From 0e9c352927380ea45dc220306dcb8a5ceadf06c5 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lorenz@px4.io>
Date: Sat, 6 Aug 2016 13:17:27 +0200
Subject: [PATCH] Simplify TAP config

---
 ROMFS/tap_common/init.d/rcS | 709 +++++++++++++++---------------------
 1 file changed, 286 insertions(+), 423 deletions(-)

diff --git a/ROMFS/tap_common/init.d/rcS b/ROMFS/tap_common/init.d/rcS
index a68c78e6fd..d5795c1d83 100644
--- a/ROMFS/tap_common/init.d/rcS
+++ b/ROMFS/tap_common/init.d/rcS
@@ -1,6 +1,6 @@
 #!nsh
 #
-# PX4FMU startup script.
+# TAP startup script.
 #
 #  NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
 #
@@ -10,29 +10,23 @@
 #
 sercon
 
-#
-# Default to auto-start mode.
-#
-set MODE autostart
-
 set TUNE_ERR ML<<CP4CP4CP4CP4CP4
 set LOG_FILE /fs/microsd/bootlog.txt
 
+tone_alarm start
+
 #
 # Try to mount the microSD card.
 #
-# REBOOTWORK this needs to start after the flight control loop
 if mount -t vfat /dev/mmcsd0 /fs/microsd
 then
-	# Start playing the startup tune
-	tone_alarm start
+	echo "microSD present"
 else
-	tone_alarm MBAGP
 	if mkfatfs /dev/mmcsd0
 	then
 		if mount -t vfat /dev/mmcsd0 /fs/microsd
 		then
-			echo "INFO  [init] MicroSD card formatted"
+			echo "microSD card formatted"
 		else
 			echo "ERROR [init] Format failed"
 			tone_alarm MNBG
@@ -44,443 +38,312 @@ else
 fi
 
 #
-# Look for an init script on the microSD card.
-# Disable autostart if the script found.
+# Start the ORB (first app to start)
 #
-set FRC /fs/microsd/etc/rc.txt
-if [ -f $FRC ]
+uorb start
+
+#
+# Load parameters
+#
+set PARAM_FILE /fs/microsd/params
+if mtd start
 then
-	echo "INFO  [init] Executing script: $FRC"
-	sh $FRC
-	set MODE custom
+	set PARAM_FILE /fs/mtd_params
 fi
-unset FRC
 
-if [ $MODE == autostart ]
+param select $PARAM_FILE
+if param load
 then
-
-	#
-	# Start the ORB (first app to start)
-	#
-	uorb start
-
-	#
-	# Load parameters
-	#
-	set PARAM_FILE /fs/microsd/params
-	if mtd start
+else
+	if param reset
 	then
-		set PARAM_FILE /fs/mtd_params
 	fi
+fi
 
