WIP: px4log

ROMFS/CMakeLists.txt

@@ -79,7 +79,7 @@ get_property(romfs_cmake_files GLOBAL PROPERTY PX4_ROMFS_CMAKE_FILES)
 get_property(romfs_copy_files GLOBAL PROPERTY PX4_ROMFS_FILES)
 get_property(module_config_files GLOBAL PROPERTY PX4_MODULE_CONFIG_FILES)
 file(GLOB jinja_templates ${PX4_SOURCE_DIR}/Tools/serial/*.jinja)
-if (px4_constrained_flash_build)
+if(px4_constrained_flash_build)
 	set(added_arguments --constrained-flash)
 endif()
 if(PX4_ETHERNET)

ROMFS/cannode/init.d/rcS

@@ -51,7 +51,7 @@ fi
 set BOARD_ARCH_RC_DEFAULTS ${R}etc/init.d/rc.board_arch_defaults
 if [ -f $BOARD_ARCH_RC_DEFAULTS ]
 then
-	echo "Board architecture defaults: ${BOARD_ARCH_RC_DEFAULTS}"
+	px4log "Board architecture defaults: ${BOARD_ARCH_RC_DEFAULTS}"
 	. $BOARD_ARCH_RC_DEFAULTS
 fi
 unset BOARD_ARCH_RC_DEFAULTS
@@ -62,7 +62,7 @@ unset BOARD_ARCH_RC_DEFAULTS
 set BOARD_RC_DEFAULTS ${R}etc/init.d/rc.board_defaults
 if [ -f $BOARD_RC_DEFAULTS ]
 then
-	echo "Board defaults: ${BOARD_RC_DEFAULTS}"
+	px4log "Board defaults: ${BOARD_RC_DEFAULTS}"
 	. $BOARD_RC_DEFAULTS
 fi
 unset BOARD_RC_DEFAULTS
@@ -79,7 +79,7 @@ rgbled_ncp5623c start -X -q
 set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors
 if [ -f $BOARD_RC_SENSORS ]
 then
-	echo "Board sensors: ${BOARD_RC_SENSORS}"
+	px4log "Board sensors: ${BOARD_RC_SENSORS}"
 	. $BOARD_RC_SENSORS
 fi
 unset BOARD_RC_SENSORS

ROMFS/px4fmu_common/.nshrc

@@ -0,0 +1,8 @@
+#!/bin/sh
+
+px4log_tail &
+
+#
+# Print full system version.
+#
+ver all

ROMFS/px4fmu_common/CMakeLists.txt

@@ -31,6 +31,8 @@
 #
 ############################################################################
 
+px4_add_romfs_files(.nshrc)
+
 add_subdirectory(init.d)
 # TODO: make this configurable from the board config, or better combine
 if("${PX4_BOARD}" MATCHES "sitl")

ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator

@@ -6,7 +6,7 @@ param set-default IMU_INTEG_RATE 250
 
 if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0" ]; then
 
-	echo "INFO  [init] SIH simulator"
+	px4log "INFO  [init] SIH simulator"
 
 	if [ -n "${PX4_HOME_LAT}" ]; then
 		param set SIH_LOC_LAT0 ${PX4_HOME_LAT}
@@ -32,7 +32,7 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
 		fi
 
 	else
-		echo "ERROR [init] simulator_sih failed to start"
+		px4log "ERROR [init] simulator_sih failed to start"
 		exit 1
 	fi
 
@@ -54,7 +54,7 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 		gz_command="gz"
 		gz_sub_command="sim"
 	else
-		echo "ERROR [init] Gazebo gz please install gz-garden"
+		px4log "ERROR [init] Gazebo gz please install gz-garden"
 		exit 1
 	fi
 
@@ -64,7 +64,7 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 	# shellcheck disable=SC2153
 	if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLDS}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
 
-		echo "INFO  [init] starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"
+		px4log "INFO  [init] starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"
 
 		${gz_command} ${gz_sub_command} --verbose=1 -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
 
