From 33301764e4fd6fd03246ca4654c8541b429600dc Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Tue, 14 Oct 2025 06:56:27 +0200
Subject: [PATCH] Handle `SYS_AUTOSTART` 0 the same as no valid airframe being
 available (#25645)

* ROMFS: do not exit airframe loading if SYS_AUTOSTART is 0

Do not treat 0 as a magic value that skips the aiframe loading.
Instead leave it tot he rc.autostart to load an airframe that if finds
appropriate (can be defined in external aiframe).

Signed-off-by: Silvan <silvan@auterion.com>

* ROMFS: adjust airframe load spacing and message/comment wording

---------

Signed-off-by: Silvan <silvan@auterion.com>
Co-authored-by: Silvan <silvan@auterion.com>
---
 ROMFS/px4fmu_common/init.d/rcS | 36 +++++++++++++++-------------------
 1 file changed, 16 insertions(+), 20 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index f747966e03..1337a777c8 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -228,30 +228,26 @@ else
 	fi
 	unset BOARD_RC_ADDITIONAL_INIT
 
-	# Load airframe configuration based on SYS_AUTOSTART parameter
-	if ! param compare SYS_AUTOSTART 0
+	# Load airframe configuration based on SYS_AUTOSTART parameter if successful VEHICLE_TYPE gets set
+	# Run autogenerated ROMFS airframe script
+	. ${R}etc/init.d/rc.autostart
+
+	if [ ${VEHICLE_TYPE} = none ]
 	then
-		# rc.autostart directly run the right airframe script which sets the VEHICLE_TYPE
-		# Look for airframe in ROMFS
-		. ${R}etc/init.d/rc.autostart
-
-		if [ ${VEHICLE_TYPE} = none ]
+		# Run external airframe script on SD card
+		if [ $STORAGE_AVAILABLE = yes ]
 		then
-			# Use external startup file
-			if [ $STORAGE_AVAILABLE = yes ]
-			then
-				. ${R}etc/init.d/rc.autostart_ext
-			else
-				echo "ERROR [init] SD card not mounted - can't load external airframe"
-			fi
+			. ${R}etc/init.d/rc.autostart_ext
+		else
+			echo "ERROR [init] SD not mounted, skipping external airframe"
 		fi
+	fi
 
-		if [ ${VEHICLE_TYPE} = none ]
-		then
-			echo "ERROR [init] No airframe file found for SYS_AUTOSTART value"
-			param set SYS_AUTOSTART 0
-			tune_control play error
-		fi
+	if [ ${VEHICLE_TYPE} = none ]
+	then
+		echo "ERROR [init] No airframe file found for SYS_AUTOSTART value"
+		param set SYS_AUTOSTART 0
+		tune_control play error
 	fi
 
 	# Check parameter version and reset upon airframe configuration version mismatch.