bl_update: Allow booting from SD card (without forced BL copy to ROMFS)

ROMFS/CMakeLists.txt

@@ -208,12 +208,12 @@ set(OPTIONAL_BOARD_EXTRAS)
 file(GLOB OPTIONAL_BOARD_EXTRAS ${PX4_BOARD_DIR}/extras/*)
 
 # bootloader (optional)
-#  - if systemcmds/bl_update included and board bootloader available then generate rc.board_bootloader_upgrade and copy bootloader binary
+#  - if systemcmds/bl_update included (with romfs copy) and board bootloader available then generate rc.board_bootloader_upgrade and copy bootloader binary
 #  - otherwise remove bootloader binary from extras in final ROMFS
 foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
 	file(RELATIVE_PATH extra_file_base_name ${PX4_BOARD_DIR}/extras/ ${board_extra_file})
 	if(${extra_file_base_name} MATCHES "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
-		if(CONFIG_SYSTEMCMDS_BL_UPDATE)
+		if(CONFIG_SYSTEMCMDS_BL_UPDATE AND CONFIG_BL_UPDATE_BL_ROMFS)
 			# generate rc.board_bootloader_upgrade
 			set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
 			message(STATUS "ROMFS:  Adding platforms/nuttx/init/rc.board_bootloader_upgrade -> /etc/init.d/rc.board_bootloader_upgrade")

ROMFS/px4fmu_common/init.d/rcS

@@ -613,7 +613,9 @@ else
 		. ${R}etc/init.d/rc.autostart.post
 	fi
 
-
+	#
+	# Bootloader upgrade (ROMFS)
+	#
 	set BOARD_BOOTLOADER_UPGRADE ${R}etc/init.d/rc.board_bootloader_upgrade
 	if [ -f $BOARD_BOOTLOADER_UPGRADE ]
 	then
@@ -621,6 +623,22 @@ else
 	fi
 	unset BOARD_BOOTLOADER_UPGRADE
 
+	#
+	# Bootloader upgrade (SD card)
+	#
+	if param compare -s SYS_BL_UPDATE 2
+	then
+		if [ -f "/fs/microsd/bl/bl.bin" ]
+		then
+			param set SYS_BL_UPDATE 0
+			param save
+			echo "bootloader update..."
+			bl_update "/fs/microsd/bl/bl.bin"
+			echo "bootloader update done, rebooting"
+			reboot
+		fi
+	fi
+
 	#
 	# Check if UAVCAN is enabled, default to it for ESCs.
 	#