@@ -74,7 +74,7 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 		fi
 
 	else
-		echo "INFO  [init] gazebo already running world: ${gz_world}"
+		px4log "INFO  [init] gazebo already running world: ${gz_world}"
 		PX4_GZ_WORLD=${gz_world}
 	fi
 
@@ -85,10 +85,10 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 		if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
 			# Clean potential input line formatting.
 			model_pose="$( echo "${PX4_GZ_MODEL_POSE}" | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/  / /g; s/ /,/g' )"
-			echo "INFO  [init] PX4_GZ_MODEL_POSE set, spawning at: ${model_pose}"
+			px4log "INFO  [init] PX4_GZ_MODEL_POSE set, spawning at: ${model_pose}"
 
 		else
-			echo "WARN  [init] PX4_GZ_MODEL_POSE not set, spawning at origin."
+			px4log "WARN  [init] PX4_GZ_MODEL_POSE not set, spawning at origin."
 			model_pose="0,0,0,0,0,0"
 		fi
 
@@ -112,7 +112,7 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 			fi
 
 		else
-			echo "ERROR [init] gz_bridge failed to start"
+			px4log "ERROR [init] gz_bridge failed to start"
 			exit 1
 		fi
 
@@ -138,13 +138,13 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 			fi
 
 		else
-			echo "ERROR [init] gz_bridge failed to start"
+			px4log "ERROR [init] gz_bridge failed to start"
 			exit 1
 		fi
 
 	elif [ -n "${PX4_SIM_MODEL}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ] && [ -z "${PX4_GZ_MODEL}" ]; then
 
-		echo "WARN  [init] PX4_GZ_MODEL_NAME or PX4_GZ_MODEL not set using PX4_SIM_MODEL."
+		px4log "WARN  [init] PX4_GZ_MODEL_NAME or PX4_GZ_MODEL not set using PX4_SIM_MODEL."
 
 		if gz_bridge start -m "${PX4_SIM_MODEL#*gz_}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
 			if param compare -s SENS_EN_BAROSIM 1
@@ -165,18 +165,18 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 			fi
 
 		else
-			echo "ERROR [init] gz_bridge failed to start"
+			px4log "ERROR [init] gz_bridge failed to start"
 			exit 1
 		fi
 
 	else
-		echo "ERROR [init] failed to pass only PX4_GZ_MODEL_NAME or PX4_GZ_MODEL"
+		px4log "ERROR [init] failed to pass only PX4_GZ_MODEL_NAME or PX4_GZ_MODEL"
 		exit 1
 	fi
 
 elif [ "$PX4_SIM_MODEL" = "jmavsim_iris" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "10017" ]; then
 
-	echo "INFO  [init] jMAVSim simulator"
+	px4log "INFO  [init] jMAVSim simulator"
 
 	if jps | grep -i jmavsim; then
 		kill "$(jps | grep -i jmavsim | awk '{print $1}')" || true
@@ -198,15 +198,15 @@ else
 	if [ -z "${PX4_SIM_HOSTNAME}" ]; then
 
 		if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
-			echo "INFO  [init] PX4_SIM_HOSTNAME: localhost"
+			px4log "INFO  [init] PX4_SIM_HOSTNAME: localhost"
 			simulator_mavlink start -c $simulator_tcp_port
 		else
-			echo "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOST_ADDR}"
+			px4log "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOST_ADDR}"
 			simulator_mavlink start -t "${PX4_SIM_HOST_ADDR}" "${simulator_tcp_port}"
 		fi
 
 	else
-		echo "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOSTNAME}"
+		px4log "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOSTNAME}"
 		simulator_mavlink start -h "${PX4_SIM_HOSTNAME}" "${simulator_tcp_port}"
 	fi
 

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

@@ -4,12 +4,12 @@
 
 # shellcheck disable=SC2154
 if [ ! -f ${replay} ]; then
-	echo "Invalid replay log file ${replay}"
+	px4log "Invalid replay log file ${replay}"
 	exit 1
 fi
 
 if [ ! -f replay_params.txt ]; then
-	echo "Creating $(pwd)/replay_params.txt"
+	px4log "Creating $(pwd)/replay_params.txt"
 	ulog_params -i "${replay}" -l ' ' | grep -e '^EKF2' > replay_params.txt
 fi
 

