Moved to USART1 for the main console, starting a 2nd NSH instance on USB if needed, reworked start scripts to not fall over

ROMFS/px4fmu_common/init.d/01_fmu_quad_x

@@ -98,10 +98,8 @@ multirotor_att_control start
 #
 sdlog2 start -r 50 -a -b 14
 
-#
+# Try to get an USB console
-# Start system state
+nshterm /dev/ttyACM0 &
-#
+
-if blinkm start
+# Exit, because /dev/ttyS0 is needed for MAVLink
-then
+exit
-	blinkm systemstate
-fi

ROMFS/px4fmu_common/init.d/02_io_quad_x

@@ -88,7 +88,7 @@ pwm -u 400 -m 0xff
 multirotor_att_control start
  
 #
-# Start logging
+# Start logging once armed
 #
 sdlog2 start -r 50 -a -b 14
  

ROMFS/px4fmu_common/init.d/08_ardrone

@@ -3,12 +3,6 @@
 # Flight startup script for PX4FMU on PX4IOAR carrier board.
 #
  
-# Disable the USB interface
-set USB no
-
-# Disable autostarting other apps
-set MODE ardrone
- 
 echo "[init] doing PX4IOAR startup..."
  
 #
@@ -70,30 +64,23 @@ multirotor_att_control start
 ardrone_interface start -d /dev/ttyS1
 
 #
-# Start logging
+# Start logging once armed
 #
-sdlog start -s 10
+sdlog2 start -r 50 -a -b 14
 
 #
 # Start GPS capture
 #
 gps start
  
-#
-# Start system state
-#
-if blinkm start
-then
-	echo "using BlinkM for state indication"
-	blinkm systemstate
-else
-	echo "no BlinkM found, OK."
-fi
- 
 #
 # startup is done; we don't want the shell because we
 # use the same UART for telemetry
 #
 echo "[init] startup done"
 
+# Try to get an USB console
+nshterm /dev/ttyACM0 &
+
+# Exit, because /dev/ttyS0 is needed for MAVLink
 exit

ROMFS/px4fmu_common/init.d/09_ardrone_flow

@@ -3,12 +3,6 @@
 # Flight startup script for PX4FMU on PX4IOAR carrier board.
 #
  
-# Disable the USB interface
-set USB no
-
-# Disable autostarting other apps
-set MODE ardrone
- 
 echo "[init] doing PX4IOAR startup..."
  
 #
@@ -85,10 +79,19 @@ flow_speed_control start
 #
 ardrone_interface start -d /dev/ttyS1
 
+#
+# Start logging once armed
+#
+sdlog2 start -r 50 -a -b 14
+ 
 #
 # startup is done; we don't want the shell because we
 # use the same UART for telemetry
 #
 echo "[init] startup done"
 
+# Try to get an USB console
+nshterm /dev/ttyACM0 &
+
+# Exit, because /dev/ttyS0 is needed for MAVLink
 exit

ROMFS/px4fmu_common/init.d/10_io_f330

@@ -3,10 +3,6 @@
 # Flight startup script for PX4FMU+PX4IO on an F330 quad.
 #
 
-# disable USB and autostart
-set USB no
-set MODE custom
-
 #
 # Start the ORB (first app to start)
 #
@@ -60,34 +56,37 @@ commander start
 #
 if px4io start
 then
+	#
+	# This sets a PWM right after startup (regardless of safety button)
+	#
+	px4io idle 900 900 900 900
+
 	pwm -u 400 -m 0xff
+
+	#
+	# Allow PX4IO to recover from midair restarts.
+	# this is very unlikely, but quite safe and robust.
+	px4io recovery
+
+
+
+	#
+	# The values are for spinning motors when armed using DJI ESCs
+	#
+	px4io min 1200 1200 1200 1200
+
+	#
+	# Upper limits could be higher, this is on the safe side
+	#
+	px4io max 1800 1800 1800 1800
+
+	mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
+
 else
 	# SOS
 	tone_alarm 6
 fi
  
-#
-# Allow PX4IO to recover from midair restarts.
-# this is very unlikely, but quite safe and robust.
-px4io recovery
-
-#
-# This sets a PWM right after startup (regardless of safety button)
-#
-px4io idle 900 900 900 900
-
-#
-# The values are for spinning motors when armed using DJI ESCs
-#
-px4io min 1200 1200 1200 1200
-
-#
-# Upper limits could be higher, this is on the safe side
-#
-px4io max 1800 1800 1800 1800
-
-mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
- 
 #
 # Start the sensors (depends on orb, px4io)
 #

