Merge branch 'master' into vector_control2

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -19,12 +19,18 @@ fi
 if mpu6000 start
 then
 	echo "using MPU6000"
-	set BOARD fmuv1
-else
-	echo "using L3GD20 and LSM303D"
-	l3gd20 start
-	lsm303d start
+fi
+
+if l3gd20 start
+then
+	echo "using L3GD20(H)"		
+fi
+
+if lsm303d start
+then
 	set BOARD fmuv2
+else
+	set BOARD fmuv1
 fi
 
 # Start airspeed sensors

ROMFS/px4fmu_common/init.d/rcS

@@ -8,6 +8,8 @@
 #
 set MODE autostart
 
+set logfile /fs/microsd/bootlog.txt
+
 #
 # Try to mount the microSD card.
 #
@@ -147,26 +149,49 @@ then
 		nshterm /dev/ttyACM0 &
 	fi
 
-	
 	#
 	# Upgrade PX4IO firmware
 	#
-	if px4io detect
-	then
-		echo "PX4IO running, not upgrading"
-	else
-		echo "Attempting to upgrade PX4IO"
-		if px4io update
-		then
-			if [ -d /fs/microsd ]
-			then
-				echo "Flashed PX4IO Firmware OK" > /fs/microsd/px4io.log
-			fi
 
-			# Allow IO to safely kick back to app
+	if [ -f /etc/extras/px4io-v2_default.bin ]
+	then
+		set io_file /etc/extras/px4io-v2_default.bin
+	else
+		set io_file /etc/extras/px4io-v1_default.bin
+	fi
+
+	if px4io start
+	then
+		echo "PX4IO OK"
+		echo "PX4IO OK" >> $logfile
+	fi
+	
+	if px4io checkcrc $io_file
+	then
+		echo "PX4IO CRC OK"
+		echo "PX4IO CRC OK" >> $logfile
+	else
+		echo "PX4IO CRC failure"
+		echo "PX4IO CRC failure" >> $logfile
+		tone_alarm MBABGP
+		if px4io forceupdate 14662 $io_file
+		then
 			usleep 200000
+			if px4io start
+			then
+				echo "PX4IO restart OK"
+				echo "PX4IO restart OK" >> $logfile
+				tone_alarm MSPAA
+			else
+				echo "PX4IO restart failed"
+				echo "PX4IO restart failed" >> $logfile
+				tone_alarm MNGGG
+				sh /etc/init.d/rc.error
+			fi
 		else
-			echo "No PX4IO to upgrade here"
+			echo "PX4IO update failed"
+			echo "PX4IO update failed" >> $logfile
+			tone_alarm MNGGG
 		fi
 	fi