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -13,6 +13,8 @@ set +e
 #search path for sourcing px4-rc.*
 PATH="$PATH:${R}etc/init.d-posix"
 
+px4log_tail &
+
 #
 # Main SITL startup script
 #
@@ -40,7 +42,7 @@ then
 
 elif [ -n "$PX4_SYS_AUTOSTART" ]
 then
-	echo "env SYS_AUTOSTART: ${PX4_SYS_AUTOSTART}"
+	px4log "env SYS_AUTOSTART: ${PX4_SYS_AUTOSTART}"
 	SYS_AUTOSTART=${PX4_SYS_AUTOSTART}
 
 elif [ "$PX4_SIM_MODEL" = "none" ] || [ -z $PX4_SIM_MODEL ]
@@ -55,11 +57,11 @@ then
 	# shellcheck disable=SC2012
 	REQUESTED_AUTOSTART=$(ls "${R}etc/init.d-posix/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
 	if [ -z "$REQUESTED_AUTOSTART" ]; then
-		echo "ERROR [init] Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
+		px4log "ERROR [init] Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
 		exit 1
 	else
 		SYS_AUTOSTART=$REQUESTED_AUTOSTART
-		echo "INFO  [init] found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
+		px4log "INFO  [init] found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
 	fi
 fi
 
@@ -72,7 +74,7 @@ if [ -f $PARAM_FILE ]; then
 
 	if ! param import
 	then
-		echo "ERROR [init] param import failed"
+		px4log "ERROR [init] param import failed"
 
 		bsondump $PARAM_FILE
 
@@ -82,7 +84,7 @@ if [ -f $PARAM_FILE ]; then
 		# try importing from backup file
 		if [ -f $PARAM_BACKUP_FILE ]
 		then
-			echo "[init] importing from parameter backup"
+			px4log "[init] importing from parameter backup"
 
 			# dump current backup file contents for comparison
 			bsondump $PARAM_BACKUP_FILE
@@ -97,7 +99,7 @@ if [ -f $PARAM_FILE ]; then
 	fi
 
 elif [ -f $PARAM_BACKUP_FILE ]; then
-	echo "ERROR [init] primary param file $PARAM_FILE unavailable, using backup $PARAM_BACKUP_FILE"
+	px4log "ERROR [init] primary param file $PARAM_FILE unavailable, using backup $PARAM_BACKUP_FILE"
 	param import $PARAM_BACKUP_FILE
 fi
 
@@ -191,19 +193,19 @@ param set-default COM_LOW_BAT_ACT 2
 # Adapt timeout parameters if simulation runs faster or slower than realtime.
 if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
 	COM_DL_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 10" | bc)
-	echo "COM_DL_LOSS_T set to $COM_DL_LOSS_T_LONGER"
+	px4log "COM_DL_LOSS_T set to $COM_DL_LOSS_T_LONGER"
 	param set COM_DL_LOSS_T $COM_DL_LOSS_T_LONGER
 
 	COM_RC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 0.5" | bc)
-	echo "COM_RC_LOSS_T set to $COM_RC_LOSS_T_LONGER"
+	px4log "COM_RC_LOSS_T set to $COM_RC_LOSS_T_LONGER"
 	param set COM_RC_LOSS_T $COM_RC_LOSS_T_LONGER
 
 	COM_OF_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 0.5" | bc)
-	echo "COM_OF_LOSS_T set to $COM_OF_LOSS_T_LONGER"
+	px4log "COM_OF_LOSS_T set to $COM_OF_LOSS_T_LONGER"
 	param set COM_OF_LOSS_T $COM_OF_LOSS_T_LONGER
 
 	COM_OBC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 5.0" | bc)
-	echo "COM_OBC_LOSS_T set to $COM_OBC_LOSS_T_LONGER"
+	px4log "COM_OBC_LOSS_T set to $COM_OBC_LOSS_T_LONGER"
 	param set COM_OBC_LOSS_T $COM_OBC_LOSS_T_LONGER
 fi
 
