From a953f83a45afcad5211f981b3b732024eed332b9 Mon Sep 17 00:00:00 2001
From: Roman Bapst <bapstr@ethz.ch>
Date: Fri, 27 Nov 2015 15:14:24 +0100
Subject: [PATCH] XRacer:  start telemetry on telem2

---
 ROMFS/px4fmu_common/init.d/rcS | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 44b85c35bc..a1105ca2a4 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -542,8 +542,12 @@ then
 			# Exit from nsh to free port for mavlink
 			set EXIT_ON_END yes
 		else
-			# Start MAVLink on default port: ttyS1
 			set MAVLINK_F "-r 1200"
+			# Avoid using ttyS1 for MAVLink on FMUv4
+			if ver hwcmp PX4FMU_V4
+			then
+				set MAVLINK_F "-r 1200 -d /dev/ttyS2"
+			fi
 		fi
 	fi