-	param select $PARAM_FILE
-	if param load
+#
+# Start system state indicator
+#
+if rgbled start
+then
+fi
+
+#
+# Set AUTOCNF flag to use it in AUTOSTART scripts
+#
+if param compare SYS_AUTOCONFIG 1
+then
+	# Wipe out params except RC*
+	param reset_nostart RC*
+	set AUTOCNF yes
+else
+	set AUTOCNF no
+fi
+
+#
+# Set default values
+#
+set VEHICLE_TYPE none
+set MIXER none
+set OUTPUT_MODE none
+set PWM_OUT none
+set PWM_RATE none
+set PWM_DISARMED none
+set PWM_MIN none
+set PWM_MAX none
+set FMU_MODE pwm
+set MAVLINK_F default
+set EXIT_ON_END no
+set MAV_TYPE none
+set FAILSAFE none
+set USE_IO no
+
+#
+# Set parameters and env variables for selected AUTOSTART
+#
+if param compare SYS_AUTOSTART 0
+then
+	param set SYS_AUTOSTART 6001
+fi
+
+# Start canned airframe config
+sh /etc/init.d/rc.autostart
+
+#
+# If autoconfig parameter was set, reset it and save parameters
+#
+if [ $AUTOCNF == yes ]
+then
+	param set SYS_AUTOCONFIG 0
+	param save
+fi
+unset AUTOCNF
+
+#
+# Set default output if not set
+#
+if [ $OUTPUT_MODE == none ]
+then
+	if [ $USE_IO == yes ]
 	then
+		set OUTPUT_MODE io
 	else
-		if param reset
+		set OUTPUT_MODE fmu
+	fi
+fi
+
+gps start -d /dev/ttyS0
+
+# waypoint storage
+# REBOOTWORK this needs to start in parallel
+if dataman start
+then
+fi
+
+#
+# Sensors System (start before Commander so Preflight checks are properly run)
+#
+sh /etc/init.d/rc.sensors
+
+commander start
+
+#
+# Start CPU load monitor
+#
+load_mon start
+
+# Start MAVLink on the gimbal port
+mavlink start -r 1200 -d /dev/ttyS1
+
+# Start MAVLink on USB, developers can use the MAVLink shell
+mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
+
+#
+# Logging
+#
+if logger start -b 12 -t
+then
+fi
+
+#
+# Fixed wing setup
+#
+if [ $VEHICLE_TYPE == fw ]
+then
+	echo "INFO  [init] Fixedwing"
+
+	if [ $MIXER == none ]
+	then
+		# Set default mixer for fixed wing if not defined
+		set MIXER AERT
+	fi
+
+	if [ $MAV_TYPE == none ]
+	then
+		# Use MAV_TYPE = 1 (fixed wing) if not defined
+		set MAV_TYPE 1
+	fi
+
+	param set MAV_TYPE $MAV_TYPE
+
+	# Load mixer and configure outputs
+	sh /etc/init.d/rc.interface
+
+	# Start standard fixedwing apps
+	sh /etc/init.d/rc.fw_apps
+fi
+
+#
+# Multicopters setup
+#
+if [ $VEHICLE_TYPE == mc ]
+then
+	echo "INFO  [init] Multicopter"
+
+	if [ $MIXER == none ]
+	then
+		echo "INFO  [init] Mixer undefined"
+	fi
+
+	if [ $MAV_TYPE == none ]
+	then
+		# Use mixer to detect vehicle type
+		if [ $MIXER == quad_x -o $MIXER == quad_+ ]
 		then
+			set MAV_TYPE 2
+		fi
+		if [ $MIXER == quad_w ]
+		then
+			set MAV_TYPE 2
+		fi
+		if [ $MIXER == quad_h ]
+		then
+			set MAV_TYPE 2
+		fi
+		if [ $MIXER == tri_y_yaw- -o $MIXER == tri_y_yaw+ ]
+		then
+			set MAV_TYPE 15
+		fi
+		if [ $MIXER == hexa_x -o $MIXER == hexa_+ ]
+		then
+			set MAV_TYPE 13
+		fi
+		if [ $MIXER == hexa_cox ]
+		then
+			set MAV_TYPE 13
+		fi
+		if [ $MIXER == octo_x -o $MIXER == octo_+ ]
+		then
+			set MAV_TYPE 14
 		fi
 	fi
 