@@ -229,7 +231,7 @@ then
 
 elif [ ! -e "$autostart_file" ] && [ "$SYS_AUTOSTART" -ne "0" ]
 then
-	echo "Error: no autostart file found ($autostart_file)"
+	px4log "Error: no autostart file found ($autostart_file)"
 	exit 1
 fi
 

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -46,6 +46,7 @@ px4_add_romfs_files(
 	rc.logging
 	rc.mc_apps
 	rc.mc_defaults
+	rc.sysinit
 	rcS
 	rc.sensors
 	rc.thermal_cal

ROMFS/px4fmu_common/init.d/rc.airship_apps

@@ -20,10 +20,10 @@ then
 	#
 	if attitude_estimator_q start
 	then
-		echo "WARN [init] Estimator LPE unsupported, EKF2 recommended."
+		px4log "WARN [init] Estimator LPE unsupported, EKF2 recommended."
 		local_position_estimator start
 	else
-		echo "ERROR [init] Estimator LPE not available. Using EKF2"
+		px4log "ERROR [init] Estimator LPE not available. Using EKF2"
 		param set SYS_MC_EST_GROUP 2
 		param save
 		reboot

ROMFS/px4fmu_common/init.d/rc.autostart_ext

@@ -7,5 +7,5 @@ if [ -e ${SDCARD_EXT_PATH}/rc.autostart ]
 then
 	. ${SDCARD_EXT_PATH}/rc.autostart
 else
-	echo "Error: ${SDCARD_EXT_PATH}/rc.autostart does not exist"
+	px4log "Error: ${SDCARD_EXT_PATH}/rc.autostart does not exist"
 fi

ROMFS/px4fmu_common/init.d/rc.balloon_apps

@@ -17,10 +17,10 @@ then
 	#
 	if attitude_estimator_q start
 	then
-		echo "WARN [init] Estimator LPE unsupported, EKF2 recommended."
+		px4log "WARN [init] Estimator LPE unsupported, EKF2 recommended."
 		local_position_estimator start
 	else
-		echo "ERROR [init] Estimator LPE not available. Using EKF2"
+		px4log "ERROR [init] Estimator LPE not available. Using EKF2"
 		param set SYS_MC_EST_GROUP 2
 		param save
 		reboot

ROMFS/px4fmu_common/init.d/rc.mc_apps

@@ -20,10 +20,10 @@ then
 	#
 	if attitude_estimator_q start
 	then
-		echo "WARN [init] Estimator LPE unsupported, EKF2 recommended."
+		px4log "WARN [init] Estimator LPE unsupported, EKF2 recommended."
 		local_position_estimator start
 	else
-		echo "ERROR [init] Estimator LPE not available. Using EKF2"
+		px4log "ERROR [init] Estimator LPE not available. Using EKF2"
 		param set SYS_MC_EST_GROUP 2
 		param save
 		reboot

ROMFS/px4fmu_common/init.d/rc.sysinit

@@ -0,0 +1,3 @@
+#!/bin/sh
+# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
+set +e

ROMFS/px4fmu_common/init.d/rc.vehicle_setup

@@ -66,6 +66,6 @@ fi
 #
 if [ $VEHICLE_TYPE = none ]
 then
-	echo "No autostart ID found"
+	px4log "No autostart ID found"
 	ekf2 start &
 fi

ROMFS/px4fmu_common/init.d/rcS

@@ -36,11 +36,6 @@ set SDCARD_FORMAT no
 set STARTUP_TUNE 1
 set VEHICLE_TYPE none
 
