TEMP

ROMFS/px4fmu_common/init.d/rc.interface

@@ -144,6 +144,11 @@ then
 		set OUTPUT_DEV /dev/uavcan/esc
 	fi
 
+	if [ $OUTPUT_MODE = vesc ]
+	then
+		set OUTPUT_DEV /dev/vesc
+	fi
+
 	if mixer load ${OUTPUT_DEV} ${MIXER_FILE}
 	then
 		echo "INFO  [init] Mixer: ${MIXER_FILE} on ${OUTPUT_DEV}"

ROMFS/px4fmu_common/init.d/rcS

@@ -282,6 +282,11 @@ else
 		fi
 	fi
 
+	if param greater -s VESC_PORT 0
+	then
+		set OUTPUT_MODE vesc
+	fi
+
 	#
 	# Check if PX4IO present and update firmware if needed.
 	# Assumption IOFW set to firmware file and IO_PRESENT = no