ROMFS/px4fmu_common/init.d/rcS

@@ -61,7 +61,13 @@ then
 #
 # Start terminal
 #
-sercon
+if sercon
+then
+	echo "USB connected"
+else
+	# second attempt
+	sercon &
+fi
 
 #
 # Start the ORB (first app to start)
@@ -128,45 +134,84 @@ fi
 if param compare SYS_AUTOSTART 1
 then
 	sh /etc/init.d/01_fmu_quad_x
+	set MODE custom
 fi
 
 if param compare SYS_AUTOSTART 2
 then
 	sh /etc/init.d/02_io_quad_x
+	set MODE custom
 fi
 
 if param compare SYS_AUTOSTART 8
 then
 	sh /etc/init.d/08_ardrone
+	set MODE custom
 fi
 
 if param compare SYS_AUTOSTART 9
 then
 	sh /etc/init.d/09_ardrone_flow
+	set MODE custom
 fi
 
 if param compare SYS_AUTOSTART 10
 then
 	sh /etc/init.d/10_io_f330
+	set MODE custom
 fi
 
 if param compare SYS_AUTOSTART 15
 then
 	sh /etc/init.d/15_io_tbs
+	set MODE custom
 fi
 
 if param compare SYS_AUTOSTART 30
 then
 	sh /etc/init.d/30_io_camflyer
+	set MODE custom
 fi
 
 if param compare SYS_AUTOSTART 31
 then
 	sh /etc/init.d/31_io_phantom
+	set MODE custom
 fi
 
 # Try to get an USB console
 nshterm /dev/ttyACM0 &
 
+# If none of the autostart scripts triggered, get a minimal setup
+if [ $MODE == autostart ]
+then
+	# Telemetry port is on both FMU boards ttyS1
+	mavlink start -b 57600 -d /dev/ttyS1
+
+	# Start commander
+	commander start
+
+	# Start px4io if present
+	if px4io start
+	then
+		echo "PX4IO driver started"
+	else
+		if fmu mode_serial
+		then
+			echo "FMU driver started"
+		fi
+	fi
+
+	# Start sensors
+	sh /etc/init.d/rc.sensors
+
+	# Start one of the estimators
+	attitude_estimator_ekf start
+
+	# Start GPS
+	gps start
+
+fi
+
 # End of autostart
 fi

nuttx-configs/px4fmu-v1/nsh/defconfig

@@ -368,7 +368,7 @@ CONFIG_TASK_NAME_SIZE=24
 CONFIG_START_YEAR=1970
 CONFIG_START_MONTH=1
 CONFIG_START_DAY=1
-# CONFIG_DEV_CONSOLE is not set
+CONFIG_DEV_CONSOLE=y
 # CONFIG_MUTEX_TYPES is not set
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_SEM_PREALLOCHOLDERS=0
@@ -476,11 +476,11 @@ CONFIG_ARCH_HAVE_USART6=y
 CONFIG_MCU_SERIAL=y
 CONFIG_STANDARD_SERIAL=y
 CONFIG_SERIAL_NPOLLWAITERS=2
-# CONFIG_USART1_SERIAL_CONSOLE is not set
+CONFIG_USART1_SERIAL_CONSOLE=y
 # CONFIG_USART2_SERIAL_CONSOLE is not set
 # CONFIG_UART5_SERIAL_CONSOLE is not set
 # CONFIG_USART6_SERIAL_CONSOLE is not set
-CONFIG_NO_SERIAL_CONSOLE=y
+# CONFIG_NO_SERIAL_CONSOLE is not set
 
 #
 # USART1 Configuration
@@ -550,7 +550,7 @@ CONFIG_USBDEV_MAXPOWER=500
 # CONFIG_USBDEV_COMPOSITE is not set
 # CONFIG_PL2303 is not set
 CONFIG_CDCACM=y
-CONFIG_CDCACM_CONSOLE=y
+CONFIG_CDCACM_CONSOLE=n
 CONFIG_CDCACM_EP0MAXPACKET=64
 CONFIG_CDCACM_EPINTIN=1
 CONFIG_CDCACM_EPINTIN_FSSIZE=64