rcS: automate tfmini start

disable mavlink on aero telemetry if tfmini enabled and start on mavlink companion device for others (needs SYS_COMPANION to be 0)

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -400,6 +400,18 @@ then
 	then
 		# start the driver on serial 4/5
 		tfmini start -d /dev/ttyS6
+	else
+		if ver hwcmp AEROFC_V1
+		then
+			# start the driver on telemetry
+			tfmini start -d /dev/ttyS3
+		else
+			if param compare SYS_COMPANION 0
+			then
+				# start on default mavlink companion device
+				tfmini start -d /dev/ttyS2
+			fi
+		fi
 	fi
 fi
 

ROMFS/px4fmu_common/init.d/rcS

@@ -554,7 +554,13 @@ then
 
 		if ver hwcmp AEROFC_V1
 		then
-			set MAVLINK_F "-r 1200 -d /dev/ttyS3"
+			# Only start mavlink if the Benewake TFMini isn't being used
+			if param greater SENS_EN_TFMINI 0
+			then
+				set MAVLINK_F none
+			else
+				set MAVLINK_F "-r 1200 -d /dev/ttyS3"
+			fi
 		fi
 
 		if ver hwcmp CRAZYFLIE