-	#
-	# Start system state indicator
-	#
-	if rgbled start
+	# Still no MAV_TYPE found
+	if [ $MAV_TYPE == none ]
 	then
-	fi
-
-	#
-	# Set AUTOCNF flag to use it in AUTOSTART scripts
-	#
-	if param compare SYS_AUTOCONFIG 1
-	then
-		# Wipe out params except RC*
-		param reset_nostart RC*
-		set AUTOCNF yes
+		echo "WARN  [init] Unknown MAV_TYPE"
+		param set MAV_TYPE 2
 	else
-		set AUTOCNF no
-	fi
-
-	#
-	# Set default values
-	#
-	set VEHICLE_TYPE none
-	set MIXER none
-	set OUTPUT_MODE none
-	set PWM_OUT none
-	set PWM_RATE none
-	set PWM_DISARMED none
-	set PWM_MIN none
-	set PWM_MAX none
-	set FMU_MODE pwm
-	set MAVLINK_F default
-	set EXIT_ON_END no
-	set MAV_TYPE none
-	set FAILSAFE none
-	set USE_IO no
-	
-
-	#
-	# Set parameters and env variables for selected AUTOSTART
-	#
-	if param compare SYS_AUTOSTART 0
-	then
-		echo "INFO  [init] No autostart"
-	else
-		sh /etc/init.d/rc.autostart
-	fi
-	unset MODE
-
-	#
-	# If autoconfig parameter was set, reset it and save parameters
-	#
-	if [ $AUTOCNF == yes ]
-	then
-		param set SYS_AUTOCONFIG 0
-		param save
-	fi
-	unset AUTOCNF
-
-	#
-	# Set default output if not set
-	#
-	if [ $OUTPUT_MODE == none ]
-	then
-		if [ $USE_IO == yes ]
-		then
-			set OUTPUT_MODE io
-		else
-			set OUTPUT_MODE fmu
-		fi
-	fi
-
-	gps start -d /dev/ttyS0
-
-	# waypoint storage
-	# REBOOTWORK this needs to start in parallel
-	if dataman start
-	then
-	fi
-
-	#
-	# Sensors System (start before Commander so Preflight checks are properly run)
-	#
-	sh /etc/init.d/rc.sensors
-
-	commander start
-
-	#
-	# Start CPU load monitor
-	#
-	load_mon start
-
-	#
-	# Start primary output
-	#
-	set TTYS1_BUSY no
-
-	#
-	# Check if UAVCAN is enabled, default to it for ESCs
-	#
-	if param greater UAVCAN_ENABLE 2
-	then
-		set OUTPUT_MODE uavcan_esc
-	fi
-
-	# If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output
-	if [ $OUTPUT_MODE != none ]
-	then
-		if [ $OUTPUT_MODE == uavcan_esc ]
-		then
-			if param compare UAVCAN_ENABLE 0
-			then
-				echo "INFO  [init] OVERRIDING UAVCAN_ENABLE = 1" >> $LOG_FILE
-				param set UAVCAN_ENABLE 1
-			fi
-		fi
-
-		if [ $OUTPUT_MODE == fmu ]
-		then
-			if fmu mode_$FMU_MODE
-			then
-			else
-				echo "ERR  [init] FMU start failed" >> $LOG_FILE
-				tone_alarm $TUNE_ERR
-			fi
-		fi
-
-		if fmu mode_pwm4
-		then
-		else
-			echo "ERROR [init] FMU mode_$FMU_MODE start failed" >> $LOG_FILE
-			tone_alarm $TUNE_ERR
-		fi
-	fi
-
-	mavlink start -r 1200 -d /dev/ttyS1
-
-	#
-	# Starting stuff according to UAVCAN_ENABLE value
-	#
-	if param greater UAVCAN_ENABLE 0
-	then
-		if uavcan start
-		then
-		else
-			tone_alarm $TUNE_ERR
-		fi
-	fi
-
-	if param greater UAVCAN_ENABLE 1
-	then
-		if uavcan start fw
-		then
-		else
-			tone_alarm $TUNE_ERR
-		fi
-	fi
-
-	#
-	# Optional drivers
-	#
-
-	# Sensors on the PWM interface bank
-	if param compare SENS_EN_LL40LS 1
-	then
-		if pwm_input start
-		then
-			if ll40ls start pwm
-			then
-			fi
-		fi
-	fi
-
-	# sf0x lidar sensor
-	if param compare SENS_EN_SF0X 1
-	then
-		sf0x start
-	fi
-
-	# Start USB shell if no microSD present, MAVLink else
-	if [ $LOG_FILE == /dev/null ]
-	then
-		# Try to get an USB console
-		nshterm /dev/ttyACM0 &
-	else
-		mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
-	fi
-
-	#
-	# Logging
-	#
-	if param compare SYS_LOGGER 0
-	then
-		if sdlog2 start -r 100 -a -b 9 -t
-		then
-		fi
-	else
-		if logger start -b 12 -t
-		then
-		fi
-	fi
-
-	#
-	# Fixed wing setup
-	#
-	if [ $VEHICLE_TYPE == fw ]
-	then
-		echo "INFO  [init] Fixedwing"
-
-		if [ $MIXER == none ]
-		then
-			# Set default mixer for fixed wing if not defined
-			set MIXER AERT
-		fi
-
-		if [ $MAV_TYPE == none ]
-		then
-			# Use MAV_TYPE = 1 (fixed wing) if not defined
-			set MAV_TYPE 1
-		fi
-
 		param set MAV_TYPE $MAV_TYPE
-
-		# Load mixer and configure outputs
-		sh /etc/init.d/rc.interface
-
-		# Start standard fixedwing apps
-		sh /etc/init.d/rc.fw_apps
 	fi
 
