Copter: changed startup order

this allows BoardConfig to report errors in a way that allows for
BRD_TYPE to be changed by the user

ArduCopter/system.cpp

@@ -110,11 +110,20 @@ void Copter::init_ardupilot()
     // load parameters from EEPROM
     load_parameters();
 
-    BoardConfig.init();
+    GCS_MAVLINK::set_dataflash(&DataFlash);
 
-    // initialise serial port
+    // initialise serial ports
     serial_manager.init();
 
+    // setup first port early to allow BoardConfig to report errors
+    gcs[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 0);
+
+    // Register mavlink_delay_cb, which will run anytime you have
+    // more than 5ms remaining in your call to hal.scheduler->delay
+    hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
+    
+    BoardConfig.init();
+
     // init EPM cargo gripper
 #if EPM_ENABLED == ENABLED
     epm.init();
@@ -132,18 +141,13 @@ void Copter::init_ardupilot()
     
     barometer.init();
 
-    // Register the mavlink service callback. This will run
-    // anytime there are more than 5ms remaining in a call to
-    // hal.scheduler->delay.
-    hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
-
     // we start by assuming USB connected, as we initialed the serial
     // port with SERIAL0_BAUD. check_usb_mux() fixes this if need be.
     ap.usb_connected = true;
     check_usb_mux();
 
     // setup telem slots with serial ports
-    for (uint8_t i = 0; i < MAVLINK_COMM_NUM_BUFFERS; i++) {
+    for (uint8_t i = 1; i < MAVLINK_COMM_NUM_BUFFERS; i++) {
         gcs[i].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, i);
     }
 
@@ -159,8 +163,6 @@ void Copter::init_ardupilot()
     log_init();
 #endif
 
-    GCS_MAVLINK::set_dataflash(&DataFlash);
-
     // update motor interlock state
     update_using_interlock();