From 0cd8f2d35b30b5081083ae830409a9090a02c6bc Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Thu, 18 Jul 2013 10:01:03 +0200
Subject: [PATCH] HOTFIX: Fix startup order

---
 ROMFS/px4fmu_common/init.d/rcS | 56 +++++++++++++++++++++-------------
 1 file changed, 34 insertions(+), 22 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 22dec87cb0..bbd86a4744 100755
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -7,7 +7,6 @@
 # can change this to prevent automatic startup of the flight script.
 #
 set MODE autostart
-set USB autoconnect
 
 #
 # Try to mount the microSD card.
@@ -42,31 +41,44 @@ then
 	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
-		if [ -f /dev/ttyACM0 ]
-			echo "[init] NSH via USB"
-		then
-		else
-			echo "[init] No USB connected"
-		fi
-	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 sercon
+	then
+		echo "[init] USB interface connected"
+	fi
+
+	echo "Running rc.APM"
 	# if APM startup is successful then nsh will exit
 	sh /etc/init.d/rc.APM
 fi
+
+if [ $MODE == autostart ]
+then
+
+#
+# Start the ORB (first app to start)
+#
+uorb start
+
+#
+# Load microSD params
+#
+if ramtron start
+then
+	param select /ramtron/params
+	if [ -f /ramtron/params ]
+	then
+		param load /ramtron/params
+	fi
+else
+	param select /fs/microsd/params
+	if [ -f /fs/microsd/params ]
+	then
+		param load /fs/microsd/params
+	fi
+fi
+
+fi