+		echo "[init] No USB connected"
+	fi
+fi
+
+# if this is an APM build then there will be a rc.APM script
+# from an EXTERNAL_SCRIPTS build option
+if [ -f /etc/init.d/rc.APM ]
+then
+	echo Running rc.APM
+	# if APM startup is successful then nsh will exit
+	sh /etc/init.d/rc.APM
+fi