Removed confusing non-error message, updated start scripts to match wiki and most recent SW revs

ROMFS/scripts/rc.FMU_quad_x

@@ -1,40 +1,67 @@
+#!nsh
 #
-# Startup for X-quad on FMU1.5/1.6
+# Flight startup script for PX4FMU with PWM outputs.
 #
  
-echo "[init] uORB"
+# Disable the USB interface
+set USB no
+ 
+# Disable autostarting other apps
+set MODE custom
+ 
+echo "[init] doing PX4FMU Quad startup..."
+ 
+#
+# Start the ORB
+#
 uorb start
  
-echo "[init] eeprom"
+#
-eeprom start
+# Load microSD params
-if [ -f /eeprom/parameters ]
+#
+echo "[init] loading microSD params"
+param select /fs/microsd/parameters
+if [ -f /fs/microsd/parameters ]
 then
-	param load
+	param load /fs/microsd/parameters
 fi
  
-echo "[init] sensors"
+#
-#bma180 start
+# Force some key parameters to sane values
-#l3gd20 start
+# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
-mpu6000 start
+#              see https://pixhawk.ethz.ch/mavlink/
-hmc5883 start
+#
-ms5611 start
+param set MAV_TYPE 2
  
-sensors start
+#
-
+# Start MAVLink
-echo "[init] mavlink"
+#
 mavlink start -d /dev/ttyS0 -b 57600
 usleep 5000
  
-echo "[init] commander"
+#
+# Start the sensors and test them.
+#
+sh /etc/init.d/rc.sensors
+ 
+#
+# Start the commander.
+#
 commander start
  
-echo "[init] attitude control"
+#
+# Start the attitude estimator
+#
 attitude_estimator_ekf start
-multirotor_att_control start
  
 echo "[init] starting PWM output"
 fmu mode_pwm
 mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
  
+#
+# Start attitude control
+#
+multirotor_att_control start
+ 
 echo "[init] startup done, exiting"
 exit

ROMFS/scripts/rc.PX4IO

@@ -1,32 +1,30 @@
 #!nsh
  
+# Disable USB and autostart
 set USB no
+set MODE camflyer
  
 #
-# Start the object request broker
+# Start the ORB
 #
 uorb start
  
 #
-# Init the EEPROM
+# Load microSD params
 #
-echo "[init] eeprom"
+echo "[init] loading microSD params"
-eeprom start
+param select /fs/microsd/parameters
-if [ -f /eeprom/parameters ]
+if [ -f /fs/microsd/parameters ]
 then
-	param load
+	param load /fs/microsd/parameters
 fi
  
 #
-# Enable / connect to PX4IO
+# Force some key parameters to sane values
+# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
+#              see https://pixhawk.ethz.ch/mavlink/
 #
-px4io start
+param set MAV_TYPE 1
-
-#
-# Load an appropriate mixer. FMU_pass.mix is a passthru mixer
-# which is good for testing. See ROMFS/mixers for a full list of mixers.
-#
-mixer load /dev/pwm_output /etc/mixers/FMU_pass.mix
  
 #
 # Start the sensors.
@@ -34,9 +32,9 @@ mixer load /dev/pwm_output /etc/mixers/FMU_pass.mix
 sh /etc/init.d/rc.sensors
  
 #
-# Start MAVLink on UART1 (dev/ttyS0) at 57600 baud (CLI is now unusable)
+# Start MAVLink
 #
-mavlink start -d /dev/ttyS0 -b 57600
+mavlink start -d /dev/ttyS1 -b 57600
 usleep 5000
  
 #
@@ -45,29 +43,38 @@ usleep 5000
 commander start
  
 #
-# Start the attitude estimator
+# Start GPS interface
-#
-attitude_estimator_ekf start
-
-#
-# Start the attitude and position controller
-#
-fixedwing_att_control start
-fixedwing_pos_control start
-
-#
-# Start GPS capture. Comment this out if you do not have a GPS.
 #
 gps start
  
 #
-# Start logging to microSD if we can
+# Start the attitude estimator
 #
-sh /etc/init.d/rc.logging
+kalman_demo start
  
 #
-# startup is done; we don't want the shell because we
+# Start PX4IO interface
-# use the same UART for telemetry
 #
-echo "[init] startup done"
+px4io start
-exit
+ 
+#
+# Load mixer and start controllers
+#
+mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
+control_demo start
+ 
+#
+# Start logging
+#
+sdlog start -s 10
+
+#
+# Start system state
+#
+if blinkm start
+then
+	echo "using BlinkM for state indication"
+	blinkm systemstate
+else
+	echo "no BlinkM found, OK."
+fi

ROMFS/scripts/rc.PX4IOAR

@@ -17,7 +17,7 @@ echo "[init] doing PX4IOAR startup..."
 uorb start
  
 #
-# Load microSD params
+# Init the parameter storage
 #
 echo "[init] loading microSD params"
 param select /fs/microsd/parameters
@@ -26,17 +26,24 @@ then
 	param load /fs/microsd/parameters
 fi
  
+#
+# Force some key parameters to sane values
+# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
+#              see https://pixhawk.ethz.ch/mavlink/
+#
+param set MAV_TYPE 2
+ 
+#
+# Start the sensors.
+#
+sh /etc/init.d/rc.sensors
+ 
 #
 # Start MAVLink
 #
 mavlink start -d /dev/ttyS0 -b 57600
 usleep 5000
  
-#
-# Start the sensors and test them.
-#
-sh /etc/init.d/rc.sensors
- 
 #
 # Start the commander.
 #
@@ -62,16 +69,27 @@ multirotor_att_control start
 #
 ardrone_interface start -d /dev/ttyS1
  
-#
-# Start logging
-#
-#sdlog start
- 
 #
 # Start GPS capture
 #
 gps start
 
+#
+# Start logging
+#
+sdlog start -s 10
+
+#
+# Start system state
+#
+if blinkm start
+then
+	echo "using BlinkM for state indication"
+	blinkm systemstate
+else
+	echo "no BlinkM found, OK."
+fi
+ 
 #
 # startup is done; we don't want the shell because we
 # use the same UART for telemetry

apps/commander/commander.c

@@ -1459,9 +1459,6 @@ int commander_thread_main(int argc, char *argv[])
 				} else {
 					current_status.flag_external_manual_override_ok = true;
 				}
-
-			} else {
-				warnx("ARMED, rejecting sys type change\n");
 			}
 		}