Merged master

ROMFS/px4fmu_common/init.d/rc.uavcan

@@ -0,0 +1,18 @@
+#!nsh
+#
+# UAVCAN initialization script.
+#
+
+if param compare UAVCAN_ENABLE 1
+then
+	if uavcan start
+	then
+		# First sensor publisher to initialize takes lowest instance ID
+		# This delay ensures that UAVCAN-interfaced sensors would be allocated on lowest instance IDs
+		sleep 1
+		echo "[init] UAVCAN started"
+	else
+		echo "[init] ERROR: Could not start UAVCAN"
+		tone_alarm $TUNE_OUT_ERROR
+	fi
+fi

ROMFS/px4fmu_common/init.d/rcS

@@ -304,11 +304,10 @@ then
 	then
 		if [ $OUTPUT_MODE == uavcan_esc ]
 		then
-			if uavcan start 1
+			if param compare UAVCAN_ENABLE 0
 			then
-				echo "CAN UP"
-			else
-				echo "CAN ERR"
+				echo "[init] OVERRIDING UAVCAN_ENABLE = 1"
+				param set UAVCAN_ENABLE 1
 			fi
 		fi
 
@@ -455,6 +454,10 @@ then
 		mavlink start -d /dev/ttyS2 -b 230400
 	fi
 
+	# UAVCAN
+	#
+	sh /etc/init.d/rc.uavcan
+
 	#
 	# Sensors, Logging, GPS
 	#