From cedfdfca6018c7c35a56e2370b84f0d4f589cf68 Mon Sep 17 00:00:00 2001
From: Roman Bapst <romanbapst@yahoo.de>
Date: Fri, 22 Aug 2014 16:00:34 +0200
Subject: [PATCH] some hacks for the quadshot

---
 ROMFS/px4fmu_common/init.d/13000_quadshot          | 14 ++++++++++++++
 .../px4fmu_common/init.d/Roman_mavlink_stream_conf | 12 ++++++++++++
 ROMFS/px4fmu_common/init.d/rc.autostart            |  9 +++++++++
 ROMFS/px4fmu_common/init.d/rcS                     |  1 +
 4 files changed, 36 insertions(+)
 create mode 100644 ROMFS/px4fmu_common/init.d/13000_quadshot
 create mode 100644 ROMFS/px4fmu_common/init.d/Roman_mavlink_stream_conf

diff --git a/ROMFS/px4fmu_common/init.d/13000_quadshot b/ROMFS/px4fmu_common/init.d/13000_quadshot
new file mode 100644
index 0000000000..8ee306a387
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/13000_quadshot
@@ -0,0 +1,14 @@
+#!nsh
+#
+# Generic quadshot configuration file
+#
+# Roman Bapst <romanbapst@yahoo.de>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+set MIXER FMU_quadshot
+
+set PWM_OUTPUTS 1234
+set PWM_MIN 1070
+set PWM_MAX 2000
\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/Roman_mavlink_stream_conf b/ROMFS/px4fmu_common/init.d/Roman_mavlink_stream_conf
new file mode 100644
index 0000000000..d26e4a3722
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/Roman_mavlink_stream_conf
@@ -0,0 +1,12 @@
+#!nsh
+# Configure stream for Mavlink instance on TELEM2 because it is annoying always removing the SDcard
+#
+#usleep 100000
+#mavlink stream -d /dev/ttyS2 -s ATTITUDE_CONTROLS -r 50
+#usleep 100000
+#mavlink stream -d /dev/ttyS2 -s RC_CHANNELS_RAW -r 50
+#usleep 100000
+#mavlink stream -d /dev/ttyS2 -s VFR_HUD -r 50
+usleep 100000
+mavlink stream -d /dev/ttyS2 -s MANUAL_CONTROL -r 50
+echo "Added additional streams on TELEM2"
\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart
index 9de7d9ecdb..4f0ec02787 100644
--- a/ROMFS/px4fmu_common/init.d/rc.autostart
+++ b/ROMFS/px4fmu_common/init.d/rc.autostart
@@ -16,6 +16,7 @@
 # 10000	..	10999		Wide arm / H frame
 # 11000	..	11999		Hexa Cox
 # 12000	..	12999		Octo Cox
+# 13000 ..  13999		Vtol
 
 #
 # Simulation setups
@@ -232,3 +233,11 @@ if param compare SYS_AUTOSTART 12001
 then
 	sh /etc/init.d/12001_octo_cox
 fi
+
+#
+# Quadshot
+#
+ if param compare SYS_AUTOSTART 13000
+ then
+ 	 sh /etc/init.d/13000_quadshot
+ fi
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index c9e6a27cac..cd1aa14b0c 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -586,6 +586,7 @@ then
 	then
 		echo "[init] Starting addons script: $EXTRAS_FILE"
 		sh $EXTRAS_FILE
+		sh /etc/init.d/Roman_mavlink_stream_conf
 	else
 		echo "[init] No addons script: $EXTRAS_FILE"
 	fi