Merge branch 'master' of github.com:PX4/Firmware

ROMFS/scripts/rc.PX4IO

@@ -5,7 +5,7 @@ set USB no
 set MODE camflyer
  
 #
-# Start the ORB
+# Start the ORB (first app to start)
 #
 uorb start
  
@@ -27,38 +27,65 @@ fi
 param set MAV_TYPE 1
  
 #
-# Start the sensors.
+# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
 #
-sh /etc/init.d/rc.sensors
+if [ -f /fs/microsd/px4io.bin ]
+then
+	echo "PX4IO Firmware found. Checking Upgrade.."
+	if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
+	then
+		echo "No newer version, skipping upgrade."
+	else
+		echo "Loading /fs/microsd/px4io.bin"
+		if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
+		then
+			cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
+			echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
+		else
+			echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
+			echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
+		fi
+	fi
+fi
  
 #
-# Start MAVLink
+# Start MAVLink (depends on orb)
 #
 mavlink start -d /dev/ttyS1 -b 57600
 usleep 5000
  
 #
-# Start the commander.
+# Start the commander (depends on orb, mavlink)
 #
 commander start
  
 #
-# Start GPS interface
+# Start PX4IO interface (depends on orb, commander)
 #
-gps start
+px4io start
+ 
+#
+# Allow PX4IO to recover from midair restarts.
+# this is very unlikely, but quite safe and robust.
+px4io recovery
  
 #
-# Start the attitude estimator
+# Start the sensors (depends on orb, px4io)
 #
-kalman_demo start
+sh /etc/init.d/rc.sensors
  
 #
-# Start PX4IO interface
+# Start GPS interface (depends on orb)
 #
-px4io start
+gps start
+ 
+#
+# Start the attitude estimator (depends on orb)
+#
+kalman_demo start
  
 #
-# Load mixer and start controllers
+# Load mixer and start controllers (depends on px4io)
 #
 mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
 control_demo start
@@ -66,7 +93,7 @@ control_demo start
 #
 # Start logging
 #
-sdlog start -s 10
+#sdlog start -s 4
  
 #
 # Start system state

ROMFS/scripts/rc.PX4IOAR

@@ -33,6 +33,11 @@ fi
 #
 param set MAV_TYPE 2
 
+#
+# Configure PX4FMU for operation with PX4IOAR
+#
+fmu mode_gpio_serial
+ 
 #
 # Start the sensors.
 #
@@ -54,11 +59,6 @@ commander start
 #
 attitude_estimator_ekf start
  
-#
-# Configure PX4FMU for operation with PX4IOAR
-#
-fmu mode_gpio_serial
- 
 #
 # Fire up the multi rotor attitude controller
 #
@@ -70,14 +70,14 @@ multirotor_att_control start
 ardrone_interface start -d /dev/ttyS1
 
 #
-# Start GPS capture
+# Start logging
 #
-gps start
+sdlog start -s 10
 
 #
-# Start logging
+# Start GPS capture
 #
-sdlog start -s 10
+gps start
 
 #
 # Start system state
@@ -95,4 +95,5 @@ fi
 # use the same UART for telemetry
 #
 echo "[init] startup done"
+
 exit

ROMFS/scripts/rcS

@@ -21,9 +21,9 @@ set MODE autostart
 set USB autoconnect
 
 #
-# Start playing the startup tune
+
 #
-tone_alarm start
+
 
 #
 # Try to mount the microSD card.
@@ -32,8 +32,12 @@ echo "[init] looking for microSD..."
 if mount -t vfat /dev/mmcsd0 /fs/microsd
 then
 	echo "[init] card mounted at /fs/microsd"
+	# Start playing the startup tune
+	tone_alarm start
 else
 	echo "[init] no microSD card found"
+	# Play SOS
+	tone_alarm 2
 fi
 
 #