init adjustments to ensure used topics are advertised early (primarily for logging)

- multi-EKF create each instance as soon as IMU & mag are advertised (before device id populated)

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -223,6 +223,13 @@ rc_update start
 manual_control start
 sensors start
 commander start
+
+# Configure vehicle type specific parameters.
+# Note: rc.vehicle_setup is the entry point for rc.interface,
+#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
+#
+. ${R}etc/init.d/rc.vehicle_setup
+
 navigator start
 
 # Try to start the micrortps_client with UDP transport if module exists
@@ -252,12 +259,6 @@ then
 	gyro_calibration start
 fi
 
-# Configure vehicle type specific parameters.
-# Note: rc.vehicle_setup is the entry point for rc.interface,
-#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
-#
-. ${R}etc/init.d/rc.vehicle_setup
-
 #user defined mavlink streams for instances can be in PATH
 . px4-rc.mavlink
 

ROMFS/px4fmu_common/init.d/rcS

@@ -408,6 +408,13 @@ else
 		commander start
 	fi
 
+	#
+	# Configure vehicle type specific parameters.
+	# Note: rc.vehicle_setup is the entry point for rc.interface,
+	#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
+	#
+	. ${R}etc/init.d/rc.vehicle_setup
+
 	# Pre-takeoff continuous magnetometer calibration
 	if param compare -s MBE_ENABLE 1
 	then
@@ -458,13 +465,6 @@ else
 		fi
 	fi
 
-	#
-	# Configure vehicle type specific parameters.
-	# Note: rc.vehicle_setup is the entry point for rc.interface,
-	#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
-	#
-	. ${R}etc/init.d/rc.vehicle_setup
-
 	#
 	# Play the startup tune (if not disabled or there is an error)
 	#