Merge remote-tracking branch 'upstream/master'

ROMFS/px4fmu_common/init.d/rc.mc_apps

@@ -8,8 +8,19 @@ attitude_estimator_ekf start
 #ekf_att_pos_estimator start
 position_estimator_inav start
 
-mc_att_control start
-mc_pos_control start
+if mc_att_control start
+then
+else
+	# try the multiplatform version
+	mc_att_control_m start
+fi
+
+if mc_pos_control start
+then
+else
+	# try the multiplatform version
+	mc_pos_control_m start
+fi
 
 #
 # Start Land Detector

ROMFS/px4fmu_test/init.d/rcS

@@ -2,6 +2,8 @@
 #
 # PX4FMU startup script for test hackery.
 #
+set unit_test_failure 0
+
 uorb start
 
 if sercon
@@ -41,6 +43,9 @@ fi
 if px4io start
 then
 	echo "PX4IO OK"
+else
+	set unit_test_failure 1
+	set unit_test_failure_list "${unit_test_failure_list} px4io_start"
 fi
 
 if px4io checkcrc $io_file
@@ -51,7 +56,6 @@ else
 	tone_alarm MBABGP
 	if px4io forceupdate 14662 $io_file
 	then
-		usleep 500000
 		if px4io start
 		then
 			echo "PX4IO restart OK"
@@ -59,12 +63,14 @@ else
 		else
 			echo "PX4IO restart failed"
 			tone_alarm MNGGG
-			sleep 5
-			reboot
+			set unit_test_failure 1
+			set unit_test_failure_list "${unit_test_failure_list} px4io_flash"
 		fi
 	else
 		echo "PX4IO update failed"
 		tone_alarm MNGGG
+		set unit_test_failure 1
+		set unit_test_failure_list "${unit_test_failure_list} px4io_flash"
 	fi
 fi
 
@@ -81,8 +87,6 @@ fi
 # Add new unit tests using the same pattern as below.
 #
 
-set unit_test_failure 0
-
 if mavlink_tests
 then
 else