-	#
-	# Multicopters setup
-	#
-	if [ $VEHICLE_TYPE == mc ]
-	then
-		echo "INFO  [init] Multicopter"
+	# Load mixer and configure outputs
+	sh /etc/init.d/rc.interface
 
-		if [ $MIXER == none ]
-		then
-			echo "INFO  [init] Mixer undefined"
-		fi
-
-		if [ $MAV_TYPE == none ]
-		then
-			# Use mixer to detect vehicle type
-			if [ $MIXER == quad_x -o $MIXER == quad_+ ]
-			then
-				set MAV_TYPE 2
-			fi
-			if [ $MIXER == quad_w ]
-			then
-				set MAV_TYPE 2
-			fi
-			if [ $MIXER == quad_h ]
-			then
-				set MAV_TYPE 2
-			fi
-			if [ $MIXER == tri_y_yaw- -o $MIXER == tri_y_yaw+ ]
-			then
-				set MAV_TYPE 15
-			fi
-			if [ $MIXER == hexa_x -o $MIXER == hexa_+ ]
-			then
-				set MAV_TYPE 13
-			fi
-			if [ $MIXER == hexa_cox ]
-			then
-				set MAV_TYPE 13
-			fi
-			if [ $MIXER == octo_x -o $MIXER == octo_+ ]
-			then
-				set MAV_TYPE 14
-			fi
-		fi
-
-		# Still no MAV_TYPE found
-		if [ $MAV_TYPE == none ]
-		then
-			echo "WARN  [init] Unknown MAV_TYPE"
-			param set MAV_TYPE 2
-		else
-			param set MAV_TYPE $MAV_TYPE
-		fi
-
-		# Load mixer and configure outputs
-		sh /etc/init.d/rc.interface
-
-		# Start standard multicopter apps
-		sh /etc/init.d/rc.mc_apps
-	fi
-
-	#
-	# VTOL setup
-	#
-	if [ $VEHICLE_TYPE == vtol ]
-	then
-		echo "INFO  [init] VTOL"
-
-		if [ $MIXER == none ]
-		then
-			echo "WARN  [init] VTOL mixer undefined"
-		fi
-
-		if [ $MAV_TYPE == none ]
-		then
-			# Use mixer to detect vehicle type
-			if [ $MIXER == caipirinha_vtol ]
-			then
-				set MAV_TYPE 19
-			fi
-			if [ $MIXER == firefly6 ]
-			then
-				set MAV_TYPE 21
-			fi
-			if [ $MIXER == quad_x_pusher_vtol ]
-			then
-				set MAV_TYPE 22
-			fi
-		fi
-
-		# Still no MAV_TYPE found
-		if [ $MAV_TYPE == none ]
-		then
-			echo "WARN  [init] Unknown MAV_TYPE"
-			param set MAV_TYPE 19
-		else
-			param set MAV_TYPE $MAV_TYPE
-		fi
-
-		# Load mixer and configure outputs
-		sh /etc/init.d/rc.interface
-
-		# Start standard vtol apps
-		sh /etc/init.d/rc.vtol_apps
-	fi
-
-	#
-	# Rover setup
-	#
-	if [ $VEHICLE_TYPE == rover ]
-	then
-		# 10 is MAV_TYPE_GROUND_ROVER
-		set MAV_TYPE 10
-
-		# Load mixer and configure outputs
-		sh /etc/init.d/rc.interface
-
-		# Start standard rover apps
-		sh /etc/init.d/rc.axialracing_ax10_apps
-
-		param set MAV_TYPE 10
-	fi
-
-	unset MIXER
-	unset MAV_TYPE
-	unset OUTPUT_MODE
-
-	#
-	# Start the navigator
-	#
-	navigator start
-
-	#
-	# Generic setup (autostart ID not found)
-	#
-	if [ $VEHICLE_TYPE == none ]
-	then
-		echo "WARN  [init] No autostart ID found"
-	fi
-
-	# Start any custom addons
-	set FEXTRAS /fs/microsd/etc/extras.txt
-	if [ -f $FEXTRAS ]
-	then
-		echo "INFO  [init] Addons script: $FEXTRAS"
-		sh $FEXTRAS
-	fi
-	unset FEXTRAS
-
-	# Run no SD alarm
-	if [ $LOG_FILE == /dev/null ]
-	then
-		# Play SOS
-		tone_alarm error
-	fi
-
-# End of autostart
+	# Start standard multicopter apps
+	sh /etc/init.d/rc.mc_apps
 fi
 
