From 66d294b5bf3972c1f49ea452964f32e18b25b2d3 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sun, 11 Aug 2013 17:39:10 +0200
Subject: [PATCH] Fixed to FMUv2 autostart and config

---
 ROMFS/px4fmu_common/init.d/10_io_f330 | 30 ++++++++++++++-------------
 ROMFS/px4fmu_common/init.d/rc.sensors |  2 ++
 makefiles/config_px4fmu-v2_default.mk |  2 +-
 3 files changed, 19 insertions(+), 15 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/10_io_f330 b/ROMFS/px4fmu_common/init.d/10_io_f330
index 4083bb905d..13272426e8 100644
--- a/ROMFS/px4fmu_common/init.d/10_io_f330
+++ b/ROMFS/px4fmu_common/init.d/10_io_f330
@@ -56,11 +56,6 @@ pwm -u 400 -m 0xff
 # this is very unlikely, but quite safe and robust.
 px4io recovery
 
-#
-# Disable px4io topic limiting
-#
-px4io limit 200
-
 #
 # This sets a PWM right after startup (regardless of safety button)
 #
@@ -99,16 +94,23 @@ gps start
 attitude_estimator_ekf start
 
 multirotor_att_control start
- 
+
 #
-# Start logging
+# Disable px4io topic limiting and start logging
 #
-sdlog2 start -r 50 -a -b 16
- 
-#
-# Start system state
-#
-if blinkm start
+if [ $BOARD == fmuv1 ]
 then
-	blinkm systemstate
+	px4io limit 200
+	sdlog2 start -r 50 -a -b 16
+	if blinkm start
+	then
+		blinkm systemstate
+	fi
+else
+	px4io limit 400
+	sdlog2 start -r 100 -a -b 16
+	if rgbled start
+	then
+		#rgbled systemstate
+	fi
 fi
diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 26b561571b..17591be5b3 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -22,10 +22,12 @@ if mpu6000 start
 then
 	echo "using MPU6000 and HMC5883L"
 	hmc5883 start
+	set BOARD fmuv1
 else
 	echo "using L3GD20 and LSM303D"
 	l3gd20 start
 	lsm303d start
+	set BOARD fmuv2
 fi
 
 #
diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk
index ae61802c95..cc182e6af5 100644
--- a/makefiles/config_px4fmu-v2_default.mk
+++ b/makefiles/config_px4fmu-v2_default.mk
@@ -80,7 +80,7 @@ MODULES		+= modules/multirotor_pos_control
 #
 # Logging
 #
-MODULES		+= modules/sdlog
+MODULES		+= modules/sdlog2
 
 #
 # Library modules