Roboclaw encoders/ dutycycledrive complete.

ROMFS/px4fmu_common/init.d/40_io_segway

@@ -21,8 +21,8 @@ param set MAV_TYPE 10
 #
 # Start MAVLink (depends on orb)
 #
-mavlink start -d /dev/ttyS1 -b 57600
-usleep 5000
+#mavlink start -d /dev/ttyS1 -b 57600
+#usleep 5000
  
 #
 # Start and configure PX4IO interface
@@ -32,25 +32,25 @@ sh /etc/init.d/rc.io
 #
 # Start the commander (depends on orb, mavlink)
 #
-commander start
+#commander start
 
 #
 # Start the sensors (depends on orb, px4io)
 #
-sh /etc/init.d/rc.sensors
+#sh /etc/init.d/rc.sensors
  
 #
 # Start GPS interface (depends on orb)
 #
-gps start
+#gps start
  
 #
 # Start the attitude estimator (depends on orb)
 #
-attitude_estimator_ekf start
+#attitude_estimator_ekf start
  
 #
 # Load mixer and start controllers (depends on px4io)
 #
-md25 start 3 0x58
-segway start
+roboclaw test /dev/ttyS2 128
+#segway start

ROMFS/px4fmu_common/init.d/rcS

@@ -272,6 +272,12 @@ then
 		sh /etc/init.d/30_io_camflyer
 		set MODE custom
 	fi
+
+	if param compare SYS_AUTOSTART 40
+	then
+		sh /etc/init.d/40_io_segway
+		set MODE custom
+	fi
 	
 	if param compare SYS_AUTOSTART 31
 	then