Merge branch 'master' of github.com:PX4/Firmware into paul_estimator

ROMFS/px4fmu_common/init.d/rcS

@@ -213,7 +213,9 @@ then
 	#  7000	..	 7999		Hexa +
 	#  8000	..	 8999		Octo X
 	#  9000	..	 9999		Octo +
-	# 10000	..	19999		Wide arm / H frame
+	# 10000	..	10999		Wide arm / H frame
+	# 11000	..	11999		Hexa Cox
+	# 12000	..	12999		Octo Cox
 	
 	if param compare SYS_AUTOSTART 4008 8
 	then
@@ -277,6 +279,13 @@ then
 		sh /etc/init.d/rc.octo
 		set MODE custom
 	fi
+
+	if param compare SYS_AUTOSTART 12001
+	then
+		set MIXER /etc/mixers/FMU_octo_cox.mix
+		sh /etc/init.d/rc.octo
+		set MODE custom
+	fi
 	
 	if param compare SYS_AUTOSTART 10015 15
 	then

ROMFS/px4fmu_test/init.d/rcS

@@ -2,6 +2,7 @@
 #
 # PX4FMU startup script for test hackery.
 #
+uorb start
 
 if sercon
 then
@@ -9,4 +10,68 @@ then
 
 	# Try to get an USB console
 	nshterm /dev/ttyACM0 &
-fi
+fi
+
+#
+# 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"
+	# Start playing the startup tune
+	tone_alarm start
+else
+	echo "[init] no microSD card found"
+	# Play SOS
+	tone_alarm error
+fi
+
+#
+# Start a minimal system
+#
+
+if [ -f /etc/extras/px4io-v2_default.bin ]
+then
+	set io_file /etc/extras/px4io-v2_default.bin
+else
+	set io_file /etc/extras/px4io-v1_default.bin
+fi
+
+if px4io start
+then
+	echo "PX4IO OK"
+fi
+
+if px4io checkcrc $io_file
+then
+	echo "PX4IO CRC OK"
+else
+	echo "PX4IO CRC failure"
+	tone_alarm MBABGP
+	if px4io forceupdate 14662 $io_file
+	then
+		usleep 500000
+		if px4io start
+		then
+			echo "PX4IO restart OK"
+			tone_alarm MSPAA
+		else
+			echo "PX4IO restart failed"
+			tone_alarm MNGGG
+			sleep 5
+			reboot
+		fi
+	else
+		echo "PX4IO update failed"
+		tone_alarm MNGGG
+	fi
+fi
+
+#
+# The presence of this file suggests we're running a mount stress test
+#
+if [ -f /fs/microsd/mount_test_cmds.txt ]
+then
+	tests mount
+fi