-#
-# Print full system version.
-#
-ver all
-
 #
 # Try to mount the microSD card.
 #
@@ -50,7 +45,7 @@ then
 	then
 		if [ -f "/fs/microsd/.format" ]
 		then
-			echo "INFO [init] format /dev/mmcsd0 requested (/fs/microsd/.format)"
+			px4log "INFO [init] format /dev/mmcsd0 requested (/fs/microsd/.format)"
 			set SDCARD_FORMAT yes
 			rm /fs/microsd/.format
 			umount /fs/microsd
@@ -62,22 +57,22 @@ then
 
 	if [ $SDCARD_AVAILABLE = no -o $SDCARD_FORMAT = yes ]
 	then
-		echo "INFO [init] formatting /dev/mmcsd0"
+		px4log "INFO [init] formatting /dev/mmcsd0"
 		set STARTUP_TUNE 15 # tune 15 = SD_ERROR (overridden to SD_INIT if format + mount succeeds)
 
 		if mkfatfs -F 32 /dev/mmcsd0
 		then
-			echo "INFO [init] card formatted"
+			px4log "INFO [init] card formatted"
 
 			if mount -t vfat /dev/mmcsd0 /fs/microsd
 			then
 				set SDCARD_AVAILABLE yes
 				set STARTUP_TUNE 14 # tune 14 = SD_INIT
 			else
-				echo "ERROR [init] card mount failed"
+				px4log "ERROR [init] card mount failed"
 			fi
 		else
-			echo "ERROR [init] format failed"
+			px4log "ERROR [init] format failed"
 		fi
 	fi
 
@@ -127,7 +122,7 @@ else
 	param select $PARAM_FILE
 	if ! param import
 	then
-		echo "ERROR [init] param import failed"
+		px4log "ERROR [init] param import failed"
 		set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
 
 		bsondump $PARAM_FILE
@@ -140,7 +135,7 @@ else
 			# try importing from backup file
 			if [ -f $PARAM_BACKUP_FILE ]
 			then
-				echo "[init] importing from parameter backup"
+				px4log "[init] importing from parameter backup"
 
 				# dump current backup file contents for comparison
 				bsondump $PARAM_BACKUP_FILE
@@ -182,7 +177,7 @@ else
 	set BOARD_ARCH_RC_DEFAULTS ${R}etc/init.d/rc.board_arch_defaults
 	if [ -f $BOARD_ARCH_RC_DEFAULTS ]
 	then
-		echo "Board architecture defaults: ${BOARD_ARCH_RC_DEFAULTS}"
+		px4log "Board architecture defaults: ${BOARD_ARCH_RC_DEFAULTS}"
 		. $BOARD_ARCH_RC_DEFAULTS
 	fi
 	unset BOARD_ARCH_RC_DEFAULTS
@@ -193,7 +188,7 @@ else
 	set BOARD_RC_DEFAULTS ${R}etc/init.d/rc.board_defaults
 	if [ -f $BOARD_RC_DEFAULTS ]
 	then
-		echo "Board defaults: ${BOARD_RC_DEFAULTS}"
+		px4log "Board defaults: ${BOARD_RC_DEFAULTS}"
 		. $BOARD_RC_DEFAULTS
 	fi
 	unset BOARD_RC_DEFAULTS
@@ -211,7 +206,7 @@ else
 			then
 				set AUTOSTART_PATH etc/init.d/rc.autostart_ext
 			else
-				echo "ERROR [init] SD card not mounted - trying to load airframe from ROMFS"
+				px4log "ERROR [init] SD card not mounted - trying to load airframe from ROMFS"
 			fi
 		fi
 		. ${R}$AUTOSTART_PATH
@@ -260,7 +255,7 @@ else
 	#
 	if [ -f $FCONFIG ]
 	then
-		echo "Custom: ${FCONFIG}"
+		px4log "Custom: ${FCONFIG}"
 		. $FCONFIG
 	fi
 
