ekf2 replay: refactor to use unified rcS scripts

ROMFS/px4fmu_common/init.d-posix/rc.replay

@@ -0,0 +1,18 @@
+#!/usr/bin/bash
+
+# EKF2 replay script
+
+publisher_rules_file="orb_publisher.rules"
+cat <<EOF > "$publisher_rules_file"
+restrict_topics: sensor_combined, vehicle_gps_position, vehicle_land_detected
+module: replay
+ignore_others: false
+EOF
+
+uorb start
+param set SDLOG_DIRS_MAX 7
+
+ekf2 start -r
+logger start -f -t -b 1000 -p vehicle_attitude
+sleep 0.2
+replay start

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -4,6 +4,17 @@
 # (px4-alias.sh is expected to be in the PATH)
 source px4-alias.sh
 
+# Main SITL startup script
+
+
+# check for ekf2 replay
+if [ "$replay_mode" == "ekf2" ]
+then
+	sh etc/init.d-posix/rc.replay
+	exit 0
+fi
+
+
 # TODO: In the future we want to share rc.autostart with NuttX
 #source rc.autostart
 
@@ -119,11 +130,11 @@ mc_att_control start
 #       infrastructure already available on NuttX.
 if param compare SYS_AUTOSTART 10016
 then
-	source etc/init.d-posix/10016_iris
+	sh etc/init.d-posix/10016_iris
 
 elif param compare SYS_AUTOSTART 6011
 then
-	source etc/init.d-posix/6011_typhoon_h480
+	sh etc/init.d-posix/6011_typhoon_h480
 fi