+#
+# VTOL setup
+#
+if [ $VEHICLE_TYPE == vtol ]
+then
+	echo "INFO  [init] VTOL"
+
+	if [ $MIXER == none ]
+	then
+		echo "WARN  [init] VTOL mixer undefined"
+	fi
+
+	if [ $MAV_TYPE == none ]
+	then
+		# Use mixer to detect vehicle type
+		if [ $MIXER == caipirinha_vtol ]
+		then
+			set MAV_TYPE 19
+		fi
+		if [ $MIXER == firefly6 ]
+		then
+			set MAV_TYPE 21
+		fi
+		if [ $MIXER == quad_x_pusher_vtol ]
+		then
+			set MAV_TYPE 22
+		fi
+	fi
+
+	# Still no MAV_TYPE found
+	if [ $MAV_TYPE == none ]
+	then
+		echo "WARN  [init] Unknown MAV_TYPE"
+		param set MAV_TYPE 19
+	else
+		param set MAV_TYPE $MAV_TYPE
+	fi
+
+	# Load mixer and configure outputs
+	sh /etc/init.d/rc.interface
+
+	# Start standard vtol apps
+	sh /etc/init.d/rc.vtol_apps
+fi
+
+#
+# Rover setup
+#
+if [ $VEHICLE_TYPE == rover ]
+then
+	# 10 is MAV_TYPE_GROUND_ROVER
+	set MAV_TYPE 10
+
+	# Load mixer and configure outputs
+	sh /etc/init.d/rc.interface
+
+	# Start standard rover apps
+	sh /etc/init.d/rc.axialracing_ax10_apps
+
+	param set MAV_TYPE 10
+fi
+
+unset MIXER
+unset MAV_TYPE
+unset OUTPUT_MODE
+
+#
+# Start the navigator
+#
+navigator start
+
+#
+# Generic setup (autostart ID not found)
+#
+if [ $VEHICLE_TYPE == none ]
+then
+	echo "WARN  [init] No autostart ID found"
+fi
+
+# Start any custom addons
+set FEXTRAS /fs/microsd/etc/extras.txt
+if [ -f $FEXTRAS ]
+then
+	echo "INFO  [init] Addons script: $FEXTRAS"
+	sh $FEXTRAS
+fi
+unset FEXTRAS
+
 # There is no further script processing, so we can free some RAM
 # XXX potentially unset all script variables.
 unset TUNE_ERR
 
 # Boot is complete, inform MAVLink app(s) that the system is now fully up and running
 mavlink boot_complete
-
-if [ $EXIT_ON_END == yes ]
-then
-	echo "INFO  [init] NSH exit"
-	exit
-fi
-unset EXIT_ON_END