From aab08ad6fc432fab7684917a5a516f675b0162fa Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Fri, 30 Nov 2018 14:16:22 -0500
Subject: [PATCH] move nxp_fmuk66-v3 init to rc.board

---
 ROMFS/px4fmu_common/init.d/rc.sensors | 21 --------------
 ROMFS/px4fmu_common/init.d/rcS        | 15 ----------
 boards/nxp/fmuk66-v3/init/rc.board    | 42 +++++++++++++++++++++++++++
 3 files changed, 42 insertions(+), 36 deletions(-)
 create mode 100644 boards/nxp/fmuk66-v3/init/rc.board

diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 79fa686f74..06487f04a5 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -108,27 +108,6 @@ then
 	l3gd20 -R 14 start
 fi
 
-if ver hwcmp NXP_FMUK66_V3
-then
-	# External I2C bus
-	hmc5883 -C -X start
-
-	# Possible external compasses
-	ist8310 -C -b 2 start
-
-	# External I2C bus
-	lis3mdl -X start
-
-	# Onboard I2C (baro) but an external bus on V3 RC15
-	mpl3115a2 -X start
-
-	# Internal SPI (accel + mag)
-	fxos8701cq start -R 0
-
-	# Internal SPI (gyro)
-	fxas21002c start -R 0
-fi
-
 if ver hwcmp OMNIBUS_F4SD
 then
 	if ! mpu6000 -R 12 -s start
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 7f00d43ab5..95d35682fc 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -23,16 +23,6 @@ set +e
 # USART6        /dev/ttyS2      URT6
 #
 
-#------------------------------------------------------------------------------
-#
-# UART mapping on NXP FMUK66-v3:
-#
-# LPUART0		/dev/ttyS0		P16 CONSOLE
-# UART0			/dev/ttyS1		P7  IR
-# UART1			/dev/ttyS2		P14-3, P15-2 RC input
-# UART2			/dev/ttyS3		P3 GPS
-# UART4			/dev/ttyS3		P10 TELEM1 (flow control)
-
 #
 # Set default paramter values.
 # Do not add intra word spaces
@@ -269,11 +259,6 @@ else
 		fi
 	fi
 
-	if ver hwcmp NXP_FMUK66_V3
-	then
-		param set SYS_FMU_TASK 1
-	fi
-
 	###############################################################################
 	#                 End Setup for board specific configurations.                #
 	###############################################################################
diff --git a/boards/nxp/fmuk66-v3/init/rc.board b/boards/nxp/fmuk66-v3/init/rc.board
new file mode 100644
index 0000000000..30f93c4dd7
--- /dev/null
+++ b/boards/nxp/fmuk66-v3/init/rc.board
@@ -0,0 +1,42 @@
+#!nsh
+#
+# PX4 FMUv2 specific board init
+#
+#------------------------------------------------------------------------------
+#
+# UART mapping on NXP FMUK66-v3:
+#
+# LPUART0		/dev/ttyS0		P16 CONSOLE
+# UART0			/dev/ttyS1		P7  IR
+# UART1			/dev/ttyS2		P14-3, P15-2 RC input
+# UART2			/dev/ttyS3		P3 GPS
+# UART4			/dev/ttyS3		P10 TELEM1 (flow control)
+#
+#------------------------------------------------------------------------------
+#
+
+
+if [ $AUTOCNF = yes ]
+then
+	param set SYS_FMU_TASK 1
+fi
+
+set MIXER_AUX none
+
+# External I2C bus
+hmc5883 -C -X start
+
+# Possible external compasses
+ist8310 -C -b 2 start
+
+# External I2C bus
+lis3mdl -X start
+
+# Onboard I2C (baro) but an external bus on V3 RC15
+mpl3115a2 -X start
+
+# Internal SPI (accel + mag)
+fxos8701cq start -R 0
+
+# Internal SPI (gyro)
+fxas21002c start -R 0