@@ -295,7 +290,7 @@ else
 
 		if ! px4io start
 		then
-			echo "PX4IO start failed"
+			px4log "PX4IO start failed"
 			set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
 		fi
 	fi
@@ -360,7 +355,7 @@ else
 		set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors
 		if [ -f $BOARD_RC_SENSORS ]
 		then
-			echo "Board sensors: ${BOARD_RC_SENSORS}"
+			px4log "Board sensors: ${BOARD_RC_SENSORS}"
 			. $BOARD_RC_SENSORS
 		fi
 		unset BOARD_RC_SENSORS
@@ -401,7 +396,7 @@ else
 	set BOARD_RC_MAVLINK ${R}etc/init.d/rc.board_mavlink
 	if [ -f $BOARD_RC_MAVLINK ]
 	then
-		echo "Board mavlink: ${BOARD_RC_MAVLINK}"
+		px4log "Board mavlink: ${BOARD_RC_MAVLINK}"
 		. $BOARD_RC_MAVLINK
 	fi
 	unset BOARD_RC_MAVLINK
@@ -476,7 +471,7 @@ else
 	set BOARD_RC_EXTRAS ${R}etc/init.d/rc.board_extras
 	if [ -f $BOARD_RC_EXTRAS ]
 	then
-		echo "Board extras: ${BOARD_RC_EXTRAS}"
+		px4log "Board extras: ${BOARD_RC_EXTRAS}"
 		. $BOARD_RC_EXTRAS
 	fi
 	unset BOARD_RC_EXTRAS
@@ -486,7 +481,7 @@ else
 	#
 	if [ -f $FEXTRAS ]
 	then
-		echo "Addons script: ${FEXTRAS}"
+		px4log "Addons script: ${FEXTRAS}"
 		. $FEXTRAS
 	fi
 

ROMFS/px4fmu_test/init.d/rcS

@@ -19,11 +19,11 @@ fi
 mount -t vfat /dev/mmcsd0 /fs/microsd
 if [ $? = 0 ]
 then
-	echo "[i] card mounted at /fs/microsd"
+	px4log "[i] card mounted at /fs/microsd"
 	# Start playing the startup tune
 	tune_control play -t 1 # tune 1 = STARTUP
 else
-	echo "[i] no microSD card found"
+	px4log "[i] no microSD card found"
 	tune_control play error
 fi
 
@@ -43,9 +43,9 @@ fi
 param select $PARAM_FILE
 if param load
 then
-	echo "[param] Loaded: $PARAM_FILE"
+	px4log "[param] Loaded: $PARAM_FILE"
 else
-	echo "[param] FAILED loading $PARAM_FILE"
+	px4log "[param] FAILED loading $PARAM_FILE"
 fi
 
 #
@@ -53,7 +53,7 @@ fi
 #
 if [ -f $BOARD_RC ]
 then
-	echo "Board init: ${BOARD_RC}"
+	px4log "Board init: ${BOARD_RC}"
 	. $BOARD_RC
 fi
 
@@ -64,24 +64,24 @@ fi
 
 if px4io checkcrc $io_file
 then
-	echo "PX4IO CRC OK"
+	px4log "PX4IO CRC OK"
 else
-	echo "PX4IO CRC failure"
+	px4log "PX4IO CRC failure"
 	tune_control play -t 16 # tune 16 = PROG_PX4IO
 	if px4io update $io_file
 	then
 		if px4io start
 		then
-			echo "PX4IO restart OK"
+			px4log "PX4IO restart OK"
 			tune_control play-t 17 # tune 17 = PROG_PX4IO_OK
 		else
-			echo "PX4IO restart failed"
+			px4log "PX4IO restart failed"
 			tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
 			set unit_test_failure 1
 			set unit_test_failure_list "${unit_test_failure_list} px4io_flash"
 		fi
 	else
-		echo "PX4IO update failed"
+		px4log "PX4IO update failed"
 		tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
 		set unit_test_failure 1
 		set unit_test_failure_list "${unit_test_failure_list} px4io_flash"
@@ -90,7 +90,7 @@ fi
 
 if px4io start
 then
-	echo "PX4IO OK"
+	px4log "PX4IO OK"
 else
 	set unit_test_failure 1
 	set unit_test_failure_list "${unit_test_failure_list} px4io_start"
@@ -117,11 +117,11 @@ ver all
 if tests all
 then
 	echo
-	echo "All Unit Tests PASSED"
+	px4log "All Unit Tests PASSED"
 	led_control on -c green
 else
 	echo
-	echo "Some Unit Tests FAILED"
+	px4log "Some Unit Tests FAILED"
 	led_control on -c red
 fi